CN118000947A - Three-dimensional scanner system for intraoral use - Google Patents

Abstract

A three-dimensional scanner system for intraoral use is disclosed. And acquiring the three-dimensional morphology of the intraoral scanning object by adopting an imaging method based on a grating sheet. The uniformity of light transmitted by the beam combining lens assembly is improved by adding the light homogenizing assembly arranged at the rear ends of the three-color laser assembly and the beam combining lens assembly, and laser speckle is reduced, so that the image quality is improved. The rotary color grating sheet, the three-color laser component and the color CMOS sensor are matched with each other, the rotary color grating sheet and the three-color laser component are matched with each other, three-dimensional data of an object scanned in a mouth is rebuilt by utilizing light assistance of multiple colors, illumination light can be supplemented to solve the problem of insufficient light in an oral environment, and image quality is improved. The design of the rotary color grating sheet integrates a projection light path and an illumination light path, simplifies the number of light paths, avoids the oversized instrument system size, and is more suitable for the scanning work requirement in the oral cavity.

Description

Three-dimensional scanner system for intraoral use

Technical Field

The application relates to the technical field of oral cavity scanning, in particular to an intraoral three-dimensional scanner system.

Background

With the development of precision machining and manufacturing industry and the continuous advancement of optical technology, many industries are increasingly demanding in detecting three-dimensional features of objects. There are many methods for obtaining three-dimensional shapes of objects at present.

For example, sinusoidal stripe solutions based on time coding are matched, and then three-dimensional reconstruction and splicing fusion are performed, so that the three-dimensional appearance of an object is obtained. For another example, the three-dimensional morphology of the object is obtained based on an algorithm of time-coded stripe center line extraction, three-dimensional reconstruction and splicing fusion. Both of these methods are based on time encoding for three-dimensional reconstruction, and cannot be used for handheld scanning, so that it is difficult to perform high-precision scanning operation in an access port, and the method is inconvenient to apply in an oral scanning scene. Also, both methods are costly because they require high frame rate cameras and high speed algorithm support. In addition, the three-dimensional morphology of the object can be obtained based on the microscopic confocal three-dimensional imaging principle. The method has the problem of high hardware processing cost.

An imaging method based on a grating sheet can be used for acquiring the three-dimensional shape of an object. The method is cost-effective compared to the several solutions described above. The method uses laser as a light source, but because laser speckle is easy to influence the uniformity of a light field, if the method is applied to an intraoral scanning scene, the method can interfere the accuracy of intraoral three-dimensional shape detection, so that the high-quality imaging effect is difficult to ensure. In the scanning process, not only three-dimensional point cloud information but also real color information are required to be acquired, the oral environment is often insufficient in light, and an external light source is required to supplement light. At present, a white illumination light path is generally introduced for supplementing light for an imaging mode of matching a laser light source with a grating sheet, but the light supplementing scheme increases the size of the whole instrument system.

Disclosure of Invention

Based on the above problems, the present application provides a three-dimensional scanner system for intraoral use, and aims to provide a low-cost, small-sized three-dimensional scanner suitable for oral environment, improving imaging quality problems.

The embodiment of the application discloses the following technical scheme:

the present application provides a three-dimensional scanner system for intraoral use, comprising: the three-color laser device comprises a three-color laser device assembly, a beam combining lens assembly, a dodging assembly, a rotary color grating sheet, a projection lens, a reflecting mirror assembly, an imaging lens, a color CMOS sensor and a processor;

The three-color laser component, the beam combining lens component and the dodging component are sequentially arranged on an illumination light path of the system; the rotary color grating sheet and the projection lens are sequentially arranged on a projection light path of the system; the imaging lens and the color CMOS sensor are sequentially arranged on an imaging light path of the system; the reflector assembly is arranged between the projection light path and the imaging light path;

The three-color laser component is used for respectively generating laser light with three colors and supplementing an illumination light source for intraoral scanning imaging;

the beam combining lens assembly is used for combining the light beams from the three-color laser assembly;

the light homogenizing component is used for improving the uniformity of light transmitted by the beam combining lens component and reducing laser speckles;

the rotary color grating sheet has a rotary light transmission characteristic and is used for realizing the coding of laser light with various colors by rotating and matching with the three-color laser component;

The projection lens is used for projecting the light transmitted by the rotary color grating sheet to the reflecting mirror component;

the reflecting mirror component is used for turning the light transmitted by the projection lens to the surface of an intraoral scanning object and turning the light reflected by the intraoral scanning object to the imaging lens;

the imaging lens is used for transmitting the light beam from the reflecting mirror assembly to the color CMOS sensor;

The color CMOS sensor is used for performing photoelectric conversion according to received light and sending an electric signal to the processor;

The processor is used for generating a three-dimensional morphology image of the intraoral scanning object according to the received electric signals.

