Three-dimensional scanner, three-dimensional scanning system, three-dimensional scanning method and storage medium

Abstract

A three-dimensional scanner (1), a three-dimensional scanning system (100), a three-dimensional scanning method and a readable storage medium. The three-dimensional scanner (1) comprises: a housing (10), a projection imaging mechanism (20) and a scanner main controller (30). The housing (10) has a handheld grip end (12) and a scanning end (13), with a light-transmitting portion (14) being formed at the scanning end (13); the projection imaging mechanism (20) is located in the housing (10) and at the scanning end (13), and the projection imaging mechanism (20) comprises a plurality of projection imaging units (22) packaged independently of each other, wherein each projection imaging unit (22) comprises a projector head (221) and cameras (222), the projector head (221) being configured to emit scanning light (L1) through the light-transmitting portion (14), and the cameras (222) being configured to receive detection light (L2) reflected by an object (200), which is to be measured, on the basis of the scanning light (L1), and generate image data of said object (200) on the basis of the detection light (L2); and the scanner main controller (30) is located in the housing (10) and electrically connected to the projector heads (221) and the cameras (222), respectively, and is configured to control a trigger timing sequence of the projector heads (221) and the cameras (222).

Description

3D scanner, 3D scanning system, 3D scanning method and storage medium

[0001] This application claims priority to Chinese patent applications filed on March 25, 2025, with application number 202510362203.3 entitled "3D Scanner and 3D Scanning System" and application number 202510360854.9 entitled "3D Scanner, 3D Scanning System, 3D Scanning Method and Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of 3D scanning technology, and in particular to a 3D scanner, a 3D scanning system including the 3D scanner, a 3D scanning method, and a readable storage medium. Background Technology

[0003] Intraoral 3D scanning devices can directly acquire 3D morphological data of teeth or gums, bringing convenience to dental restoration, implantation, orthodontics, etc.

[0004] Due to the limited space within the mouth, a traditional intraoral 3D scanning device can only acquire 3D data for the area of ​​about two teeth at a time. It requires prolonged movement of the intraoral 3D scanning device to acquire multiple frames of 3D data from different positions and angles, which are then stitched together to obtain the 3D morphology and texture information of the entire dentition. This not only increases scanning time but also requires the operator to have specific scanning techniques and follow a certain scanning path, resulting in a significant learning curve for the operator. Summary of the Invention

[0005] In view of this, it is necessary to provide a 3D scanner, a 3D scanning system, a 3D scanning method, and a readable storage medium to improve the technical problems of long oral scanning time and high learning cost of oral scanning.

[0006] This application provides a 3D scanner, comprising: a housing having a handheld end and a scanning end, the scanning end having a light-transmitting portion; a projection imaging mechanism located within the housing and at the scanning end, the projection imaging mechanism comprising a plurality of independently encapsulated projection imaging units, each of the projection imaging units comprising a projection head and a camera, the projection head being used to project scanning light through the light-transmitting portion, the camera being used to receive detection light reflected by an object under test according to the scanning light, and to generate image data of the object under test based on the detection light; and a scanner host located within the housing, electrically connected to the projection head and the camera respectively, for controlling the triggering timing of the projection head and the camera.

[0007] A second aspect of this application provides a three-dimensional scanning system, including the aforementioned three-dimensional scanner; and a control device electrically connected to a camera in one of the plurality of projection imaging units, for acquiring three-dimensional data of the object under test based on image data generated by each of the projection imaging units.

[0008] A third aspect of this application provides a 3D scanner, comprising: a housing; a projection imaging mechanism located within the housing for emitting scanning light and receiving detection light reflected by a target object according to the scanning light to generate image data; a reflector located within the housing and on the optical path of the scanning light for reflecting the scanning light from the projection imaging mechanism; and an anti-fog mechanism located within the housing and connected to the reflector for driving the reflector to reciprocate, such that the reflector projects the scanning light onto different areas of the target object in a time-division manner, wherein the image data corresponding to the detection light reflected by different areas of the target object is used to acquire 3D information of the target object.

[0009] A fourth aspect of this application provides a three-dimensional scanning system, comprising: a projection imaging mechanism for emitting scanning light and receiving detection light reflected by a target object according to the scanning light; a reflector located in the optical path of the scanning light for reflecting the scanning light from the projection imaging mechanism; an anti-fog mechanism connected to the reflector for driving the reflector to reciprocate, such that the reflector projects the scanning light onto different areas of the target object in a time-division manner; and a control device connected to the projection imaging mechanism and the anti-fog mechanism respectively, for controlling the deflection mode of the reflector driven by the anti-fog mechanism, and for acquiring three-dimensional information of the target object based on the detection light.

[0010] This application provides a third-dimensional scanning method applied to a third-dimensional scanning system, the third-dimensional scanning system including a projection head, a camera, and a reflector; the third-dimensional scanning method includes: driving the projection head to emit scanning light; driving the reflector to reciprocate to project the scanning light onto different areas of a target object; controlling the camera to collect detection light reflected by the scanning light from different areas of the target object to obtain image data; and obtaining three-dimensional information of the target object based on the image data.

[0011] The sixth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, can implement all the steps of the three-dimensional scanning method described above.

[0012] The aforementioned 3D scanner, 3D scanning system, and 3D scanning method, by placing the projection imaging mechanism entirely at the front of the housing's scanning end and combining near and far-view image acquisition, can acquire detailed, high-precision data of the object under test during near-view image acquisition, and achieve rapid scanning and stitching during far-view image acquisition, reducing rework caused by operational errors or accidental stitching mistakes. Therefore, the 3D scanner of this application embodiment can quickly (typically within 10 seconds) and accurately acquire 3D morphological and textural information of the entire dentition and gingival surface, improving the scanning experience for the scanned person (or patient). Simultaneously, because the scanning light has a large field of view at long distances, no strict scanning rules or path requirements are needed during scanning operations, increasing the flexibility of the scanning method and reducing the learning cost for users (or medical personnel), thereby increasing the adoption rate of 3D scanners. Furthermore, by independently encapsulating each projection imaging unit, it helps prevent relative displacement of the projection head and camera in position and angle, thus improving 3D scanning accuracy.

[0013] Furthermore, by setting a galvanometer, the galvanometer can be continuously driven to oscillate back and forth during the scanning of the target object. This allows the 3D scanner to effectively suppress fogging and water droplet adhesion / condensation on the mirror surface, even in high-temperature and high-humidity oral scanning environments, achieving a defogging effect during intraoral scanning. Moreover, the continuous galvanometer oscillation during the scanning process effectively increases the scanning speed. The 3D scanning system of this embodiment can shorten the duration of a single scanning cycle (the cycle for acquiring complete 3D information of the target object) from 10-15 minutes to seconds (within 10 seconds). Since the entire scanning process mainly relies on the driver program preset by the main control device to drive the galvanometer to oscillate at high speed to completely scan the target object, user operation is minimal during the scanning process. This reduces the learning cost for users operating the 3D scanner, enabling rapid data acquisition during scanning, or allowing patients to operate it themselves, thus increasing the adoption rate of the 3D scanning system. On the other hand, it also avoids the problems of operational errors or accidental stitching errors caused by manual scanning, leading to rework. Attached Figure Description

[0014] Figure 1 is a schematic diagram of the structure of the 3D scanner in Embodiment 1 of this application.

