TW201320974A - Device and method of scanning teeth mold having multiple light sources - Google Patents
Device and method of scanning teeth mold having multiple light sources Download PDFInfo
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Abstract
Description
本發明係涉及一種齒模三維掃描的裝置以及掃描齒模的方法,尤其是一種多光源牙模掃描裝置及其方法。The present invention relates to a device for three-dimensional scanning of a tooth mold and a method for scanning a tooth mold, and more particularly to a multi-source tooth mold scanning device and method thereof.
傳統製造義齒的方式,係採用牙醫師與齒模技師分工合作的方式,牙醫師先從患者處印製齒陰模,在將齒陰模送至齒模技師,由齒模技師根據齒陰模經過翻模為石膏陽模,並以石膏陽模加工並修整外形,再經過灌製二次模、修整、咬合等等步驟,才能將義齒送至牙醫師,牙醫師再將義齒裝入患者口中,同時做咬合測試等細部修整,才能讓患者使用義齒。The traditional way of making dentures is to use a division of dentists and dental technicians. The dentist first prints the female mold from the patient, and sends the female mold to the dental mold technician. The dental mold technician is based on the dental mold. After the mold is turned into a gypsum male mold, and the gypsum male mold is processed and trimmed, and then the second mold, trimming, occlusion, etc. are processed, the denture can be sent to the dentist, and the dentist can then insert the denture into the patient's mouth. At the same time, the occlusion test and other details can be trimmed to allow the patient to use the denture.
在將石膏陽模修整的作業中,都是依賴齒模技師的經驗進行外形的修整,但畢竟齒模技師僅能從齒陰模判斷其外形,在所得資料有限的情況下,容易產生些微誤差;為了改進上述的缺陷,隨著科技的發展,而有三維立體掃描齒模的技術,如TW證書號數第I230051號發明專利所揭露的現有齒模掃描裝置,其所設置的掃描探頭係平行且鄰近於承齒治具以及全模治具,受限於立體空間位置以及週邊設備的遮蔽,容易在掃描的過程中產生死角,而無法取得完整的三維齒模輪廓影像;此外,在三維取像的過程中,掃描探頭會使用雷射光束照射於承齒治具以及全模治具,現有的齒模掃描裝置係利用雷射光逐一掃描物體表面,因此取像過程必須等待全部掃描完成後才能成像,取像的速度將會影響後續作業的進行。In the work of trimming the plaster male mold, the shape is trimmed according to the experience of the dental mold technician, but after all, the dental mold technician can only judge the shape from the negative mold, and when the obtained data is limited, it is easy to produce some slight error. In order to improve the above-mentioned defects, with the development of technology, there is a technique of three-dimensional scanning of a tooth mold, such as the existing tooth profile scanning device disclosed in the TW certificate number No. I230051, which has a scanning probe which is arranged in parallel. And adjacent to the tooth fixture and the full mold fixture, limited by the position of the three-dimensional space and the shielding of the peripheral equipment, it is easy to produce a dead angle in the process of scanning, and can not obtain a complete three-dimensional tooth profile image; In the process of the image, the scanning probe will use the laser beam to illuminate the tooth fixture and the full mold fixture. The existing tooth pattern scanning device scans the surface of the object one by one with the laser light, so the image capturing process must wait for all the scanning to be completed. Imaging, the speed of image capture will affect the subsequent work.
為了解決上述現有三維齒模掃描速度緩慢且容易產生死角等問題,本發明的主要目的在於提供一種多光源牙模掃描裝置及其方法。In order to solve the above problems of the conventional three-dimensional tooth mold scanning speed and the occurrence of blind spots, the main object of the present invention is to provide a multi-source tooth mold scanning device and a method thereof.
