CN107303204B - Handheld oral three-dimensional scanning device and control method - Google Patents
Handheld oral three-dimensional scanning device and control method Download PDFInfo
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- CN107303204B CN107303204B CN201610252136.0A CN201610252136A CN107303204B CN 107303204 B CN107303204 B CN 107303204B CN 201610252136 A CN201610252136 A CN 201610252136A CN 107303204 B CN107303204 B CN 107303204B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
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Abstract
The invention relates to a hand-held oral three-dimensional scanning device, comprising: the characteristic pattern projector is used for projecting a characteristic pattern to the surface of the measured object; two sets of camera lenses with different focal depths respectively form different included angles with the projection direction of the characteristic pattern projector, are used for receiving fringe patterns which are diffusely reflected from the surfaces of the oral cavity objects to be scanned with different depth-diameter ratios, and can complete reflected light pickup of different depth areas of the same object to be scanned through electronic switching; the computer realizes space coordinate calculation and multi-view scanning data splicing through software; the computer is electrically connected with the characteristic pattern projector and the camera lens respectively. The invention can combine the flexibility of the hand movement of an operator and the high efficiency of large-size single-view scanning, and two sets of cameras with different focal depths respectively scan the posterior tooth area and the anterior tooth area of the impression to quickly obtain the three-dimensional surface data of the impression to be orally taken.
Description
Technical Field
The invention relates to an oral three-dimensional scanning device and also relates to a control method of the handheld oral three-dimensional scanning device.
Background
The oral cavity three-dimensional scanning is in vigorous demand, the scanning motion path of the existing common dental model three-dimensional scanner is preset by a production party, oral cavity models and oral impression models of different individuals have larger morphological difference, when the device is used for scanning, the scanning path cannot be set individually, so that the scanning path cannot traverse the surfaces of all scanned objects, or unnecessary repeated scanning of the same surface area is caused, the scanning efficiency is influenced, a large amount of redundant scanning data can increase the data fusion difficulty, and the scanning error is increased.
The hand-eye cooperation of people can realize the degree of freedom exceeding that of a multi-axis numerical control motion structure, and targeted high-efficiency supplementary scanning can be carried out by observing the current scanning result on a computer screen. The handheld scanner can achieve the above-described effects. However, there are a large number of raised areas inside the mouth, on the surface of the model and impression, as well as areas such as the interproximal areas of the full-coronal preparation, the post-nuclear preparation, the implant area, and the anterior dental area or the area with a large undercut of the oral impression. Most of the existing industrial handheld scanners are fixed focal depths, and a single focal depth camera and a single included angle of a projection receiving light path hardly meet all scanning requirements of the interior of an oral cavity, a model and an impression.
Disclosure of Invention
The invention aims to provide a handheld oral three-dimensional scanning device with two built-in focal depths and two built-in projection receiving light path included angle shooting functions, which can combine the flexibility of hand movement of an operator and the high efficiency of large-size single-view field scanning, and two sets of cameras with different focal depths respectively scan a back tooth area and a front tooth area of an impression to quickly obtain three-dimensional surface data of the impression to be taken in an oral cavity. Compared with the fixed scanning program scanning mode for the traditional multi-axis electronic control motion mechanism, a large number of unnecessary scanning angles can be reduced, the detection efficiency is improved, meanwhile, the error in the image splicing process can be reduced, and the scanning accuracy is improved. Compared with a common handheld three-dimensional scanning device, the zoom depth scanning can be realized by switching the current working camera, and the scanning requirements of oral areas with different depth-diameter ratios are met.
In order to achieve the purpose, the invention has the following technical scheme:
the invention discloses a hand-held oral three-dimensional scanning device, which comprises:
the characteristic pattern projector is used for projecting a characteristic pattern to the surface of the measured object;
two sets of camera lenses with different focal depths respectively form different included angles with the projection direction of the characteristic pattern projector, are used for receiving fringe patterns which are diffusely reflected from the surfaces of the oral cavity objects to be scanned with different depth-diameter ratios, and can complete reflected light pickup of different depth areas of the same object to be scanned through electronic switching;
the computer realizes space coordinate calculation and multi-view scanning data splicing through software;
the computer is electrically connected with the characteristic pattern projector and the camera lens respectively.
The camera lens comprises a main camera lens and an auxiliary camera lens, the scanning area of the main camera lens is larger than that of the auxiliary camera lens, but the focal depth of the main camera lens is smaller than that of the auxiliary camera lens, and the main camera lens is suitable for scanning the inside of the oral cavity and most of the area of the model impression; the auxiliary camera lens is suitable for scanning the inside of an oral cavity with a larger depth-diameter ratio, a pile-core preparation body and an implantation area on a model, and an anterior tooth area or an area with a larger undercut of an oral impression.