[0015] Figure 2 is a schematic diagram of the planar structure of the projection imaging mechanism in Figure 1.

[0016] Figure 3 is a structural schematic diagram of a 3D scanner in Embodiment 2 of this application.

[0017] Figure 4 is another structural schematic diagram of the 3D scanner in Embodiment 2 of this application.

[0018] Figure 5 is a schematic diagram of the direction of the mirror's tilt in Figure 4.

[0019] Figure 6 is a schematic diagram of the anti-fog mechanism and reflector in Figure 4.

[0020] Figure 7 is a schematic diagram of the structure of the 3D scanner in Embodiment 2 of this application.

[0021] Figure 8 is a schematic diagram of the structure of the three-dimensional scanning system according to an embodiment of this application.

[0022] Figure 9 is a flowchart of the three-dimensional scanning method according to Embodiment 2 of this application.

[0023] Figure 10 is a schematic diagram of the reflector scanning the object under test in the first angle state.

[0024] Figure 11 is a schematic diagram of the reflector scanning the object under test in the second angle state.

[0025] Figure 12 is a schematic diagram of the module structure of the control device in Figure 8.

[0026] Key Component Symbols: 3D Scanning System: 100; 3D Scanner: 1; Housing: 10; Reception Space: 11; Handheld Terminal: 12; Scanning Terminal: 13; Projection Imaging Mechanism: 20; Substrate: 21; Projection Imaging Unit: 22; Projection Head: 221; Camera: 222; Packaging Structure: 223; Illumination Source: 23; Scanner Main Unit: 30; Reflector: 40; Reflective Surface: 41; Mounting Surface: 42; First Axis: X; Second Axis: Y; Anti-fog Mechanism: 50; Fixing Base: 51; Piezoelectric Body: 52; Connecting Rod: 53; Rotary Wheel: 54; Heat Conducting Component: 55; Scanning Light: L1; Detection Light: L2; Illumination Light: L3; Control Device: 2; Drive Control Unit: 210; Processing and Calculation Unit: 220; Calibration Unit: 230; Object Under Test: 200; Teeth: 201, 202, 203; Intervals: G1, G2.

[0027] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0028] A digital impression instrument, also known as an intraoral 3D scanner, is a device that uses an insertion optical scanning head to directly scan the inside of a patient's mouth, acquiring three-dimensional morphology and color texture information of the soft and hard tissue surfaces such as teeth, gums, and mucous membranes. It is widely used in dental disease diagnosis and treatment and orthodontic settings.

[0029] Due to the limited space inside the mouth, intraoral scanners that are inserted into the oral cavity to acquire 3D data of teeth and gums are often designed to capture only a single frame of about two teeth at a time. Furthermore, due to the rectilinear propagation of light, the scanner can only acquire 3D data from the current viewpoint. Therefore, a traditional intraoral 3D scanner works by moving the scanner to collect morphological features from different areas within the mouth from multiple angles, stitching together multiple 3D data frames to form the complete 3D topography and texture information of the entire oral cavity.

[0030] However, on the one hand, the smoothness of stitching during the scanning process often depends on the common area size between frames of data controlled by the moving speed and the efficiency of the stitching algorithm. If the scanning is too fast, stitching loss is likely to occur. Generally, stitching can only be successfully completed by back-stitching through the common overlapping area. There may also be problems such as the scarcity of intraoral 3D features leading to stitching errors and the inability to obtain the 3D shape of the global framework. It usually takes 5-10 minutes to obtain the data of the teeth and gums in the entire mouth.

[0031] On the other hand, the scanning process requires users to manually distinguish between the upper and lower jaws, occlusion, and other steps by holding the intraoral 3D scanner. This increases the learning cost for users and requires operators to have certain scanning techniques and follow certain scanning paths to complete the process. The learning cost is relatively high for relevant practitioners, making it difficult to promote and popularize the technology.

[0032] Therefore, embodiments of this application provide a 3D scanner and a 3D scanning system including the 3D scanner. Through a front projection imaging mechanism, users can accurately collect full-mouth 3D data without strictly following a specific scanning path, which reduces scanning time and scanning difficulty.

[0033] Example 1

[0034] Referring to Figure 1, the 3D scanner 1 of this embodiment includes a housing 10, a projection imaging mechanism 20, and a scanner host 30. The housing 10 forms a receiving space 11, and the projection imaging mechanism 20 and the scanner host 30 are both located within the receiving space 11.

[0035] The projection imaging mechanism 20 emits scanning light L1. When scanning light L1 illuminates the object under test 200, it is reflected by the object under test 200 as detection light L2. The projection imaging mechanism 20 is also used to acquire detection light L2 to generate three-dimensional data of the object under test 200. The scanner host 30 is electrically connected to the projection imaging mechanism 20 and is used to control the timing of the emission of scanning light L1 and the acquisition of detection light L2 by the projection imaging mechanism 20. Specifically, the scanner host 30 includes a timing control circuit, which is electrically connected to the projection imaging mechanism 20 and is used to control the timing of the emission of scanning light L1 and the acquisition of detection light L2 by the projection imaging mechanism 20.

[0036] In at least one embodiment of this application, the scanner host 30 may further include a heat dissipation system for dissipating heat during the operation of the 3D scanner 1. The heat dissipation system may include, for example, a small fan, etc., to allow airflow and reduce the accumulation and increase of internal heat.

[0037] The housing 10 is an overall light-shielding structure. The housing 10 is an overall strip-shaped structure. When using the 3D scanner 1, the user can hold one end of the housing 10 (hereinafter referred to as the holding end 12) and insert the other end of the housing 10 (hereinafter referred to as the scanning end 13) into the patient's oral cavity, and move the 3D scanner 1 slightly, so that the end of the 3D scanner 1 located in the oral cavity can change its angle and position slightly within the oral cavity, so as to achieve scanning of different areas within the oral cavity.

[0038] The scanning end 13 of the housing 10 also has a light-transmitting part 14, which serves as a transmission channel for the scanning light L1 and the detection light L2, so that the scanning light L1 inside the housing 10 can be emitted from the housing 10 through the light-transmitting part 14, and the detection light L2 can be incident into the housing 10 through the light-transmitting part 14 and collected by the projection imaging mechanism 20.

[0039] Referring to Figures 1 and 2, the projection imaging mechanism 20 includes a substrate 21 and a plurality of projection imaging units 22. Each imaging unit 22 is electrically connected to the scanner host 30. The substrate 21 is fixedly connected to the inner wall of the housing 10, and each projection imaging unit 22 is fixedly connected to the same surface of the substrate 21. Each projection imaging unit 22 is independently packaged and arranged at equal intervals along a straight line. In other embodiments of this application, the projection imaging units 22 may also be arranged at non-equal intervals or not along a straight line. For example, in at least one modified embodiment, the projection imaging units 22 may be arranged irregularly at intervals.