本發明所運用的技術手段係在於提供一種多光源牙模掃描裝置,包括:一載具,其係包括一位移機構,其係包括一載台以及一移動平台,該載台係可移動地裝設於該移動平台上;一垂直旋轉機構,其係裝設於該載台上,該垂直旋轉機構係以X軸為旋轉軸而可相對於該載台旋轉;一水平旋轉機構,其係裝設於該垂直旋轉機構,該水平旋轉機構係以Z軸為旋轉軸而可相對於該垂直旋轉機構旋轉;以及一牙模治具,其係裝設於該水平旋轉機構上以供承載一牙模;一校正板,其係橫跨於該移動平台上且該位移機構係可托載該載台並移動至該校正板上;一第一光源模組,其係裝設於移動平台的上方且位於該移動平台側面,該第一光源模組係包括一第一光源發射器以投射光束於該一移動平台上方的該校正板位置;一第一取像模組,其係裝設於該載具上方且位於該移動平台的延伸方向,該第一取像模組係設有一第一攝像鏡頭;一第二光源模組,其係裝設於該校正板的上方且係位於該移動平台上方相對於該第一光源模組的另一側面,該第二光源模組係包括一第一投射部以及一第二投射部,該第一投射部及該第二投射部係分別投射一光束,該第一投射部所投射的光束係平行於該第二投射部所投射的光束;以及一第二取像模組,其係位於該校正板上方且鄰近於該第二光源模組,該第二取像模組係設有一第二攝像鏡頭。The technical means used in the present invention is to provide a multi-source dental model scanning device, comprising: a carrier comprising a displacement mechanism, comprising a loading platform and a mobile platform, the loading platform is movably mounted Provided on the moving platform; a vertical rotating mechanism is mounted on the stage, the vertical rotating mechanism is rotatable relative to the stage with the X axis as a rotating shaft; a horizontal rotating mechanism is attached Provided in the vertical rotation mechanism, the horizontal rotation mechanism is rotatable relative to the vertical rotation mechanism with the Z axis as a rotation axis; and a dental mold fixture mounted on the horizontal rotation mechanism for carrying a tooth a calibration plate spanning the mobile platform and the displacement mechanism can carry the carrier and move to the calibration plate; a first light source module mounted on the mobile platform The first light source module includes a first light source emitter to project a light beam on the calibration plate above the mobile platform; a first image capturing module is mounted on the side of the mobile platform. Above the vehicle and located at The first image capturing module is provided with a first image capturing lens; a second light source module is disposed above the correcting plate and is located above the moving platform relative to the first The second light source module includes a first projection portion and a second projection portion, and the first projection portion and the second projection portion respectively project a light beam, and the first projection portion The projected beam is parallel to the beam projected by the second projection; and a second image capturing module is located above the calibration plate and adjacent to the second light source module, the second image capturing module There is a second camera lens.
如前所述的多光源牙模掃描裝置,其中所述的該第二光源模組的該第一投射部係為一分光鏡且該第二投射部係為一全反射鏡,且該第二光源模組係設有一第二光源發射器,該分光鏡係位於該第二光源發射器的照射路徑上,該全反射鏡係位於該分光鏡鄰近處,該第二光源發射器所發射的一光束係穿透該分光鏡並部份地反射至該全反射鏡以產生二道平行光束。The multi-source dental model scanning device as described above, wherein the first projection portion of the second light source module is a beam splitter and the second projection portion is a total reflection mirror, and the second The light source module is provided with a second light source emitter, the splitter mirror is located on the illumination path of the second light source emitter, the total reflection mirror is located adjacent to the beam splitter, and the second light source emitter emits one A beam of light passes through the beam splitter and is partially reflected to the total reflection mirror to produce two parallel beams.
如前所述的多光源牙模掃描裝置,其中所述的分光鏡對於波長670奈米的光束,其穿透率係為50%且反射率係為50%。A multi-source dental impression scanning device as described above, wherein the beam splitter has a transmittance of 50% and a reflectance of 50% for a light beam having a wavelength of 670 nm.