The characteristic pattern projector comprises a control system, a lens driving system and a projection lens, wherein the control system is connected with the lens driving system, the lens driving system is connected with the projection lens, the characteristic pattern projector is connected with a computer and is controlled to project a structural light pattern preset in the computer, the computer can control the parameters of the shape, the frequency and the speed of the pattern in the projection process, and the projected pattern is subjected to structural light coding for three-dimensional measurement.
The control system comprises a programmable controller, an SD card, a JTAG interface, a FLASH and SDRAM synchronous dynamic random access memory, wherein the programmable controller is respectively connected with the SD card, the JTAG interface, the FLASH and the SDRAM synchronous dynamic random access memory; the lens driving system comprises a DLPC300 digital controller, an MDDR memory, a Trigger, a FLASH and an LED device, wherein the DLPC300 digital controller is respectively connected with the MDDR memory, the Trigger, the FLASH and the LED device.
The invention discloses a control method of a handheld oral three-dimensional scanning device, which comprises the following steps:
1) the computer controls the characteristic pattern projector to project characteristic patterns to the surface of the measured object;
2) scanning most of the area of a scanned object by using a main camera lens;
3) switching the current working camera lens to an auxiliary camera lens, and performing supplementary scanning according to the pile-core preparation body, the implantation area and the anterior tooth area or the blind area with larger undercut of the oral impression displayed on a computer screen;
4) after scanning, the software automatically carries out automatic registration, splicing and fusion on the scanning data.
Wherein the feature pattern projector operating steps comprise: firstly, storing a pattern picture required to be projected in a SD card by vision measurement through a computer according to a specified format, after a system is electrified and initialized, reading image data stored in the SD card by a programmable controller, caching the image data into a synchronous dynamic random memory, then sending a command of a mode and a format required to project the image to a DLPC300 digital controller through an I2C interface, controlling the DLP3000 digital controller and a three-color light source in a projection lens to project the image data by the DLPC300 digital controller according to a control command of the programmable controller, and outputting a level trigger signal for synchronizing the acquisition trigger of a camera lens while projecting the image.
Wherein the software comprises the method steps of a software algorithm: a handheld oral three-dimensional scanning system is composed of a main camera lens C1, an auxiliary camera lens C2 and a characteristic pattern projector P, wherein a focal depth monocular measuring system S1 is composed of the main camera lens C1 and the characteristic pattern projector P, and another focal depth monocular measuring system S2 is composed of the auxiliary camera lens C2 and the characteristic pattern projector P; before system scanning, calibrating each monocular measurement system, solving a rotation matrix R and a translation vector T of the two monocular measurement systems, respectively scanning different focal depth areas at the same position of a measurement object by the two monocular measurement systems when measurement is performed, and performing coordinate conversion on measurement data of each monocular measurement system according to the calibrated rotation matrix and the translation vector RT to realize that the measurement data is converted into a global coordinate system;
the basic principle of each monocular measurement system is a trigonometry measurement principle, a surface characteristic pattern projector and a camera lens, patterns are drawn according to a certain coding method, the patterns are projected onto the surface of an object and are modulated by the height of the surface of the object, the projected patterns can deform, the purpose of three-dimensional scanning measurement is to realize the correspondence of projected image surface pixels and camera pixels according to a trigonometry, collected coded structured light is set as input data of the measurement system, point cloud data reconstructed by three-dimensional measurement is set as output data, and an integral mapping function exists between the input and the output, wherein the integral mapping function is as shown in the formula:
the function represents a mapping model between three-dimensional measurement inputs and outputs, where (x)w,yw,zw) Is three-dimensional data to be reconstructed, (U)i,Vi,φi) Is the image coordinate and code, (S)abc,Qabc,Rabc) Is a mapping function of the input and output data, and n is a mapping order.
The invention has the advantages that:
1. the flexibility of hand movement of an operator and the high efficiency of large-size single-view scanning can be combined, two sets of cameras with different focal depths respectively scan the posterior tooth area and the anterior tooth area of the impression, and the three-dimensional surface data of the impression to be taken in the oral cavity can be quickly obtained.
2. Compared with the fixed scanning program scanning mode for the traditional multi-axis electronic control motion mechanism, a large number of unnecessary scanning angles can be reduced, the detection efficiency is improved, meanwhile, the error in the image splicing process can be reduced, and the scanning accuracy is improved.