In an alternative implementation, the rotary color grating sheet includes: a rotation shaft, a transmission grating and a light-transmitting sheet; the transmission grating and the light-transmitting sheet encircle the periphery of the rotating shaft and are not overlapped with each other; the rotation axis is parallel to the incident light direction of the rotary color grating sheet; the transmission grating and the light-transmitting sheet are driven by the rotating shaft to rotate; the transmission grating comprises a first grating region and a second grating region;

When the first grating region rotates to the illumination light path, the first grating region is used for encoding and transmitting light of one color of the three colors;

When the second grating region rotates to the illumination light path, the second grating region is used for encoding and transmitting light of another color among the three colors;

When the light-transmitting sheet rotates to the illumination light path, the light-transmitting sheet is used for directly transmitting laser.

In an alternative implementation, the three colors include: red, green, and blue;

The first grating region is used for coding and transmitting blue laser, and the second grating region is used for coding and transmitting green laser;

when the three-color laser component only generates blue laser, the first grating region rotates to the illumination light path;

When the three-color laser component only generates green laser, the second grating region rotates to the illumination light path;

When the three-color laser component simultaneously generates red laser, blue laser and green laser, the light-transmitting sheet rotates to the illumination light path.

In an alternative implementation, the processor is configured to:

Generating a blue stripe encoding pattern based on an electrical signal converted by the color CMOS sensor when the first grating region rotates to the illumination light path, and generating a green stripe encoding pattern based on an electrical signal converted by the color CMOS sensor when the second grating region rotates to the illumination light path;

Reconstructing three-dimensional data of the intraoral scanning object based on the blue stripe encoding pattern and the green stripe encoding pattern;

Acquiring color scanning information of the intraoral scanning object based on the electric signal converted by the color CMOS sensor when the transparent sheet rotates to the illumination light path;

and fusing and aligning the color scanning information and the three-dimensional data to generate a true color three-dimensional image of the intraoral scanning object.

In an alternative implementation, the light-transmitting sheet includes a frame and a hollow window located in the frame, and the frame is in the same plane.

In an alternative implementation, the light-transmitting sheet is a sheet-like light-transmitting material.

In an alternative implementation, the three-color laser assembly includes: the first laser, the second laser and the third laser are respectively used for generating laser light of three colors;

The beam combining lens assembly comprises a first beam combining lens and a second beam combining lens which are arranged in tandem on an illumination light path; the first beam combining lens and the second beam combining lens are respectively provided with a light transmission surface and a light reflection surface;

The first laser and the second laser are respectively positioned at one side of a light transmission surface and one side of a light reflection surface of the first beam combining mirror; the first laser and the second laser are both positioned on one side of the light transmission surface of the second beam combining lens, and the third laser is positioned on one side of the light reflection surface of the second beam combining lens;

When the first laser and the second laser work, the first beam combining lens is used for combining incident light of a self light transmission surface and a reflection surface;

When the third laser works and at least one of the first laser and the second laser works, the second beam combiner is used for combining incident light of the self light-transmitting surface and the reflecting surface.

In an alternative implementation, the dodging component includes: a bit pattern and a microlens array arranged in tandem on the illumination path.

In an alternative implementation, the projection lens includes a liquid optic.

In an alternative implementation, the liquid lens and the color CMOS sensor are controlled in unison; the color CMOS sensor is used for synchronous acquisition in the process of controlled focal length adjustment of the liquid lens.

In an alternative implementation manner, the system further comprises a relay lens group, wherein the relay lens group is arranged at the tail end of the illumination light path and is used for transmitting the light beam emitted by the dodging component to the rotary color grating sheet.