本發明所運用的技術手段係提供一種多光源牙模掃描方法,包括:一初始校正流程,其係包括一原點回歸步驟,其係將一載具以及一第一光源模組復歸至初始位置;一校正板取樣步驟,其係利用一第一光源模組投射光束於一校正板並利用一第一取像模組掃描該校正板上的複數校正點,以對於該校正板的影像進行取樣及校正;一三維模塊取樣步驟,其係利用一第二光源模組的一第一投射部以及一第二投射部分別投射出平行的二道光束於一標準模塊並利用一第二取像模組掃描該標準模塊,以對於該標準模塊的空間座標進行取樣及校正;一校正處理步驟,其係根據該校正板的影像以及該標準模塊的空間座標分析處理為複數的校正資訊;一匯入初始牙模檔案步驟,其係匯入一立體範圍的初始牙模體積檔案以規劃掃描路徑;一粗略掃描流程,其係使用該第一光源模組以及該第一取像模組進行初步的掃描,該粗略掃描流程係包括一放置步驟,其係將一待掃描的牙模放置於該牙模治具且移動該牙模治具至該校正板上;一粗掃步驟,其係利用該第一光源模組投射光束於該待掃描的牙模且該第一取像模組係掃描該待掃描的牙模,以該牙模治具法線為中心的二相反方向的正負九十度角各進行複數次的拍攝,並根據該複數次拍攝的內容產生該複數個粗掃檔案;一結合步驟,其係將該複數個粗掃檔案貼合為一可瀏覽的三維粗掃檔案;一精確掃描流程,其係使用該第二光源模組以及該第二取像模組進行精確的掃描,該精確掃描流程係包括一取樣步驟,其係利用該第二光源模組的該第一投射部以及該第二投射部分別投射平行的二道光束於該待掃描的牙模,該第二取像模組係對於該待掃描的牙模中的一選定牙體的剖面座標進行取樣掃描並計算該取像掃描的向量數值;一分析步驟,其係對於該取像掃描的向量數值與複數的該校正資訊進行分析並產出複數點雲資料;一整合步驟,其係將該複數點雲資料進行重整並整合為一可瀏覽的三維精確檔案;以及一重複演算流程,其係判斷該牙模的所有牙體是否都經過該精確掃描步驟,若無,則重複該精確掃描步驟,至該牙模的所有牙體都經過該精確掃描步驟為止。The technical method used by the present invention provides a multi-source dental model scanning method, comprising: an initial calibration process, which includes an origin return step, which resets a carrier and a first light source module to an initial position. a calibration plate sampling step of projecting a light beam onto a calibration plate by using a first light source module and scanning a plurality of calibration points on the calibration plate by using a first image capturing module to sample the image of the calibration plate And a calibration step of the three-dimensional module, wherein a first projection portion and a second projection portion of the second light source module respectively project parallel two beams of light into a standard module and utilize a second image capturing module The group scans the standard module to sample and correct the space coordinates of the standard module; a calibration processing step is based on the image of the calibration plate and the space coordinate analysis of the standard module to process the plurality of correction information; An initial dental model file step of importing a stereoscopic range of initial dental volume files to plan a scan path; a rough scanning process using the first The source module and the first image capturing module perform preliminary scanning, and the rough scanning process includes a placing step of placing a dental mold to be scanned on the dental mold fixture and moving the dental mold fixture to a calibration step, wherein the first light source module projects a light beam on the dental mold to be scanned, and the first image capturing module scans the dental mold to be scanned, and the dental mold is processed. The normal and negative ninety degree angles in the opposite direction with the normal line are respectively taken for a plurality of times, and the plurality of rough scan files are generated according to the content of the plurality of shots; and a combining step is to perform the plurality of rough scans The file is attached to a viewable three-dimensional rough scan file; an accurate scanning process is performed by using the second light source module and the second image capturing module to perform accurate scanning, and the precise scanning process includes a sampling step. The first image capturing portion and the second projecting portion of the second light source module respectively project parallel two beams of light to the dental mold to be scanned, and the second image capturing module is for the tooth to be scanned. a section of a selected tooth in the mold Performing a sample scan and calculating a vector value of the image capture scan; an analysis step of analyzing the vector value of the image capture scan and the complex correction information and generating a plurality of point cloud data; an integration step, which is The plurality of point cloud data is reconstructed and integrated into a viewable three-dimensional accurate file; and a repeated calculation process is to determine whether all the teeth of the dental mold pass the precise scanning step, and if not, repeat the precision The scanning step until all the teeth of the dental mold pass the precise scanning step.
如前所述的多光源牙模取像掃描方法,其中所述的複數的校正資訊係包括平均精度資訊、標準校準點資訊以及模式取向差資訊,該平均精度資訊係用以重建Y軸與Z軸的平均錯誤上的度量校準點,該標準校準點資訊係用以重建Y軸與Z軸的標準校準點的標準偏差錯誤,該模式取向差資訊係用以測量校準模式與Y軸和Z軸的運動方向之間的取向差的像素。The multi-source dental model image capturing scanning method as described above, wherein the plurality of correction information includes average precision information, standard calibration point information, and mode orientation difference information, and the average precision information is used to reconstruct the Y-axis and the Z-axis. A calibration error point on the average error of the axis. The standard calibration point information is used to reconstruct the standard deviation error of the standard calibration point of the Y-axis and the Z-axis. The mode orientation difference information is used to measure the calibration mode with the Y-axis and the Z-axis. The direction of motion is poor between the pixels of the orientation.