3. Compared with a common handheld three-dimensional scanning device, the zoom depth scanning can be realized by switching the current working camera lens, and the scanning requirements of oral areas with different depth-diameter ratios are met.
Drawings
FIG. 1 is a diagram of a feature pattern projector operating principle hardware architecture;
FIG. 2 is a diagram of a model system architecture;
FIG. 3 is a side view pattern structured light measurement system model.
In the figure, 1, an object to be measured; 2. a characteristic pattern projector phase plane; 3. a camera lens; 4. a projection lens; 5. pixel point coordinates; 6. a camera phase; c1, main camera lens; c2, auxiliary camera lens; p, a characteristic pattern projector; r, a rotation matrix; t, translation vector; pi, structured light plane.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1-3, the invention provides a hand-held oral three-dimensional scanning device, comprising:
the characteristic pattern projector is used for projecting a characteristic pattern to the surface of the measured object;
two sets of camera lenses with different focal depths respectively form different included angles with the projection direction of the characteristic pattern projector, are used for receiving fringe patterns which are diffusely reflected from the surfaces of the oral cavity objects to be scanned with different depth-diameter ratios, and can complete reflected light pickup of different depth areas of the same object to be scanned through electronic switching;
the computer realizes space coordinate calculation and multi-view scanning data splicing through software;
the computer is electrically connected with the characteristic pattern projector and the camera lens respectively.
The camera lens comprises a main camera lens and an auxiliary camera lens, the scanning area of the main camera lens is larger than that of the auxiliary camera lens, but the focal depth of the main camera lens is smaller than that of the auxiliary camera lens, and the main camera lens is suitable for scanning the inside of the oral cavity and most of the area of the model impression; the auxiliary camera lens is suitable for scanning the inside of an oral cavity with a larger depth-diameter ratio, a pile-core preparation body and an implantation area on a model, and an anterior tooth area or an area with a larger undercut of an oral impression.
The characteristic pattern projector comprises a control system, a lens driving system and a projection lens, wherein the control system is connected with the lens driving system, the lens driving system is connected with the projection lens, the characteristic pattern projector is connected with a computer and is used for controlling the characteristic pattern projector, a preset structured light pattern in the computer is projected, the computer can control the shape, frequency and speed parameters of the pattern in the projection process, and the projected pattern is subjected to structured light coding and used for three-dimensional measurement.
The control system comprises a programmable controller, an SD card, a JTAG interface, a FLASH and a synchronous dynamic random access memory, wherein the programmable controller is respectively connected with the SD card, the JTAG interface, the FLASH and the synchronous dynamic random access memory; the lens driving system comprises a DLPC300 digital controller, an MDDR memory, a Trigger, a FLASH and an LED device, wherein the DLPC300 digital controller is respectively connected with the MDDR memory, the Trigger, the FLASH and the LED device.
The invention discloses a control method of a handheld oral three-dimensional scanning device, which comprises the following steps:
1) the computer controls the characteristic pattern projector to project characteristic patterns to the surface of the measured object;
2) scanning most of the area of a scanned object by using a main camera lens;
3) switching the current working camera lens to an auxiliary camera lens, and performing supplementary scanning according to the pile-core preparation body, the implantation area and the anterior tooth area or the blind area with larger undercut of the oral impression displayed on a computer screen;
4) after scanning, the software automatically carries out automatic registration, splicing and fusion on the scanning data.
The characteristic pattern projector operating steps include: firstly, storing a pattern picture required to be projected in a SD card by vision measurement through a computer according to a specified format, after a system is electrified and initialized, reading image data stored in the SD card by a programmable controller, caching the image data into a synchronous dynamic random memory, then sending a command of a mode and a format required to project the image to a DLPC300 digital controller through an I2C interface, controlling the DLP3000 digital controller and a three-color light source in a projection lens to project the image data by the DLPC300 digital controller according to a control command of the programmable controller, and outputting a level trigger signal for synchronizing the acquisition trigger of a camera lens while projecting the image.