Compared with the prior art, the application has the following beneficial effects:

the three-dimensional scanner system for the intraoral scan provided by the embodiment of the application adopts an imaging method based on a grating sheet to acquire the three-dimensional shape of the intraoral scan object. In the scheme, the uniformity of light transmitted by the beam combining lens assembly is improved by adding the light homogenizing assembly arranged at the rear ends of the three-color laser assembly and the beam combining lens assembly, and laser speckle is reduced, so that the image quality is improved. The rotary color grating sheet, the three-color laser component and the color CMOS sensor are matched with each other, and the rotary color grating sheet and the three-color laser component are matched for use, so that the three-dimensional data of an object scanned in an oral cavity can be reconstructed by utilizing light assistance of multiple colors, the problem of insufficient light in the oral cavity environment can be solved by supplementing illumination light, and the image quality is improved. The improvement of image quality means that the scanning result is more accurate and can meet the medical requirements. In addition, the design of the rotary color grating sheet integrates a projection light path and an illumination light path, so that the number of light paths can be reduced, the excessive instrument system size is avoided, and the optical scanning device is more suitable for the scanning work requirement in an oral cavity. Compared with the existing technology for acquiring the three-dimensional shape of the object based on the microscopic confocal three-dimensional imaging principle or based on the time coding three-dimensional imaging method, the cost is lower.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a top view of a three-dimensional scanner system for intraoral use according to an embodiment of the present application;

FIG. 2 is a schematic diagram of light path division according to an embodiment of the present application;

FIG. 3 is a front view of a rotary color grating sheet according to an embodiment of the present application;

FIG. 4 is a front view of another rotary color grating sheet according to an embodiment of the present application;

fig. 5 is a top view of another configuration of a three-dimensional scanner system for intraoral use provided by embodiments of the present application.

Detailed Description

As described above, the current method for three-dimensional reconstruction based on time encoding and the method for obtaining the three-dimensional shape of the object based on the microscopic confocal three-dimensional imaging principle have the common problem: the cost is high. Especially, the former has a problem that a user cannot hold the scan by this technique, which is not suitable for an oral scan scene. Although the imaging method using the grating sheet has the advantage of lower cost, the problem that the imaging method cannot overcome the problem still exists, namely the problem that the image quality is poor due to the use of a laser light source and the problem that the detection accuracy is affected by scattered laser is solved. The scheme of introducing a white illumination light path to carry out light filling solves the problem of insufficient light, but the size of the whole instrument system is increased due to the introduction of an additional illumination light path for light filling, so that the popularization and the use of scanning scenes in an oral cavity of a scanning instrument developed by the scheme are influenced.

The inventors have studied to provide a new three-dimensional scanner system for intraoral use. The system is specially provided with a light homogenizing component for improving the uniformity of light transmitted by the beam combining lens component and reducing laser speckles so as to improve the adverse effect on image quality when a laser source scans in an opening. In addition, it is proposed to use a rotary color grating sheet to realize coding of color light in cooperation with a trichromatic laser assembly. The design of the rotary color grating sheet integrates a projection light path and an illumination light path, so that the number of light paths can be reduced, and the oversized instrument system size is avoided. Meanwhile, the three-color laser component is used as a light source for generating color light, can assist in realizing illumination supplement, and improves the problem of insufficient light in the oral environment, so that the imaging quality is assisted in improving, and a user is helped to obtain a better and accurate three-dimensional scanning result.

In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, a structural plan view of a three-dimensional scanner system for intraoral use is provided in accordance with an embodiment of the present application. As shown in fig. 1, the three-dimensional scanner system provided in the embodiment of the present application mainly includes: the three-color laser assembly 10, combiner assembly 20, light homogenizing assembly 30, rotary color grating sheet 40, projection lens 50, mirror assembly 60, imaging lens 70, and color CMOS sensor 80, and further, the three-dimensional scanner system includes a processor, which is not shown in fig. 1. The processor may be particularly connected to devices supporting electrical control and/or having electrical signal transmission capabilities in the architecture shown in fig. 1. For example, the processor may be coupled to the color CMOS sensor 80 shown in fig. 1, may be coupled to the tri-color laser assembly 10, and so on.

According to the main functions completed by the light path generated during the operation of the three-dimensional scanner system in the mouth, the light path is divided into three main parts, namely: an illumination light path, a projection light path, and an imaging light path. Fig. 2 is a schematic diagram of optical path division according to an embodiment of the present application. In conjunction with the optical path division illustrated in fig. 2, it can be known that in the three-dimensional scanner system for intraoral use provided by the embodiment of the present application, the lasers 11 to 13 in the three-color laser assembly, the beam combining lenses 21 to 22 in the beam combining lens assembly, and the dodging assembly 30 are sequentially disposed on the illumination optical path of the system. The rotary color grating sheet 40 and the projection lens 50 are sequentially disposed on the projection light path of the system. The imaging lens 70 and the color CMOS sensor 80 are sequentially disposed on an imaging optical path of the system. The mirror assembly 60 has the function of receiving the light beam of the projection light path as a relay between the projection light path and the imaging light path and reflecting the light beam to the intraoral scanned object for imaging, and thus the mirror assembly 60 can be regarded as being disposed between the projection light path and the imaging light path.