如前所述的多光源牙模取像掃描方法,其中所述的粗略掃描流程的粗掃步驟係以該牙模治具法線為中心的二相反方向的正負九十度角每25度角進行一次拍攝,,以提供該結合步驟貼合為該三維粗掃檔案。The multi-source dental model image capturing scanning method as described above, wherein the rough scanning step of the rough scanning process is an angle of plus or minus ninety degrees per 25 degrees of the opposite direction centered on the normal of the dental mold fixture A shooting is performed to provide the bonding step to fit the three-dimensional rough scan file.
本發明的多光源牙模掃描裝置,具有下列功效增進:The multi-source dental model scanning device of the present invention has the following enhancements:
1、本發明配合該載具的垂直旋轉機構以及水平旋轉機構,提供該牙模治具在X軸的樞擺以及Z軸的旋轉,使得該第一、二取像模組能夠毫無遮蔽的全面掃描該牙模治具上的牙模,而不會產生無法掃描的死角。1. The vertical rotation mechanism and the horizontal rotation mechanism of the vehicle cooperate with the pivoting mechanism of the X-axis and the rotation of the Z-axis, so that the first and second image capturing modules can be unobstructed. Full scan of the dental mold on the dental fixture without creating dead spots that cannot be scanned.
2、本發明的該第二光源模組係利用該第二光源發射器配合該分光鏡以及該全反射鏡,將該第二光源發射器所發射的單一光束穿透該分光鏡,且部份的光束被反射至該全反射鏡並被該全反射鏡反射向下,以產生一道沿原路徑的光束以及一道平行於原路徑的光束,藉此能夠使用二道光束進行照射,由於掃描標準模塊或牙體的輪廓時,需要將光束逐步地掃過整個標準模塊或牙體,並利用該第二攝像鏡頭予以掃描取樣,因此相較於現有的牙模掃描裝置僅能使用單一光束照射,本發明能夠減半掃描所需耗費的時間。2. The second light source module of the present invention uses the second light source emitter to cooperate with the beam splitter and the total reflection mirror, and the single light beam emitted by the second light source emitter penetrates the beam splitter, and a part thereof The beam is reflected to the total reflection mirror and reflected downward by the total reflection mirror to generate a beam along the original path and a beam parallel to the original path, thereby enabling illumination using two beams, due to scanning of the standard module Or the outline of the tooth, the beam needs to be swept through the entire standard module or the tooth step by step, and the second camera lens is used for scanning sampling, so that only a single beam irradiation can be used compared with the existing dental model scanning device. The invention takes the time it takes to halve the scan.
3、本發明的係透過該第一取像模組以及該第一光源模組對牙模進行粗略掃描流程,再利用該第二取像模組以及該第二光源模組對於個別牙體進行掃描,而能夠提高產出的三維模型的精密度,藉此提供品質較高的牙模三維模型。The method of the present invention is to perform a rough scanning process on the dental mold through the first image capturing module and the first light source module, and then use the second image capturing module and the second light source module to perform an individual tooth body. Scanning, while improving the precision of the resulting three-dimensional model, thereby providing a higher quality three-dimensional model of the dental model.
為了能夠詳細瞭解本發明的技術特徵及實用功效,並可依照說明書的內容來實施,更進一步以如圖式所示的較佳實施例,詳細說明如后:本發明係一種多光源牙模取像掃描裝置,請參照圖1至圖3的較佳實施例,其係包括一框架10、一載具20、一校正板30、一第一光源模組40、一第一取像模組50、一第二光源模組60以及一第二取像模組70。In order to be able to understand the technical features and practical functions of the present invention in detail, and in accordance with the contents of the specification, the present invention is further described in the following preferred embodiments. Referring to the preferred embodiment of the scanning device, a frame 10, a carrier 20, a calibration plate 30, a first light source module 40, and a first image capturing module 50 are provided. a second light source module 60 and a second image capturing module 70.