[0040] Each projection imaging unit 22 includes a projection head 221, two cameras 222, and a packaging structure 223. The two cameras 222 are symmetrically distributed on both sides of the projection head 221, and the projection head 221 and the two cameras 222 are arranged in a straight line. The packaging structure 223 in each projection imaging unit 22 is used to maintain and fix the relative positional relationship between the projection head 221 and the two cameras 222 in that projection imaging unit 22. The packaging structure 223 also covers the outer surface of the projection head 221 and the two cameras 222 to protect them. By independently packaging each projection imaging unit 22, it is beneficial to prevent relative displacement of the position and angle between the projection head 221 and the cameras 222, thereby improving the accuracy of 3D scanning.

[0041] In other embodiments of this application, each projection imaging unit 22 may include other numbers of cameras 222, such as one camera 222 or three or more cameras 222. When each projection imaging unit 22 includes one camera 222, the camera 222 is located on one side of the projection head 221. When each projection imaging unit 22 includes three or more cameras 222, the three or more cameras 222 may be distributed on both sides of the projection head 221 or surround the projection head 221. Regardless of the number of cameras 222 included in each projection imaging unit 22, the encapsulation structure 223 in each projection imaging unit 22 completely covers all the projection heads 221 and cameras 222 in the projection imaging unit 22.

[0042] Each projection imaging unit 22 has a projection head 221 and two cameras 222 connected to the scanner host 30. In at least one embodiment, the projection head 221 and the two cameras 222 are electrically connected to the scanner host 30 via conductive pins (not shown) formed on the periphery of the package structure 223.

[0043] Projector head 221 is used to generate scanning light L1, and camera 222 is used to sense detection light L2 to generate three-dimensional data. Scanning light L1 is structured light, which can be, for example, a regular or random dot pattern (i.e., a regular or random dot pattern of light spots when the beam is projected onto the surface of the object 200), a random small line segment pattern (i.e., a small line segment pattern of light spots when the beam is projected onto the surface of the object 200), or a small line segment pattern, or a straight line segment pattern. The length, width, and height dimensions of projector head 221 are all less than or equal to 5 mm, and the length, width, and height dimensions of camera 222 are all less than or equal to 5 mm. In at least one embodiment, projector head 221 can be packaged using DOE to reduce its size. In at least one embodiment, camera 222 can be a miniature camera.

[0044] The projection imaging mechanism 20 also includes multiple illumination sources 23 connected to the scanner host 30. This arrangement ensures that the illumination sources 23 are also located at the scanning end 13, and the projection imaging mechanism 20 has high integration, simplifying the scanner structure and optical path. Multiple illumination sources 23 are fixedly disposed at intervals on the surface of the substrate 21 having projection imaging units 22, and each illumination source 23 is distributed around the periphery of each projection imaging unit 22. Specifically, the number of illumination sources 23 in the projection imaging mechanism 20 is twice the number of projection imaging units 22, with each projection imaging unit 22 corresponding to two illumination sources 23. The two illumination sources 23 corresponding to each projection imaging unit 22 are respectively distributed on both sides of that projection imaging unit 22. The illumination sources 23 can be light-emitting diodes (LEDs) used to emit illumination light L3, which is white light. In other embodiments of this application, the number of illumination sources 23 in the projection imaging mechanism 20 can be different, for example, the same as or less than the number of projection imaging units 22.

[0045] During the operation of the projection imaging mechanism 20, the scanner host 30 triggers the projection heads 221 in each projection imaging unit 22 to emit scanning light L1 based on a preset frame rate, and activates the two cameras 222 to start or stop exposure according to a preset trigger sequence, acquiring detection light L2 to generate image data. In the above process, the scanner host 30 also activates each illumination source 23 to emit white light (illumination light L3) for illumination.

[0046] The projection head 221 emits a frame of scanning light L1, and the camera 222 acquires a frame of detection light L2 and generates a frame of image data. Throughout the scanning cycle, the projection head 221 emits multiple frames of scanning light L1 sequentially according to the triggering sequence of the scanner host 30, and the camera 222 acquires a frame of detection light L2 and generates a frame of image data. This multi-frame image data is used for subsequent 3D reconstruction and stitching to obtain the overall 3D information of the object under test 200 (including the 3D morphology and texture information of the tooth and gingival surfaces). In at least one embodiment, the illumination source 23 remains constantly lit throughout the scanning cycle, and the scanner host 30 outputs two trigger signals to trigger the projection head 221 and the camera 222 to operate, respectively.

[0047] Each projection head 221 in each projection imaging unit 22 simultaneously emits scanning light L1 to illuminate the object under test 200, and each projection head 222 in each projection imaging unit 22 simultaneously acquires detection light L2. That is, not all two cameras 222 in each projection imaging unit 22 acquire only the detection light L2 corresponding to the scanning light L1 projected by the projection head 221 in that projection imaging unit 22. The image data generated by each camera 222 in each projection imaging unit 22 is used for subsequent 3D reconstruction and stitching.

[0048] The projection imaging mechanism 20 is positioned at the front of the scanning end 13 of the housing 10, and the scanner host 20 is located in the middle region along the length of the housing 10. The surface of the substrate 21 on which the projection imaging unit 22 is provided faces the light-transmitting part 14, so that the projection imaging mechanism 20 can directly project scanning light L1 and illumination light L3 toward the light-transmitting part 14, and the detection light L2 incident through the light-transmitting part 14 can be directly collected by the projection imaging mechanism 20 without passing through other optical stages.

[0049] By placing the projection imaging mechanism 20 entirely at the front of the scanning end 13 of the housing 10, when the scanning end 13 of the 3D scanner 1 is close to the object 200 to be measured (e.g., teeth, gums, etc.), a single frame of scanning light L1 has a field of view covering approximately two teeth, which is beneficial for acquiring localized, refined image data of teeth and gums. When the scanning end 13 of the 3D scanner 1 is far away from the object 200 to be measured, for example, when the distance from the object 200 to be measured is more than 40mm, the field of view of a single frame of scanning light L1 can be expanded to approximately 40mm-50mm of the entire dentition, which is beneficial for acquiring frame image data of the entire dentition of teeth and gums.

[0050] Thus, by placing the projection imaging mechanism 20 entirely at the scanning end 13 of the housing 10, and combining near and far-view image acquisition, it is possible to obtain refined, high-precision data of the object under test 200 during near-view image acquisition, and to achieve rapid scanning and stitching during far-view image acquisition, reducing rework caused by operational errors or accidental stitching mistakes. Therefore, the 3D scanner 1 of this embodiment can quickly (typically within 10 seconds) and accurately acquire the 3D morphology and texture information of the entire dentition and gingival surface, improving the scanning experience for the person being scanned (or the patient). Simultaneously, since the scanning light L1 has a large field of view at long distances, no strict scanning rules or path requirements are needed during scanning operations, increasing the flexibility of the scanning method and reducing the learning cost for users (or medical personnel), thereby increasing the adoption rate of the 3D scanner 1.