From the foregoing, it will be appreciated that the relative positions of the various components in a three-dimensional scanner system may be generally understood, and that an exemplary discharge location may be seen with particular reference to FIGS. 1 and 2. The main functions and actions of each device when the three-dimensional scanner system operates are described below.

A three-color laser assembly 10 for generating three colors of laser light, respectively, to supplement the illumination source for intraoral scanning imaging. As an example, the tri-color laser assembly 10 may produce red, green, and blue lasers. In an alternative implementation, each color of laser light generated by the trichromatic laser assembly 10 may be independently controllable, for example, trichromatic laser assembly 10 may be controlled to generate only green light, only blue light, or trichromatic laser assembly 10 may be controlled to generate red light, green light, and blue light simultaneously.

The three-color laser assembly 10 shown in fig. 1 and 2 includes three lasers for emitting laser light of different colors. As an example, in fig. 1 and 2, the first laser 11 is responsible for emitting blue laser light, the second laser 12 is responsible for emitting green laser light, and the third laser 13 is responsible for emitting red laser light. In practical applications, the above functional settings of the lasers are only examples, and the positions of the red, green and blue lasers can be adjusted according to the use requirements or the optical path length requirements.

And a combiner assembly 20 for combining the light beams from the three-color laser assembly 10. As shown in fig. 1 and 2, the beam combiner assembly 20 may include a first beam combiner 21 and a second beam combiner 22 arranged in tandem on the illumination light path. The first beam combiner 21 and the second beam combiner 22 each have a light-transmitting surface and a light-reflecting surface, and combine two or more light rays with different wavelengths onto one optical path by a transmission and reflection method. In an alternative implementation manner, by setting materials of the first beam combining lens 21 and the second beam combining lens 22, the first beam combining lens 21 can transmit laser light with a wavelength emitted by the first laser 11, and the first beam combining lens 21 can reflect laser light with a wavelength emitted by the second laser 12; the second beam combining mirror 22 is enabled to transmit the laser light of the wavelength emitted by the first laser 11 and the second laser 12, and the second beam combining mirror 22 is enabled to reflect the laser light of the wavelength emitted by the third laser 13.

In the beam combining lens assembly 20, the first beam combining lens 21 and the second beam combining lens 22 each have a light transmitting surface and a light reflecting surface. As shown by the light path arrows in fig. 1 and 2, the first laser 11 and the second laser 12 are respectively located on the light-transmitting surface side and the light-reflecting surface side of the first beam combiner 21, the third laser 13 is located on the light-reflecting surface of the second beam combiner 22, and accordingly, the first laser 11 and the second laser 12 can be considered to be co-located on the light-transmitting surface side of the second beam combiner 22, and the laser light emitted by the first laser 11 and the second laser 12 is finally transmitted by the second beam combiner 22.

When the first laser 11 and the second laser 12 are both operated, the first beam combiner 21 is configured to combine incident light of the light-transmitting surface and the light-reflecting surface; when the third laser 13 is operated and at least one of the first laser 11 and the second laser 12 is operated, the second beam combiner 22 is used for combining the incident light of the light transmitting surface and the light reflecting surface. It can be understood that when only the first laser 11 is operated, the first beam combiner 21 and the second beam combiner 22 transmit the light beam emitted by the first laser 11 first and then; when only the second laser 12 works, the first beam combiner 21 and the second beam combiner 22 reflect and transmit the light beam emitted by the second laser 12 first and second; when only the third laser 13 is operated, only the second beam combiner 22 is responsible for reflecting the light beam emitted by the third laser 13.

In the present application, the beam combiner assembly 20 formed by arranging the first beam combiner 21 and the second beam combiner 22 in parallel with each other is merely an exemplary form of the beam combiner assembly 20. In actual use, the two beam combining lenses can be arranged in a splayed or inverted splayed mode according to design requirements. In addition, the specific number of beam combining lenses in the beam combining lens assembly 20 is not limited in the present application, and the extreme end of the beam combining lens can combine the laser beams with multiple colors into one beam for transmission.