Referring to fig. 2, the software includes the method steps of a software algorithm: a handheld oral three-dimensional scanning system is composed of a main camera lens C1, an auxiliary camera lens C2 and a characteristic pattern projector P, wherein a focal depth monocular measuring system S1 is composed of the main camera lens C1 and the characteristic pattern projector P, and another focal depth monocular measuring system S2 is composed of the auxiliary camera lens C2 and the characteristic pattern projector P; before system scanning, calibrating each monocular measurement system, solving a rotation matrix R and a translation vector T of the two monocular measurement systems, respectively scanning different focal depth areas at the same position of a measurement object by the two monocular measurement systems when measurement is performed, and performing coordinate conversion on measurement data of each monocular measurement system according to the calibrated rotation matrix and the translation vector RT to realize that the measurement data is converted into a global coordinate system;
the basic principle of each monocular measurement system is a triangulation measurement principle, a pattern-based surface structured light three-dimensional measurement system structure is shown in figure 3, a surface characteristic pattern projector and a camera lens, the pattern is a pattern drawn according to a certain coding method, the projected pattern is projected on the surface of an object and can be deformed under the modulation of the height of the surface of the object, the three-dimensional scanning measurement aims at realizing the correspondence of a projected image surface pixel and a camera pixel according to the triangulation, the collected coded structured light is set as input data of the measurement system, point cloud data reconstructed by three-dimensional measurement is set as output data, and an integral mapping function exists between the input and the output, wherein the integral mapping function is as shown in the formula:
the function represents a mapping model between three-dimensional measurement inputs and outputs, where (x)w,yw,zw) Is three-dimensional data to be reconstructed, (U)i,Vi,φi) Is shown in the figureImage coordinates and codes, (S)abc,Qabc,Rabc) Is a mapping function of the input and output data, and n is a mapping order.
As described above, the present invention can be more fully realized. The above description is only a reasonable embodiment of the present invention, and the scope of the present invention includes but is not limited to the above description, and any insubstantial modifications of the technical solution of the present invention by those skilled in the art are included in the scope of the present invention.
Claims (7)
1. A hand-held oral three-dimensional scanning device, comprising:
the characteristic pattern projector is used for projecting a characteristic pattern to the surface of the measured object;
two sets of camera lenses with different focal depths respectively form different included angles with the projection direction of the characteristic pattern projector, are used for receiving fringe patterns which are diffusely reflected from the surfaces of the oral cavity objects to be scanned with different depth-diameter ratios, and can complete reflected light pickup of different depth areas of the same object to be scanned through electronic switching;
the computer realizes space coordinate calculation and multi-view scanning data splicing through software;
the computer is electrically connected with the characteristic pattern projector and the camera lens respectively.
2. The hand-held oral three-dimensional scanning device of claim 1, wherein: the camera lens comprises a main camera lens and an auxiliary camera lens, the scanning area of the main camera lens is larger than that of the auxiliary camera lens, but the focal depth of the main camera lens is smaller than that of the auxiliary camera lens, and the main camera lens is suitable for scanning the inside of the oral cavity and most of the area of the model impression; the auxiliary camera lens is suitable for scanning the inside of an oral cavity with a larger depth-diameter ratio, a pile-core preparation body and an implantation area on a model, and an anterior tooth area or an area with a larger undercut of an oral impression.
3. The hand-held oral three-dimensional scanning device of claim 1, wherein: the characteristic pattern projector comprises a control system, a lens driving system and a projection lens, wherein the control system is connected with the lens driving system, the lens driving system is connected with the projection lens, the characteristic pattern projector is connected with a computer and is used for controlling the characteristic pattern projector, a preset structured light pattern in the computer is projected, the computer can control the shape, frequency and speed parameters of the pattern in the projection process, and the projected pattern is subjected to structured light coding and used for three-dimensional measurement.
4. The hand-held oral three-dimensional scanning device of claim 3, wherein: the control system comprises a programmable controller, an SD card, a JTAG interface, a FLASH and a synchronous dynamic random access memory, wherein the programmable controller is respectively connected with the SD card, the JTAG interface, the FLASH and the synchronous dynamic random access memory; the lens driving system comprises a DLPC300 digital controller, an MDDR memory, a Trigger, a FLASH and an LED device, wherein the DLPC300 digital controller is respectively connected with the MDDR memory, the Trigger, the FLASH and the LED device.
5. A control method of a handheld oral three-dimensional scanning device is characterized by comprising the following steps:
1) the computer controls the characteristic pattern projector to project characteristic patterns to the surface of the measured object;
the camera lens comprises a main camera lens and an auxiliary camera lens, the scanning area of the main camera lens is larger than that of the auxiliary camera lens, but the focal depth of the main camera lens is smaller than that of the auxiliary camera lens, and the main camera lens is suitable for scanning the inside of the oral cavity and most of the area of the model impression; the auxiliary camera lens is suitable for scanning the inside of an oral cavity with a larger depth-diameter ratio, a pile-core preparation body and an implantation area on a model, and an anterior tooth area or an area with a larger undercut of an oral impression;
2) scanning most of the area of a scanned object by using a main camera lens;
3) switching the current working camera lens to an auxiliary camera lens, and performing supplementary scanning according to the pile-core preparation body, the implantation area and the anterior tooth area or the blind area with larger undercut of the oral impression displayed on a computer screen;
two sets of camera lenses with different focal depths respectively form different included angles with the projection direction of the characteristic pattern projector, are used for receiving fringe patterns which are diffusely reflected from the surfaces of the oral cavity objects to be scanned with different depth-diameter ratios, and can complete reflected light pickup of different depth areas of the same object to be scanned through electronic switching;
4) after scanning, the software of the computer automatically carries out automatic registration, splicing and fusion on the scanning data.