[0051] Example 2

[0052] Referring to Figure 3, in Embodiment 2 of this application, the 3D scanner 1 further includes a reflector 40. The reflector 40 is disposed at the scanning end 13 and is used to reflect the received scanning light L1, detection light L2, and illumination light L3. The reflective surface 41 of the reflector 40, which reflects the scanning light L1, detection light L2, and illumination light L3, has a 45° angle with the light-transmitting part 14. The reflector 40 can be directly fixed to the inner wall of the housing 10, or it can be fixed to the housing 10 by other supporting and fixing mechanisms (not shown).

[0053] In the embodiment shown in Figure 3, the projection imaging mechanism 20 is also positioned at the front of the scanning end 13 of the housing 10, but the entire projection imaging mechanism 20 is placed vertically. That is, in the projection imaging mechanism 20, the surface of the substrate 21 on which the projection imaging unit 22 is provided faces the reflector 40 and is perpendicular to the light-transmitting part 14. The scanning light L1 and illumination light L3 emitted from the projection imaging mechanism 20 first enter the reflector 40, and then are reflected by the reflector 40 to the light-transmitting part 14 before being emitted. The detection light L2 entering from the light-transmitting part 14 first enters the reflector 40, and then is reflected by the reflector 40 to the projection imaging mechanism 20.

[0054] Due to the size limitations of the internal camera and projection head of the 3D scanner 1, a large common field of view is required between each frame of image data to support subsequent image data stitching and reconstruction. However, when the scanning end 13 of the 3D scanner 1 is too close to the object 200, the field of view is small, making it difficult to acquire 3D data within the ideal range. Typically, the projection imaging mechanism 20 needs to be at least a certain distance from the object 200, such as at least 5, 10, or 15 mm, to ensure that each frame of image data has a common field of view. On the other hand, the external dimensions of the scanning end 13 extending into the inlet (especially in the height direction, i.e., the direction perpendicular to the light-transmitting part 14) need to be as small as possible to allow for flexible movement.

[0055] Therefore, in the embodiment shown in Figure 3, the projection imaging mechanism 20 is moved 10mm backward relative to the embodiment shown in Figure 1, and a reflector 40 is set to deflect the light path. This ensures that when the scanning end 13 is close to the object 200 being scanned, a sufficiently large common area can be obtained for 3D reconstruction and stitching. It also reduces the height of the front end of the scanning end 13, facilitating deeper penetration into narrow oral spaces. The aforementioned "moving backward" is defined as a translation towards the direction of the scanner host 30. The aforementioned "10mm" is defined as the distance between the geometric center of the projection imaging mechanism 20 in the embodiment shown in Figure 1 and the geometric center of the projection imaging mechanism 20 in the embodiment shown in Figure 3.

[0056] During the operation of the 3D scanner 1, since the scanning end 13 needs to be inserted into the oral cavity, the warm and humid environment inside the oral cavity can easily cause fogging on the reflective surface 41 of the reflector 40, thus affecting the scanning accuracy.

[0057] Referring to Figure 4, in at least one embodiment of this application, the 3D scanner 1 further includes an anti-fog mechanism 50. The anti-fog mechanism 50 is used to remove fog from the reflector 40 by driving the reflector 40 to vibrate (or yaw, that is, to rotate at high speed and back and forth at small angles in two opposite directions) in order to improve detection accuracy.

[0058] The reflector 40 also has a mounting surface 42 facing away from the reflective surface 41. The anti-fog mechanism 50 is connected to the mounting surface 42 of the reflector 40 and is electrically connected to the scanner host 30. The anti-fog mechanism 50 is used to drive the reflector 40 to vibrate in a preset direction, amplitude, and frequency under the control of the scanner host 30.

[0059] Furthermore, by driving the reflector 40 to vibrate, the angle of the reflected light (scanning light L1, detection light L2 and illumination light L3) can be changed.

[0060] The scanner host 30 is used to control the anti-fog mechanism 50 to drive the tilting mode of the reflector 40, specifically including controlling one or any combination of the direction, angle, and frequency of the tilting of the reflector 40.

[0061] Regarding the direction of the sway, the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to sway back and forth in at least two directions. For example, the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to sway back and forth in a first direction and a second direction, where the first direction and the second direction are perpendicular to each other. Regarding the direction of the sway, the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to sway back and forth in at least two directions. In this embodiment, the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to sway back and forth in a first direction and a second direction, where the first direction and the second direction are perpendicular to each other. Using the orientation in Figure 5 as a reference, in this embodiment, "the reflector 40 sways back and forth in the first direction" is defined as: the reflector 40 rotates alternately to the left and right around a first axis X, where the first axis X is parallel to the first side 411 of the reflecting surface 41. In this embodiment, "reflector 40 oscillates back and forth in the second direction" is defined as follows: the reflector 40 rotates alternately upward and downward around the second axis Y, the second axis Y being parallel to the second side 412 of the reflecting surface 41, that is, the second side 412 is perpendicular to the first side 411.

[0062] In other embodiments of this application, the first direction and the second direction may not be perpendicular. In other embodiments of this application, the reflector 40 may also oscillate back and forth in directions other than the first and second directions. For example, the reflector 40 may also oscillate back and forth around the diagonal of the reflecting surface 41.

[0063] Regarding the yaw amplitude (or yaw angle), the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to have 360° yaw freedom in each direction, and controls the anti-fog mechanism 50 to drive the reflector 40 to rotate by the same angle during reciprocating yaw. For example, the reflector 40 rotates alternately to the left and right around the x-axis, each having 180° yaw freedom. In at least one embodiment of this application, the yaw freedom of the reflector 40 can be set, for example, to ±60°, ±45°, ±30°, etc.

[0064] Regarding the yaw angle, the scanner host 30 also controls the anti-fog mechanism 50 to drive the reflector 40 to yaw back and forth at the same angle within one yaw cycle. In this embodiment, the aforementioned "one yaw cycle" is defined as: one consecutive leftward and one consecutive rightward yaw, or one consecutive upward and one consecutive downward rotation. For example, the yaw angle of the reflector 40 is 45° when it rotates left and right around the first axis X; the yaw angle of the reflector 40 is 45° when it rotates upward and downward around the second axis Y.

[0065] Regarding the yaw angle, the scanner host 30 is also used to control the anti-fog mechanism 50 to drive the reflector 40 to maintain the same angle for each single yaw. In this embodiment, the aforementioned "single yaw" is defined as: rotating to the left about the first axis X, rotating to the right about the first axis X, rotating upward about the second axis Y, or rotating downward about the second axis Y. For example, the reflector 40 rotates 45° each time it rotates to the left, to the right, upward about the second axis Y, and downward about the second axis Y.