In a three-dimensional scanner system for intraoral use, the light homogenizing component 30 is used for improving uniformity of light transmitted by the beam combining lens component 20 and reducing laser speckles. In an example implementation, the light homogenizing component 30 includes a bit-line photograph and a microlens array arranged in tandem on the illumination light path. The micro lens array has the characteristic of small form and size, and the number, the size and the selection of the lenses arranged in the micro lens array can be designed according to actual dodging requirements and requirements for resolving spots. The two are combined for use, so that the effects of homogenizing light and reducing laser spots can be achieved. Therefore, after passing through the dodging component 30, the light beam passes through the projection light path and the imaging light path, and compared with the light beam which does not pass through the dodging component 30, the imaging effect can be obviously improved.

The rotary color grating sheet 40 has a rotation selective light transmission characteristic for encoding laser light of a plurality of colors by rotationally fitting the three-color laser assembly 10.

Fig. 3 is a front view of a rotary color grating sheet 40 according to an embodiment of the present application. As shown in fig. 3, the rotary color grating sheet includes: a rotation shaft 41, a transmission grating 42, and a light-transmitting sheet 43. The transmission grating 42 and the light-transmitting sheet 43 may surround the periphery of the rotation shaft 41 without overlapping each other. Thus, when the rotation shaft 41 rotates, the transmission grating 42 and the transmission sheet can also rotate correspondingly along with the driving of the rotation shaft 41. Fig. 3 is a front view of the rotary color grating sheet 40, so that the rotary shaft 41 is shown in a dot shape, and the rotary shaft 41 can be rotated around the rotary shaft 41 in the paper surface shown in fig. 3 during the rotation, for example, in fig. 3. The rotation can be clockwise rotation or anticlockwise rotation, and the rotation direction can be set according to shooting requirements. In the embodiment of the present application, the rotation of the rotary color grating sheet 40 may be manually controlled, or may be electrically controlled, or may be controlled by voice in a possible implementation, and the control manner is not particularly limited herein.

In one example, the light transmissive sheet 43 within the rotary color grating sheet 40 may include a bezel and a hollow window within the bezel, the bezel being in the same plane. For example, the shape of the frame is similar to four sides of a rectangle, the four sides are in the same plane, a rectangular frame on the same plane is constructed, the rectangular frame is hollow, and no material is arranged.

In another example, the light-transmitting sheet 43 in the rotary color grating sheet 40 is a sheet-like light-transmitting material. The light-transmitting material is, for example, a light-transmitting film or sheet provided with a light-transmitting band covering red light, green light and blue light bands.

The rotation axis 41 and the direction of incident light of the rotary color grating sheet 40 are parallel to each other. The transmission grating 42 includes a first grating region 421 and a second grating region 422. Fig. 4 is a front view of another rotary color grating sheet 40 according to an embodiment of the present application. The first grating area 421 and the second grating area 422 respectively correspond to different colors of light, and it is also understood that the first grating area 421 and the second grating area 422 respectively correspond to different wavelengths of laser, or the first grating area 421 and the second grating area 422 respectively correspond to different wavelengths of laser, and are responsible for encoding and transmitting the laser emitted by the corresponding laser, or the laser of the corresponding color.

When the first grating area 421 is rotated to the illumination light path (i.e., the light transmitted at the end of the illumination light path is directed toward the first grating area 421), the first grating area 421 is used to encode and transmit light of one of the three colors.

When the second grating region 422 is rotated to the illumination path (i.e., the light transmitted at the end of the illumination path is directed at the second grating region 422), the second grating region 422 is used to encode and transmit light of another color of the three colors.

When the light-transmitting sheet 43 is rotated to the illumination light path (i.e., the light transmitted at the end of the illumination light path is directed toward the light-transmitting sheet 43), the light-transmitting sheet 43 is used to directly transmit the laser light.