6. The method of claim 5 wherein said feature pattern projector operating step comprises: firstly, storing a pattern picture required to be projected in a SD card by vision measurement through a computer according to a specified format, after a system is electrified and initialized, reading image data stored in the SD card by a programmable controller, caching the image data into a synchronous dynamic random memory, then sending a command of a mode and a format required to project the image to a DLPC300 digital controller through an I2C interface, controlling the DLP3000 digital controller and a three-color light source in a projection lens to project the image data by the DLPC300 digital controller according to a control command of the programmable controller, and outputting a level trigger signal for synchronizing the acquisition trigger of a camera lens while projecting the image.
7. The method of claim 6 wherein said software includes the method steps of a software algorithm: a hand-held oral three-dimensional scanning system is composed of a main camera lens (C1), an auxiliary camera lens (C2) and a characteristic pattern projector (P), wherein a focal depth monocular measuring system (S1) is composed of the main camera lens (C1) and the characteristic pattern projector (P), and another focal depth monocular measuring system (S2) is composed of the auxiliary camera lens (C2) and the characteristic pattern projector (P); before system scanning, calibrating each monocular measurement system, solving a rotation matrix (R) and a translation vector (T) of the two monocular measurement systems, respectively scanning different focal depth areas at the same position of a measurement object by the two monocular measurement systems when measurement is performed, and performing coordinate conversion on measurement data of each monocular measurement system according to the calibrated rotation matrix and translation vector (RT) to realize that the measurement data is converted into a global coordinate system;
the basic principle of each monocular measurement system is a trigonometry measurement principle, a surface characteristic pattern projector and a camera lens, patterns are drawn according to a certain coding method, the patterns are projected onto the surface of an object and are modulated by the height of the surface of the object, the projected patterns can deform, the purpose of three-dimensional scanning measurement is to realize the correspondence of projected image surface pixels and camera pixels according to a trigonometry, collected coded structured light is set as input data of the measurement system, point cloud data reconstructed by three-dimensional measurement is set as output data, and an integral mapping function exists between the input and the output, wherein the integral mapping function is as shown in the formula:
the function represents a mapping model between three-dimensional measurement inputs and outputs, where (x)w,yw,zw) Is three-dimensional data to be reconstructed, (U)i,Vi,φi) Is the image coordinate and code, (S)abc,Qabc,Rabc) Is a mapping function of the input and output data, and n is a mapping order.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108577995A (en) * | 2018-04-16 | 2018-09-28 | 苏州佳世达电通有限公司 | Mouth sweeps equipment and its control method |
| CN108827151B (en) * | 2018-06-22 | 2020-05-19 | 北京大学口腔医学院 | Data registration method and data registration system |
| CN110623763B (en) * | 2018-06-22 | 2023-03-14 | 阿莱恩技术有限公司 | Intraoral 3D scanner with multiple miniature cameras and miniature pattern projectors |
| EP3928686A4 (en) * | 2019-02-19 | 2023-03-29 | Medit Corp. | Combined intraoral and impression scanning system and method |
| CN112426240B (en) * | 2021-01-05 | 2021-07-13 | 深圳市伊奈美科技开发有限公司 | Telescopic three-dimensional high accuracy scanner in oral cavity |
| CN112998892A (en) * | 2021-01-29 | 2021-06-22 | 深圳市维新登拓医疗科技有限公司 | Oral imaging method, system and device, and readable storage medium |
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Effective date of registration: 20210707 Address after: 100081 No. 22 South Main Street, Haidian District, Beijing, Zhongguancun Patentee after: PEKING University SCHOOL OF STOMATOLOGY Patentee after: Nanjing Yixing Information Technology Co.,Ltd. Address before: 5009, scientific research building, School of Stomatology, Peking University, 22 Zhongguancun South Street, Haidian District, Beijing 100081 Patentee before: PEKING University SCHOOL OF STOMATOLOGY Patentee before: NANJING SMART3D INFORMATION TECHNOLOGY Co.,Ltd. |
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