[0066] In other embodiments of this application, the reflector 40 may have different degrees of freedom of yaw in different directions, the angle of yaw during one yaw may be different, and the angle of each yaw may not be the same.

[0067] Regarding the order of oscillation, the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to alternately oscillate in at least two directions. For example, in this embodiment, the reflector 40 first oscillates left and right once around the first axis X, and then oscillates up and down once around the second axis Y. During the entire scanning process, the reflector 40 oscillates alternately in the first and second directions according to the above oscillation process.

[0068] In other embodiments of this application, the scanner host 30 can also be used to control the anti-fog mechanism 50 to drive the reflector 40 to reciprocate in at least two directions in sequence. For example, the reflector 40 first reciprocates left and right around the first axis X in the first time period, and then reciprocates up and down around the second axis Y in the second time period.

[0069] Regarding the oscillation frequency, the scanner host 30 controls the anti-fog mechanism 50 to drive the reflector 40 to oscillate at the same frequency throughout the entire scanning cycle. The more times the reflector 40 oscillates in a single operation per second, the higher the frequency. For example, in one embodiment, the reflector 40 oscillates at a frequency greater than or equal to 3 times / second (i.e., oscillates uniformly 3 times per second); in another embodiment, the reflector 40 oscillates at a frequency greater than or equal to 10 times / second (i.e., oscillates uniformly 10 times per second); in yet another embodiment, the reflector 40 oscillates at a frequency greater than or equal to 20 times / second (i.e., oscillates uniformly 20 times per second); in yet another embodiment, the reflector 40 oscillates at a frequency greater than or equal to 50 times / second (i.e., oscillates uniformly 50 times per second); in yet another embodiment, the reflector 40 oscillates at a frequency greater than or equal to 100 times / second (i.e., oscillates uniformly 100 times per second); and in yet another embodiment, the reflector 40 oscillates at a frequency greater than or equal to 200 times / second (i.e., oscillates uniformly 200 times per second).

[0070] In other embodiments of this application, the scanner host 30 may also adjust the frequency of the reflector 40 throughout the entire 3D scanning cycle. For example, the yaw frequency may be increased when scanning an area of ​​particular interest.

[0071] The anti-fog mechanism 50 is a micro motor, such as an electric motor, voice coil motor, or piezoelectric ceramic motor, used to drive the reflector 40 to deflect rapidly. Referring to Figure 6, in at least one embodiment, the anti-fog mechanism 50 is a piezoelectric ceramic motor, including a mounting base 51, a piezoelectric element 52, a connecting rod 53, and a rotating wheel 54. The mounting base 51 is fixedly connected to the housing 10. The two ends of the piezoelectric element 52 are respectively fixedly connected to the mounting base 51 and the connecting rod 53. The rotating wheel 54 is connected to the end of the connecting rod 53 away from the piezoelectric element 52. The scanner host 50 outputs a driving voltage to the piezoelectric element 52, causing the piezoelectric element 52 to vibrate. The connecting rod 53 transmits the vibration to the rotating wheel 54, causing the rotating wheel 54 to rotate. The direction of the driving voltage controls the direction of rotation of the rotating wheel 54, and the amplitude of the driving voltage controls the angle of rotation of the rotating wheel 54. The reflector 40 is fixedly connected to the rotating wheel 54 for synchronous rotation under the drive of the rotating wheel 54.

[0072] In at least one embodiment of this application, the anti-fogging mechanism 50 can also defog the reflector 40 by heating it to improve detection accuracy. Referring to Figure 7, in this embodiment, the anti-fogging mechanism 50 includes a heat-conducting plate 55. One end of the heat-conducting plate 55 is connected to the projection imaging mechanism 20, and the other end extends to the mounting surface 42 of the reflector 40. The heat-conducting plate 55 is made of a material with high thermal conductivity to conduct the heat generated during the operation of the projection imaging mechanism 20 to the reflector 40, causing the temperature of the reflector 40 to rise. This helps to eliminate fog on the surface of the reflector 40, prevent water droplets from condensing, and improve scanning accuracy. By setting the heat-conducting plate 55 to have the largest possible contact area with the projection imaging mechanism 20 and the reflector 40, heating efficiency is improved.

[0073] In at least one embodiment of this application, the anti-fogging mechanism 50 can also defog the reflector 40 by blowing air onto the reflector to improve detection accuracy. In this embodiment, the anti-fogging mechanism 50 includes a heating structure and a fan (not shown). The heating structure continuously generates heat, and the fan blows the heat from the heating structure as hot air onto the reflector 40 to remove fog from the surface of the reflector 40. In at least one embodiment of this application, the anti-fogging mechanism 50 may also include only a fan, which directly blows air onto the reflector 40 to remove fog.

[0074] Please refer to Figure 8. The three-dimensional scanning system 100 of this application embodiment includes any of the aforementioned three-dimensional scanners 1 and a control device 2. The control device 2 is connected to the scanner host 30 and the projection imaging mechanism 20. It is used to control the two trigger signals output by the scanner host 30, and also to receive image data generated by each camera 222 in the projection imaging mechanism 20, process and calculate the image data to obtain the three-dimensional information of the object 200 to be measured.

[0075] The control device 2 can be a smart terminal (e.g., a computer). The 3D scanner 1 and the control device 2 can be connected via wired or wireless means to achieve signal and data transmission. The object to be measured 200 includes tissues inside the human oral cavity such as teeth and gums. The 3D information acquired by the 3D scanning system 100 includes the 3D shape and texture information of the teeth, gums, and other parts.

[0076] This application also provides a three-dimensional scanning method in embodiment two, applied to the three-dimensional scanning system 100 in embodiment two. Referring to Figure 9, the above-mentioned three-dimensional scanning method includes:

[0077] Step S1: Drive the projection imaging mechanism to emit scanning light;

[0078] Step S2: Drive the reflector to swing back and forth so as to project the scanning light onto different areas of the target object;

[0079] Step S3: Control the projection imaging mechanism to sense the detection light reflected by the scanning light in different areas of the target object to obtain image data; and

[0080] Step S4: Obtain the three-dimensional information of the target object based on the image data.

[0081] When no scanning action is required, the 3D scanning system 100 remains off. After powering on the 3D scanning system 100, the user can hold the 3D scanner 1 and insert the scanning end 12 of the 3D scanner 1 into the patient's oral cavity. Power on the 3D scanning system 100 to begin 3D scanning.

[0082] In step S1, the control device 2 sends a drive signal to drive the light source 41 in the projection assembly to emit scanning light L1 at a certain power. In step S2, the control device 2 sends a drive signal to the scanner host 30, causing the scanner host 30 to control the anti-fog mechanism 50 to drive the reflector 40 to reciprocate in a preset manner (direction, angle, sequence, frequency) to project the scanning light L1 onto different areas of the target object. During the deflection of the reflector 40 in step S2, the user can simultaneously move and / or rotate the scanning end 12 of the 3D scanner 1 slightly, coordinating with the deflection of the reflector 40 to scan the patient's oral cavity, including the teeth and gums.