For example, the tri-color laser assembly 10 may each produce one or more combinations of blue, green, and red lasers. Wherein the first grating area 421 corresponds to blue laser light, and is used for encoding and transmitting the blue laser light; the second grating region 422 corresponds to the green laser light for encoding and transmitting the green laser light. In this example scenario, the first grating region 421 may also be referred to as a blue light encoding region and the second grating region 422 may also be referred to as a green light encoding region, in combination with the respective colors and respective roles of the light for the first and second grating regions 421 and 422, respectively. When the three-color laser assembly 10 only generates blue laser light, the laser for emitting blue laser light is turned on, and the other two lasers are turned off, and the rotary color grating sheet 40 is controlled to rotate the first grating area 421 to the illumination light path. Similarly, when the three-color laser assembly 10 is generating only green laser light, it means that the laser for emitting green laser light is on and the other two lasers are off, at which time the rotary color grating sheet 40 is controlled to rotate the second grating region 422 to the illumination light path. If all three lasers of the three-color laser assembly 10 are operated, the red, blue and green lasers are all lighted, and the rotary color grating 40 is controlled to rotate the light-transmitting sheet 43 to the illumination light path.

When the laser emitting red light works, the red light is mainly used for being mixed with green laser and blue laser to form white light, and the effect of supplementing illumination is provided for the inside of the oral cavity.

In the above-described examples, the laser is controlled to operate, and then the rotary color grating sheet 40 is controlled to rotate to the corresponding area and be coupled to the illumination light path. In other possible implementations, the rotation of the rotary color grating sheet 40 may be controlled first, and then the laser is activated to perform three-dimensional scanning of the intraoral scanned object. Therefore, the execution sequence of the two actions is not limited in the embodiment of the present application.

In a three-dimensional scanner system for intraoral use, a projection lens 50 is used to project light transmitted by a rotary color grating sheet 40 to a mirror assembly 60. The reflecting mirror assembly 60 is used for turning the light transmitted by the projection lens 50 to the surface of the intraoral scanning object 100 and turning the light reflected by the intraoral scanning object 100 to the imaging lens 70. The mirror assembly 60 may be a single mirror as shown in fig. 1 and 2, and in addition, the mirror assembly 60 may include other numbers of mirrors or devices with reflective capabilities in conjunction with specific use requirements.

In fig. 1 and 2, only a block-shaped object is used as an example form and an example position of the intraoral scanning object 100 to assist in understanding the operation and operation principle of the three-dimensional scanner system. In practice, the intraoral scanning object 100 may be in other forms, or the intraoral scanning object 100 may be in other possible relative positional relationships with other devices in the three-dimensional scanner system. In an example, intraoral scanning object 100 may include: tongue, teeth or inner walls of the mouth, etc.

An imaging lens 70 for transmitting the light beam from the mirror assembly 60 to a color CMOS sensor 80. In fig. 1 and 2, the imaging lens 70 includes 3 lenses as an example, and in a specific implementation, other numbers of lenses may be provided according to imaging requirements, and the lens selection is not limited to a convex lens, and may include lenses with other shapes such as a concave lens.

The color CMOS sensor 80 performs photoelectric conversion based on the received light and transmits an electric signal to the processor. And the processor is used for generating a three-dimensional morphology image of the intraoral scanning object according to the received electric signals.

In particular operation, and in connection with one example described above, the processor may generate a blue stripe encoding pattern based on the electrical signal converted by the color CMOS sensor 80 when the first grating region is rotated into the illumination light path, and a green stripe encoding pattern based on the electrical signal converted by the color CMOS sensor 80 when the second grating region is rotated into the illumination light path. Based on the blue stripe encoding pattern and the green stripe encoding pattern (which differ in the characteristic information contained in the two patterns), three-dimensional data of the intraoral scanned object is reconstructed. Based on the electric signals converted by the color CMOS sensor 80 when the transparent sheet rotates to the illumination light path, color scanning information of the intraoral scanning object is obtained, and then the color scanning information and the three-dimensional data are fused and aligned to generate a true color three-dimensional image of the intraoral scanning object. Thus, the scanning of the three-dimensional morphology of the intraoral scanning object is completed, and a corresponding color three-dimensional image is obtained.