請參照圖4所示,該載具20係裝設於該框架10內側底部,該載具20係包括一位移機構21、一垂直旋轉機構22、水平旋轉機構23以及一牙模治具24,該位移機構21係包括一移動平台211以及一載台212,該移動平台211係設有一運行軌道213,該載台212係裝設於該運行軌道213上且沿該運行軌道213移動,該運行軌道213的延伸線係設為χ軸,該垂直旋轉機構22係裝設於該載台212上,如圖5所示,該垂直旋轉機構22係以三維座標系中的X軸為旋轉軸而可相對於該載台212搖擺,該垂直旋轉機構22的擺動軸心係定義為θ軸,該垂直旋轉機構22係延伸設有一載臂221,該載臂221係沿X軸延伸,該水平旋轉機構23係裝設於該垂直旋轉機構22的該載臂221上,該水平旋轉機構23係以三維座標系中的Z軸為旋轉軸而可相對於該載臂221旋轉,該水平旋轉機構23的旋轉軸係定義為γ軸,該水平旋轉機構23的γ軸係與該垂直旋轉機構22的θ軸垂直,該牙模治具24係固設於該水平旋轉機構23上且位於垂直該水平旋轉機構23的該γ軸的一平面上以供承載一如圖10所示的牙模90,該牙模治具24係隨著該水平旋轉機構23相對於該載臂221旋轉。As shown in FIG. 4 , the carrier 20 is mounted on the inner bottom of the frame 10 . The carrier 20 includes a displacement mechanism 21 , a vertical rotation mechanism 22 , a horizontal rotation mechanism 23 , and a dental fixture 24 . The displacement mechanism 21 includes a moving platform 211 and a loading platform 212. The moving platform 211 is provided with an operating rail 213. The loading platform 212 is mounted on the running rail 213 and moves along the running rail 213. The extension line of the rail 213 is a boring axis. The vertical rotation mechanism 22 is mounted on the stage 212. As shown in FIG. 5, the vertical rotation mechanism 22 uses the X axis in the three-dimensional coordinate system as a rotation axis. The yaw axis of the vertical rotation mechanism 22 is defined as a θ axis, and the vertical rotation mechanism 22 is extended with a carrier arm 221 extending along the X axis, the horizontal rotation The mechanism 23 is mounted on the carrier arm 221 of the vertical rotation mechanism 22, and the horizontal rotation mechanism 23 is rotatable relative to the carrier arm 221 by using a Z-axis in a three-dimensional coordinate system. The horizontal rotation mechanism 23 The rotation axis is defined as the γ axis, and the γ of the horizontal rotation mechanism 23 Is perpendicular to the θ axis of the vertical rotation mechanism 22, and the dental mold fixture 24 is fixed on the horizontal rotation mechanism 23 and located on a plane perpendicular to the γ axis of the horizontal rotation mechanism 23 for carrying a picture In the dental mold 90 shown at 10, the dental mold fixture 24 is rotated relative to the carrier arm 221 with the horizontal rotation mechanism 23.
該校正板30係包括彼此垂直的第一校正平面31及第二校正平面32,該第一校正平面31及第二校正平面32上係各設有32個校正點,該校正板30的該第一校正平面31係固設於該框架10內側底面且橫跨於該運行軌道213上,且該位移機構21係可將該水平旋轉機構23連同該牙模治具24位移至該第一校正平面31上方且位於該第二校正平面32的前方。The calibration plate 30 includes a first calibration plane 31 and a second calibration plane 32 that are perpendicular to each other. The first calibration plane 31 and the second calibration plane 32 are each provided with 32 correction points, and the calibration board 30 A correction plane 31 is fixed on the inner bottom surface of the frame 10 and spans the running rail 213, and the displacement mechanism 21 can displace the horizontal rotating mechanism 23 together with the dental mold fixture 24 to the first correction plane. Above 31 is located in front of the second correction plane 32.
該第一光源模組40係裝設於移動平台211的上方且位於該移動平台211側面,而鄰近於該校正板30的上方,該第一光源模組40係包括一第一光源發射器41以投射雷射光束於該一移動平台211上方的該校正板30位置,該第一光源發射器41係可左右擺動且其擺動路徑的延伸方向係沿著該移動平台211的χ軸移動,該第一光源發射器41的擺動軸心係定義為β軸。The first light source module 40 is disposed above the moving platform 211 and is located at a side of the moving platform 211 , and adjacent to the upper side of the calibration plate 30 , the first light source module 40 includes a first light source emitter 41 . Positioning the laser beam onto the calibration plate 30 above the moving platform 211, the first light source emitter 41 is swingable left and right and the extending direction of the swinging path is along the axis of the moving platform 211. The pivot axis of the first light source emitter 41 is defined as the beta axis.