[0083] When scanning light L1 illuminates the surface of the target object, the target object can reflect scanning light L1. In this embodiment, the scanning light reflected by the target object 200 is defined as detection light L2. During the continuous scanning of the target object 200 in step S2, the target object 200 synchronously and continuously reflects detection light L2. Then, in step S3, the reflector 40 continuously reflects detection light L2 to the camera 222 in the projection imaging mechanism. In step S3, the control device 2 continuously receives the electrical signal generated by the camera 222 based on the detection light L2.

[0084] In this embodiment, the scanning light L1 reflected by the reflector 40 covers a specific scanning area at each angle state. The two scanning areas covered by the scanning light L1 at two adjacent angle states have overlapping areas, thus ensuring that no area of ​​the target object 200 that needs to be scanned is missed. For example, Figure 10 shows the area covered by the scanning light L1 reflected by the reflector 40 at the first angle state, and Figure 11 shows the area covered by the scanning light L1 at the second angle state.

[0085] As shown in Figures 10 and 11, in this embodiment, the scanning light L1 can approximately cover the areas of two adjacent teeth (including tooth 202, part of tooth 202, and part of tooth 203) and the interdental spaces G1 and G2. In the state shown in Figure 10, the reflecting surface 41 of the mirror 40 is approximately parallel to the dentition direction, which facilitates clear acquisition of images of the dentition surface. In the state shown in Figure 11, the mirror 40 is tilted to a position not parallel to the dentition, which facilitates clear acquisition of images of the interdental spaces.

[0086] The process of the reflector 40 deflecting from the angle shown in Figure 10 to the angle shown in Figure 11 can be regarded as a process of deflection in the first direction. Therefore, in this embodiment, the deflection of the reflector 40 in the first direction is mainly used to acquire a complete image of the tooth alignment direction. When the reflector 40 deflects in the second direction, the coverage area of ​​the scanning light L1 moves in the tooth height direction. Therefore, in this embodiment, the deflection of the reflector 40 in the second direction is mainly used to acquire a complete image of the teeth and gingiva in the tooth height direction.

[0087] In step S4, the control device 2 processes the electrical signal generated by the detection light L2 to obtain image data of the target object. In this embodiment, the image data obtained by the control device 2 at each angle state of the reflector 40 is defined as one frame of image data. Therefore, during the continuous scanning and sensing process in steps S2 and S3, the control device 2 can successively acquire multiple frames of image data corresponding to different regions on the target object 200.

[0088] In step S4, the control device 2 is also used to stitch together the aforementioned multi-frame image data to obtain complete three-dimensional information of the target object 200. Based on the aforementioned multi-frame image data, the control device 2 uses a preset algorithm to reconstruct the three-dimensional data of the target object, transforming the three-dimensional data of the reflector 40 in the coordinate system at various angles to the global coordinate system of the 3D scanner system, so as to stitch together the overall three-dimensional information of the target object. The control device 2 also performs real-time optimization based on all the stitched three-dimensional data to reduce the cumulative error caused by stitching or slight gingival vibration.

[0089] In at least one embodiment of this application, multiple frames of image data are continuously acquired in step S3, and after step S3, the method further includes: when it is determined from the image data that there is fog or other foreign matter (such as saliva or debris in the mouth) on the surface of the reflector, the deflection frequency of the reflector is increased.

[0090] In this embodiment, for example, when abnormal spots are present in several consecutive frames of images acquired in real time, and the parameters such as the depth value of the three-dimensional reconstructed point cloud, the average depth of each point cloud, and the gray level difference between two corresponding pixels in adjacent intraoral scan images are abnormal after three-dimensional reconstruction based on the images, the control device 2 can determine that there is fog or foreign matter on the reflector 40.

[0091] The aforementioned depth value refers to the vertical distance between the surface of the scanned target object and the surface of the scanning window. If the depth value of at least one target point in the 3D reconstructed point cloud is outside the preset depth value range, it is determined that the corresponding position of that target point on the lens is obscured by fog or foreign objects. If the average depth of at least one target point in the 3D reconstructed point cloud is less than a preset average depth threshold, it is determined that the corresponding position of at least one target point on the lens is obscured by fog or foreign objects. If the grayscale difference is less than or equal to a preset grayscale difference threshold, it is determined that the corresponding position of one of the two target pixels on the lens is obscured by fog or foreign objects.

[0092] When it is determined that there is fog or foreign matter on the reflector 40, the control device 2 controls the anti-fog mechanism 50 to increase the deflection frequency of the reflector 40, for example, increasing the deflection frequency of the reflector 40 from 45Hz to 60Hz, from 60Hz to 90Hz, from 90Hz to 120Hz, etc., which helps to eliminate fog or foreign matter.

[0093] In at least one embodiment of this application, when it is determined that there is fog or foreign matter on the reflector 40, in addition to increasing the deflection frequency of the reflector 40, the control device 2 also simultaneously increases the frequency of the sensing and detection light of the acquisition component, so that the scanning light projection frequency and the detection light acquisition frequency tend to be consistent, which can effectively avoid image ghosting and delay.

[0094] In at least one embodiment of this application, the control device 2 calculates and outputs three-dimensional information in real time during scanning, and can obtain complete three-dimensional information of the target object at the end of the scanning. In at least one embodiment of this application, the control device 2 may also store image data first during the scanning process, and then perform centralized data processing and calculation after the scanning process is completed to directly output complete three-dimensional information. In this embodiment, "outputting three-dimensional information" means, for example, displaying the three-dimensional shape of the target object as an image on the display screen.

[0095] The three-dimensional scanning system 100, three-dimensional scanner 1, and three-dimensional scanning method of Embodiment 2 of this application, based on achieving the beneficial effects of Embodiment 1, by setting a reflector 40, continuously driving the reflector 40 to swing at high speed during the scanning of the target object 200, even if the three-dimensional scanner 1 is applied to the high-temperature and high-humidity oral scanning environment, the high-speed swing of the reflector 40 can effectively suppress fogging of the mirror surface and water droplet adhesion / condensation, achieving the effect of defogging in intraoral scanning.

[0096] Furthermore, due to the physiological structure of teeth, there may be defects in the gaps between teeth or the pit and fissure areas (the gaps G1 and G2 mentioned above) that are difficult to be irradiated by the fixed scanning head. In this embodiment of the application, by driving the galvanometer 20 to swing rapidly in at least two directions, it is beneficial to collect image data of the gaps between teeth and the pit and fissure areas.

[0097] Furthermore, by continuously driving the reflector 40 to swing at high speed during the scanning of the target object 200, the scanning speed can be effectively improved. The three-dimensional scanning system 100 of this application embodiment can shorten the duration of one scanning cycle (the scanning cycle for acquiring complete three-dimensional information of the target object 200) from 10-15 minutes in the comparative example to a duration of seconds (within 10 seconds).