The three-dimensional scanner system for the intraoral scan provided by the embodiment of the application adopts an imaging method based on a grating sheet to acquire the three-dimensional shape of the intraoral scan object. In this scheme, through adding the even light subassembly 30 of establishing at three-colour laser subassembly 10 and beam combining mirror subassembly 20 rear end, improve the homogeneity of the light that beam combining mirror subassembly 20 sees through to reduce laser speckle, thereby promote the image quality. The rotary color grating sheet 40, the three-color laser assembly 10 and the color CMOS sensor 80 are matched with each other, and the rotary color grating sheet 40 and the three-color laser assembly 10 are matched for use, so that not only can three-dimensional data of an object scanned in an intraoral reconstruction port be assisted by light of various colors be utilized, but also illumination light can be supplemented to solve the problem of insufficient light in an oral environment, and image quality is improved. The improvement of image quality means that the scanning result is more accurate and can meet the medical requirements. In addition, the design of the rotary color grating sheet 40 integrates the projection light path and the illumination light path, so that the number of light paths can be reduced, the excessive instrument system size can be avoided, and the scanning device is more suitable for the scanning work requirement in the oral cavity. Compared with the existing technology for acquiring the three-dimensional shape of the object based on the microscopic confocal three-dimensional imaging principle or based on the time coding three-dimensional imaging method, the cost is lower.

In the intraoral photographing state, in order to facilitate clinical operation, a sufficient depth of field is required in design to accommodate a photographing scene. In a general implementation, this is achieved by narrowing the aperture of the projection beam path, but the narrowing of the aperture reduces the brightness of the illumination, which in turn affects the contrast of the encoded fringes and hence the reconstruction accuracy. To solve this problem, it is proposed in the embodiment of the present application to provide the projection lens 50 including a liquid lens (or liquid lens). The liquid lens is used for realizing the change of the focal length of the projection lens 50, so that the depth of field can be equivalently adjusted, the illumination brightness is not excessively influenced, and the contradiction between the depth of field and the brightness in the intraoral scanning environment is solved.

The liquid lens is electrically controlled, so that ultra-fast focal length adjustment can be realized. In one example implementation, the liquid lens and the color CMOS sensor 80 are controlled in unison. The color CMOS sensor 80 is used for simultaneous acquisition during controlled focal length adjustment of the liquid lens. Therefore, a shooting effect with long depth of field is realized in a zooming mode, and the requirement of specific depth of field in an intraoral shooting scene is met.

In one possible implementation, the three-dimensional scanner system may also be provided with a relay lens group. The relay lens group is disposed at an end of the illumination optical path in the illumination optical path. The relay lens group is used for transmitting the light beam emitted by the dodging component 30 to the rotary color grating sheet 40. The relay lens group can be used for changing the direction of the light path, refracting the light beam and achieving the effect of collimating the light beam. Fig. 5 is a top view of another configuration of a three-dimensional scanner system for intraoral use provided by embodiments of the present application. The difference from fig. 1 is that the arrangement of the relay lens group 90 is shown in fig. 5.

It should be noted that fig. 1,2 and 5 only illustrate possible configurations of the three-dimensional scanner used in the mouth, and in practical applications, other optical devices may be added in addition to the configurations shown in fig. 1,2 or 5. Such as adding lenses, mirrors, or other devices for optimizing imaging quality and adjusting the beam. The drawings are only for purposes of illustrating one or more implementations of the present invention and are not to be construed as limiting the invention.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. Those of ordinary skill in the art will understand and implement the present application without undue burden. The foregoing is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (11)

1. A three-dimensional scanner system for intraoral use, comprising: the three-color laser device comprises a three-color laser device assembly, a beam combining lens assembly, a dodging assembly, a rotary color grating sheet, a projection lens, a reflecting mirror assembly, an imaging lens, a color CMOS sensor and a processor;

The three-color laser component, the beam combining lens component and the dodging component are sequentially arranged on an illumination light path of the system; the rotary color grating sheet and the projection lens are sequentially arranged on a projection light path of the system; the imaging lens and the color CMOS sensor are sequentially arranged on an imaging light path of the system; the reflector assembly is arranged between the projection light path and the imaging light path;

The three-color laser component is used for respectively generating laser light with three colors and supplementing an illumination light source for intraoral scanning imaging;

the beam combining lens assembly is used for combining the light beams from the three-color laser assembly;

the light homogenizing component is used for improving the uniformity of light transmitted by the beam combining lens component and reducing laser speckles;

the rotary color grating sheet has a rotary light transmission characteristic and is used for realizing the coding of laser light with various colors by rotating and matching with the three-color laser component;

The projection lens is used for projecting the light transmitted by the rotary color grating sheet to the reflecting mirror component;

the reflecting mirror component is used for turning the light transmitted by the projection lens to the surface of an intraoral scanning object and turning the light reflected by the intraoral scanning object to the imaging lens;

the imaging lens is used for transmitting the light beam from the reflecting mirror assembly to the color CMOS sensor;

The color CMOS sensor is used for performing photoelectric conversion according to received light and sending an electric signal to the processor;

The processor is used for generating a three-dimensional morphology image of the intraoral scanning object according to the received electric signals.