該第一取像模組50係裝設於該載具20上方且位於該移動平台211的χ軸延伸方向上,該第一取像模組50係設有一第一攝像鏡頭51朝向該校正板30位置,該第一攝像鏡頭51係為一感光耦合元件以將該第一光源發射器41所照射物體的輪廓予以掃描,該第一攝像鏡頭51的傾斜角度,意即其拍攝角度,係與三維座標系中的Z軸呈45度的夾角,如此係利用立體空間中對角線較長,可在有限的空間內完成裝設,使該第一攝像鏡頭51得以獲得足夠的微調裕度調整焦距以及景深,更佳地,該第一取像模組50係運用David Scanner系統。The first image capturing module 50 is disposed above the carrier 20 and located in the direction of the axis of the moving platform 211. The first image capturing module 50 is provided with a first imaging lens 51 facing the calibration plate. In the 30 position, the first imaging lens 51 is a photosensitive coupling element for scanning the contour of the object illuminated by the first light source emitter 41. The tilt angle of the first imaging lens 51, that is, the angle of the shooting, is The Z-axis in the three-dimensional coordinate system has an angle of 45 degrees, so that the diagonal line in the three-dimensional space is long, and the installation can be completed in a limited space, so that the first imaging lens 51 can obtain sufficient fine adjustment margin adjustment. The focal length and depth of field, and more preferably, the first imaging module 50 utilizes the David Scanner system.
請參照圖6所示,該第二光源模組60係裝設於該校正板30的上方且係位於該移動平台211上方相對於該第一光源模組40的另一側面,該第二光源模組60係包括一第二光源發射器61、一第一投射部以及一第二投射部,該第二光源發射器61係提供一雷射光束,該第一、第二投射部係可供投射光束,且該第一投射部所投射的光束係平行於該第二投射部所投射的光束,更佳地,該第一投射部係為一分光鏡62且該第二投射部係為一全反射鏡63,該分光鏡62係位於該第二光源發射器61的照射路徑上,該分光鏡62對於波長670奈米的雷射光束的穿透率係為50%且反射率係為50%,該全反射鏡63係位於該分光鏡62鄰近處且約略平行於該分光鏡62,如圖7所示,該第二光源發射器61所發射的雷射光束係沿原路徑穿透該分光鏡62,且部份的雷射光束被反射至該全反射鏡63並被反射向下,以產生一道沿原路徑的雷射光束以及一道平行地相距毫米於原路徑的雷射光束。As shown in FIG. 6 , the second light source module 60 is disposed above the calibration plate 30 and is located above the moving platform 211 relative to the other side of the first light source module 40 . The module 60 includes a second light source emitter 61, a first projection portion and a second projection portion. The second light source emitter 61 provides a laser beam, and the first and second projection portions are available. Projecting a light beam, and the light beam projected by the first projection portion is parallel to the light beam projected by the second projection portion. More preferably, the first projection portion is a beam splitter 62 and the second projection portion is a beam. The total reflection mirror 63 is located on the illumination path of the second light source emitter 61. The transmittance of the beam splitter 62 for a laser beam having a wavelength of 670 nm is 50% and the reflectance is 50. %, the total reflection mirror 63 is located adjacent to the beam splitter 62 and is approximately parallel to the beam splitter 62. As shown in FIG. 7, the laser beam emitted by the second light source emitter 61 penetrates the original path. a beam splitter 62, and a portion of the laser beam is reflected to the total reflection mirror 63 and reflected downward to generate Along the original path and a path of the laser beam parallel to the laser beam millimeters apart the original path.
該第二取像模組70係位於該校正板30上方且鄰近於該第二光源模組60,該第二取像模組70係設有一第二攝像鏡頭71,該第二攝像鏡頭71係為一感光耦合元件以將該第二光源發射器61配合該分光鏡62以及該全反射鏡63所照射物體的輪廓予以掃描,該第二取像模組70係運用SAL系統。The second image capturing module 70 is disposed above the calibration plate 30 and adjacent to the second light source module 60. The second image capturing module 70 is provided with a second imaging lens 71. A photosensitive coupling element is scanned by the second light source emitter 61 in cooperation with the beam splitter 62 and the contour of the object illuminated by the total reflection mirror 63. The second image capturing module 70 utilizes a SAL system.