[0098] Furthermore, since the entire scanning process mainly relies on the preset driver program of the control device 2 to drive the reflector 40 to swing at high speed to completely scan the target object 200, user operation is required less during the scanning process. This helps reduce the learning cost for users operating the 3D scanner 1, enabling rapid data acquisition during scanning operations, or allowing patients to operate it themselves, thus increasing the adoption rate of the 3D scanning system. On the other hand, it also avoids operational errors or accidental stitching mistakes caused by users manually operating the scanner, leading to rework. Referring to Figure 8, the control device 2 includes a drive control unit 210, a processing and calculation unit 220, and a calibration unit 230. The drive control unit 210 is connected to the scanner host 30 and is used to control the two trigger signals output by the scanner host 30. The processing and calculation unit 220 is electrically connected to the projection imaging mechanism 20 and the calibration unit 230, respectively.

[0099] The calibration unit 230 stores the pre-calibrated relative positional relationships of the projection heads 221 in each projection imaging unit 22, and also stores the pre-calibrated transformation relationship between the projection heads 221 and the world coordinate system of the 3D scanner 1. The processing and calculation unit 220 is used to directly convert single-frame 3D data to the world coordinate system of the 3D scanner 1, thereby stitching together the single-frame 3D data generated by the cameras 222 at each position to form the full dental arch 3D data. During calibration, images of the calibration plate or calibration block are simultaneously acquired from multiple angles using each projection head 221, and the transformation relationship between the two coordinate systems is calculated using a calibration algorithm.

[0100] In at least one embodiment of this application, the calibration unit 230 can also be used to perform calibration during the use of the 3D scanner 1 or the 3D scanning system 100, thereby updating, replacing or adding transformation relationships between coordinate systems.

[0101] In at least one embodiment of this application, when the 3D scanner 1 includes an anti-fog mechanism 50, the anti-fog mechanism 50 may also be electrically connected to the control device 2 so that the mirror 40 is defogging under the control of the control device 2.

[0102] In at least one embodiment of this application, the 3D scanning system 100 may also be used in conjunction with a scanning rod (not shown) for 3D scanning. The 3D scanner is used to scan the scanning rod inside the oral cavity to acquire images of the scanning rod, and the control device is used to acquire global data of the scanning rod based on the images, thereby acquiring 3D data of the object under test.

[0103] In this embodiment, a scanning rod is installed in the oral cavity of the patient being scanned. The surface of the scanning rod has specific geometric patterns and / or optically coded markings. For example, the geometric patterns can be high-contrast patterns, regular geometric shapes (such as circles and squares), or irregular geometric shapes (such as grooves and protrusions). The markings can be uncoded or coded, such as uncoded marker points or coded marker points. The specific geometric patterns and / or markings can be uniformly or non-uniformly distributed on the actual scanning rod. The 3D scanner 1 can determine the spatial pose of the scanning rod by recognizing these markings, providing a stable coordinate system reference for subsequent scanning. In this embodiment, the 3D scanner 1 has an array-type projection imaging unit 22, which can acquire images of the scanning rod for full-mouth implantation at once using a wide field of view. Multiple cameras can acquire multiple image frames of the oral cavity with the scanning rod installed at the same position. The control device can perform 3D reconstruction of the scanning rod based on these multiple image frames, thereby improving the overall accuracy of the 3D reconstruction and making subsequent restoration design based on the target 3D data, improving the implantation success rate, improving the matching degree between the restoration product and the patient, and improving patient comfort.

[0104] The surface of the scanning rod has multiple coded marker points, meaning the scanning rod can be a coded scanning rod. These coded marker points can be accurately captured by the 3D scanner 1 during scanning, serving as reference points to help the 3D scanner 1 identify and position the scanning rod at multiple angles or locations. This ensures that when the 3D scanner 1 captures dental data at different angles, the control device 2 can automatically align and stitch together local scanned images through algorithms to form a complete 3D model. Furthermore, in this embodiment, the 3D scanner 1 has an array-type projection imaging unit 22, which can acquire images of the coded scanning rods for full-mouth implants in a single pass using a wide field of view. The control device 2 can then acquire global data of the coded scanning rods based on this image. This global data is used to build a 3D model of the dental arch, which helps improve the accuracy of full-mouth implants.

[0105] The three-dimensional scanning system 100 described in this application can achieve all the beneficial effects of the three-dimensional scanner 1 mentioned above.

[0106] This application also provides a non-volatile computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any of the above-described three-dimensional scanning methods.

[0107] When the aforementioned 3D scanning method is implemented and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0108] The control device 2 of this application embodiment includes a memory and a processor. The memory stores a computer program, and when the processor reads the computer program, it controls the three-dimensional scanning system 100 to perform the steps of the three-dimensional scanning method as described above.

[0109] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the main control device 2, connecting various parts of the entire 3D scanning system 100 via various interfaces and lines.

[0110] The memory is used to store the computer programs and / or modules. The processor implements various functions of the 3D scanning system 100 by running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0111] Those skilled in the art should recognize that the above embodiments are only used to illustrate this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of protection claimed by this application. Industrial applicability

[0112] The 3D scanner, 3D scanning system, and 3D scanning method provided in this application, by placing the projection imaging mechanism entirely at the front of the housing's scanning end and combining near and far-view image acquisition, can acquire detailed, high-precision data of the object under test during near-view image acquisition, and achieve rapid scanning and stitching during far-view image acquisition, reducing rework caused by operational errors or accidental stitching mistakes. Therefore, the 3D scanner of this application can quickly (typically within 10 seconds) and accurately acquire the 3D morphology and texture information of the entire dentition and gingival surface, improving the scanning experience for the scanned person (or patient). Simultaneously, because the scanning light has a large field of view at long distances, no strict scanning rules or path requirements are needed during scanning operations, increasing the flexibility of the scanning method and reducing the learning cost for users (or medical personnel), thereby increasing the adoption rate of 3D scanners. Furthermore, by independently encapsulating each projection imaging unit, it helps prevent relative displacement of the projection head and camera in position and angle, thus improving 3D scanning accuracy. Therefore, the 3D scanner, 3D scanning system, and 3D scanning method of this application have strong industrial applicability.

Claims

1. A three-dimensional scanner, characterized in that, include: The housing has a handheld end and a scanning end, wherein the scanning end has a light-transmitting portion; A projection imaging mechanism is located inside the housing and at the scanning end. The projection imaging mechanism includes multiple projection imaging units that are independently packaged. Each projection imaging unit includes a projection head and a camera. The projection head is used to project scanning light through the light-transmitting part. The camera is used to receive the detection light reflected by the object under test according to the scanning light and to generate image data of the object under test based on the detection light. as well as The scanner host, located inside the housing, is electrically connected to the projection head and the camera, and is used to control the triggering sequence of the projection head and the camera.

2. The three-dimensional scanner as described in claim 1, characterized in that, It also includes a reflector located inside the housing and at the scanning end; The projection head is used to project the scanning light toward the reflector, and the reflector is used to reflect the scanning light to the light-transmitting part.