2. The three-dimensional scanner system for intraoral use according to claim 1, wherein said rotary color grating sheet comprises: a rotation shaft, a transmission grating and a light-transmitting sheet; the transmission grating and the light-transmitting sheet encircle the periphery of the rotating shaft and are not overlapped with each other; the rotation axis is parallel to the incident light direction of the rotary color grating sheet; the transmission grating and the light-transmitting sheet are driven by the rotating shaft to rotate; the transmission grating comprises a first grating region and a second grating region;

When the first grating region rotates to the illumination light path, the first grating region is used for encoding and transmitting light of one color of the three colors;

When the second grating region rotates to the illumination light path, the second grating region is used for encoding and transmitting light of another color among the three colors;

When the light-transmitting sheet rotates to the illumination light path, the light-transmitting sheet is used for directly transmitting laser.

3. The three-dimensional scanner system for intraoral use according to claim 2, wherein said three colors comprise: red, green, and blue;

The first grating region is used for coding and transmitting blue laser, and the second grating region is used for coding and transmitting green laser;

when the three-color laser component only generates blue laser, the first grating region rotates to the illumination light path;

When the three-color laser component only generates green laser, the second grating region rotates to the illumination light path;

When the three-color laser component simultaneously generates red laser, blue laser and green laser, the light-transmitting sheet rotates to the illumination light path.

4. A three-dimensional scanner system for intraoral use according to claim 3 wherein said processor is adapted to:

Generating a blue stripe encoding pattern based on an electrical signal converted by the color CMOS sensor when the first grating region rotates to the illumination light path, and generating a green stripe encoding pattern based on an electrical signal converted by the color CMOS sensor when the second grating region rotates to the illumination light path;

Reconstructing three-dimensional data of the intraoral scanning object based on the blue stripe encoding pattern and the green stripe encoding pattern;

Acquiring color scanning information of the intraoral scanning object based on the electric signal converted by the color CMOS sensor when the transparent sheet rotates to the illumination light path;

and fusing and aligning the color scanning information and the three-dimensional data to generate a true color three-dimensional image of the intraoral scanning object.

5. The three-dimensional scanner system for intraoral use according to any one of claims 2-4, wherein said light transmissive sheet comprises a bezel and a hollow window located within said bezel, said bezel being in the same plane.

6. The three-dimensional scanner system for intraoral use according to any one of claims 2 to 4, wherein the light-transmitting sheet is a sheet-like light-transmitting material.

7. The three-dimensional scanner system for intraoral use according to any one of claims 1-4, wherein said trichromatic laser assembly comprises: the first laser, the second laser and the third laser are respectively used for generating laser light of three colors;

The beam combining lens assembly comprises a first beam combining lens and a second beam combining lens which are arranged in tandem on an illumination light path; the first beam combining lens and the second beam combining lens are respectively provided with a light transmission surface and a light reflection surface;

The first laser and the second laser are respectively positioned at one side of a light transmission surface and one side of a light reflection surface of the first beam combining mirror; the first laser and the second laser are both positioned on one side of the light transmission surface of the second beam combining lens, and the third laser is positioned on one side of the light reflection surface of the second beam combining lens;

When the first laser and the second laser work, the first beam combining lens is used for combining incident light of a self light transmission surface and a reflection surface;

When the third laser works and at least one of the first laser and the second laser works, the second beam combiner is used for combining incident light of the self light-transmitting surface and the reflecting surface.

8. The three-dimensional scanner system for intraoral use according to any one of claims 1-4, wherein said dodging assembly comprises: a bit pattern and a microlens array arranged in tandem on the illumination path.

9. The three-dimensional scanner system for intraoral use according to any one of claims 1-4, wherein the projection lens comprises a liquid lens.

10. The three-dimensional scanner system for intraoral use according to claim 9, wherein said liquid lens and said color CMOS sensor are controlled in unison; the color CMOS sensor is used for synchronous acquisition in the process of controlled focal length adjustment of the liquid lens.

11. The three-dimensional scanner system for intraoral use according to any one of claims 1-4, further comprising a relay lens group disposed at an end of the illumination light path for transmitting the light beam emitted from the dodging assembly to the rotary color grating sheet.