3. The three-dimensional scanner as described in claim 2, characterized in that, It also includes an anti-fog mechanism located within the housing; The anti-fog mechanism includes motors connected to the scanner host and the reflector respectively, and the motors are controlled by the scanner host to drive the reflector to vibrate.

4. The three-dimensional scanner as described in claim 3, characterized in that, The motor is controlled by the scanner host to drive the reflector to reciprocate in at least a first direction and a second direction that are not parallel, at a preset frequency and a preset amplitude.

5. The three-dimensional scanner as described in claim 2, characterized in that, It also includes an anti-fog mechanism located within the housing; The anti-fog mechanism includes at least a heat-conducting plate, which is connected to the projection imaging mechanism and the reflector respectively, and is used to conduct the heat of the projection imaging mechanism to the reflector to heat the reflector.

6. The three-dimensional scanner as described in any one of claims 1-5, characterized in that, Each of the projection imaging units includes a projection head and two cameras symmetrically distributed on both sides of the projection head; and / or The projection imaging mechanism also includes an illumination source located around the plurality of projection imaging units for emitting illumination light.

7. A three-dimensional scanning system, characterized in that, include: A 3D scanner as described in any one of claims 1-6; as well as A control device, electrically connected to the cameras in the plurality of projection imaging units, is used to acquire the three-dimensional data of the object under test based on the image data generated by each of the projection imaging units.

8. The three-dimensional scanning system as described in claim 7, characterized in that, When the 3D scanner includes a reflector, it also includes an anti-fog mechanism located within the housing. The anti-fog mechanism is connected to the control device and the reflector, and is controlled by the control device to remove fog from the reflector.

9. The three-dimensional scanning system as described in claim 8, characterized in that, The control device includes a processing and computing unit and a calibration unit connected to each other. The calibration unit is used to acquire and / or store the transformation relationship between the global coordinate system of the 3D scanner and the coordinate system of the scanning head in each projection imaging unit. The processing and computing unit is used to stitch together the image data generated by each of the projection imaging units based on the transformation relationship to obtain the three-dimensional data of the object under test.

10. The three-dimensional scanning system as described in claim 7, characterized in that, The 3D scanner is used to scan the scanning rod inside the oral cavity to acquire images of the scanning rod, and the control device is used to acquire global data of the scanning rod based on the images, thereby acquiring 3D data of the object under test.

11. A three-dimensional scanner, characterized in that, include: case; A projection imaging mechanism, located inside the housing, is used to emit scanning light and receive detection light reflected by the target object according to the scanning light to generate image data; A reflector, located inside the housing and in the optical path of the scanning light, is used to reflect the scanning light from the projection imaging mechanism; as well as An anti-fog mechanism, located inside the housing and connected to the reflector, is used to drive the reflector to reciprocate, so that the reflector projects the scanning light onto different areas of the target object in a time-division manner. The image data corresponding to the detection light reflected from different areas of the target object is used to obtain the three-dimensional information of the target object.

12. The three-dimensional scanner as described in claim 11, characterized in that, The projection imaging mechanism includes a projection head and a camera; The projection head is used to emit scanning light into the oral cavity; The camera is used to collect detection light reflected by the scanning light from the dental arch and / or gingiva in the oral cavity to generate image data; The reflector is used to reflect the scanning light from the projection head into the oral cavity.

13. A three-dimensional scanning system, characterized in that, include: A projection imaging mechanism for emitting scanning light and receiving detection light reflected by a target object according to the scanning light; A reflector, located in the optical path of the scanning light, is used to reflect the scanning light from the projection imaging mechanism; An anti-fog mechanism, connected to the reflector, is used to drive the reflector to reciprocate and deflect, so that the reflector projects the scanning light onto different areas of the target object in a time-division manner; as well as A control device is connected to the projection imaging mechanism and the anti-fog mechanism respectively, used to control the deflection mode of the reflector driven by the anti-fog mechanism, and to acquire the three-dimensional information of the target object based on the detection light.

14. The three-dimensional scanning system as described in claim 13, characterized in that, The control device is used to control the anti-fog mechanism to drive the reflector to reciprocate in one or any combination of directions, angles, sequences, and frequencies.

15. The three-dimensional scanning system as described in claim 14, characterized in that, The control device is used to control the anti-fog mechanism to drive the reflector to reciprocate in at least a first direction and a second direction that are not parallel.

16. The three-dimensional scanning system as described in claim 15, characterized in that, The first direction is perpendicular to the second direction; and / or The anti-fog mechanism is used to drive the reflector to oscillate 360° in a first direction and / or a second direction; and / or The anti-fog mechanism is used to drive the reflector to deflect at a frequency of greater than or equal to 3 times per second.

17. The three-dimensional scanning system as described in any one of claims 13-16, characterized in that, The control device is used to generate multiple frames of three-dimensional data based on the detection light reflected from different areas on the target object, and to stitch the multiple frames of three-dimensional data together based on a preset coordinate transformation relationship to generate the overall three-dimensional shape of the target object.

18. The three-dimensional scanning system as described in any one of claims 13-16, characterized in that, The reflector is also used to reflect the detection light to the projection imaging mechanism.

19. The three-dimensional scanning system as described in any one of claims 13-16, characterized in that, It also includes a control device electrically connected to the projection imaging mechanism. The control device includes a calibration unit, which is used to calibrate and / or store the transformation relationship between the coordinate systems of the reflector and the 3D scanner, so that the control device can obtain the 3D information of the target object based on the image data acquired by the projection imaging mechanism.

20. A three-dimensional scanning method, characterized in that, The system is used in a 3D scanning system, which includes a projection head, a camera, and a reflector. The three-dimensional scanning method includes: Drive the projection head to emit scanning light; The reflector is driven to swing back and forth so as to project the scanning light onto different areas of the target object; The camera is controlled to capture image data of the detection light reflected by the scanning light from different areas of the target object; and The three-dimensional information of the target object is obtained based on the image data.

21. The three-dimensional scanning method as described in claim 20, characterized in that, Following the step of acquiring image data, the following is also included: When it is determined from the image data that there is fog / foreign matter on the surface of the reflector, the deflection frequency of the reflector is increased.

22. The three-dimensional scanning method as described in claim 21, characterized in that, When there is fog or foreign matter on the surface of the reflector, the frequency of the detection light sensed by the acquisition component is also increased simultaneously.

23. The three-dimensional scanning method as described in claim 20, characterized in that, The step of obtaining the three-dimensional information of the target object based on the image data includes: Based on the image data, a preset algorithm is used to reconstruct the three-dimensional data, and the three-dimensional data of the coordinate system at each angle of the reflector is transformed into the global coordinate system of the three-dimensional scanning system to obtain the complete three-dimensional information of the target object.

24. A readable storage medium, characterized in that, The device contains a computer program that, when executed by a processor, implements all the steps of the three-dimensional scanning method as described in any one of claims 20-23.

Images