請參照圖1至圖3所示,牙模90係可固定於該牙模治具24上,該載台212係藉由該位移機構21而沿該運行軌道213的χ軸線性移動,使該牙模治具24位於該校正板30的該第一校正平面31上方,該第一校正平面31以及該第二校正平面32共計64個校正點係提供該第一取像模組50校正三維空間位置,該第二光源模組60的該第二光源發射器61係發射雷射光束,並透過該分光鏡62以及該全反射鏡63成為二道平行的雷射光束照射於該牙模90或如圖11的牙體92,同時如圖5所示,該垂直旋轉機構22係以θ軸樞擺且該水平旋轉機構23係以該γ軸旋轉,使該牙模90或該牙體92得以全面地被平行的雷射光束所照射並由該第二取像模組70掃描該牙模90或該牙體92;另外,為了增加掃描時的準確性,該第一光源模組40係可加裝該第一、二投射部的分光鏡以及全反射鏡,藉此使該第一光源模組40亦可達到多光源投射的效果。Referring to FIG. 1 to FIG. 3, the dental mold 90 can be fixed to the dental mold fixture 24, and the loading stage 212 is moved along the axis of the running rail 213 by the displacement mechanism 21, so that the The dental mold fixture 24 is located above the first calibration plane 31 of the calibration plate 30. The first calibration plane 31 and the second calibration plane 32 provide a total of 64 calibration points to provide the first image capturing module 50 for correcting the three-dimensional space. The second light source emitter 61 of the second light source module 60 emits a laser beam, and the two parallel laser beams are irradiated to the dental mold 90 through the beam splitter 62 and the total reflection mirror 63. As shown in FIG. 5, the vertical rotation mechanism 22 is pivoted by the θ axis and the horizontal rotation mechanism 23 is rotated by the γ axis, so that the dental mold 90 or the tooth body 92 can be rotated. The dental mold 90 or the dental body 92 is completely scanned by the parallel laser beam and scanned by the second image capturing module 70. In addition, in order to increase the accuracy of scanning, the first light source module 40 can be The beam splitter and the total reflection mirror of the first and second projections are added, so that the first light source module 40 can also be multiplied The effect of the light source projection.
本發明係另包括一種多光源牙模取像掃描方法,請參照圖8至圖11的較佳實施例,其係包括一初始校正流程81、一粗略掃描流程82、一精確掃描流程83以及一重複演算流程84。The present invention further includes a multi-source dental impression imaging method. Referring to the preferred embodiment of FIGS. 8-11, the method includes an initial calibration process 81, a rough scanning process 82, an accurate scanning process 83, and a The algorithm 84 is repeated.
該初始校正流程81係包括一原點回歸步驟811、一校正板取樣步驟812、一三維模塊取樣步驟813、一校正處理步驟814以及一匯入初始牙模檔案步驟815。The initial calibration process 81 includes an origin return step 811, a calibration plate sampling step 812, a three-dimensional module sampling step 813, a calibration processing step 814, and an import initial dental model file step 815.
該原點回歸步驟811係將一載具20以及一第一光源模組40復歸至初始位置,該原點回歸步驟811係包括該載具20的該載台212恢復至該運行軌道213的χ軸的初始位置、該載具20的該垂直旋轉機構22的θ軸恢復至初始位置、該載具20的該水平旋轉機構23的γ軸恢復至初始位置、以及該第一光源模組40的該第一光源發射器41的β軸恢復至初始位置,藉此以確保掃描時的基準點均一致,若上述各軸受到外力撞擊或未準確進行移動,則必須執行該原點回歸步驟811以重新啟動後續步驟。The origin return step 811 resets a carrier 20 and a first light source module 40 to an initial position. The origin return step 811 includes the loading of the stage 212 of the carrier 20 to the running track 213. The initial position of the shaft, the θ axis of the vertical rotation mechanism 22 of the carrier 20 is restored to the initial position, the γ axis of the horizontal rotation mechanism 23 of the carrier 20 is restored to the initial position, and the first light source module 40 is The β-axis of the first light source emitter 41 is restored to the initial position, thereby ensuring that the reference points at the time of scanning are uniform. If the above-mentioned axes are impacted by an external force or are not accurately moved, the origin return step 811 must be performed. Restart the next steps.
該校正板取樣步驟812其係利用該第一光源模組40的該第一光源發射器41投射雷射光束於該校正板30上,並利用該第一取像模組50的該第一攝像鏡頭51掃描該校正板30的該第一校正平面31以及垂直於該第一校正平面31的該第二校正平面32共計64個校正點,以對於該校正板30的影像進行取樣及校正。The calibration plate sampling step 812 is to use the first light source emitter 41 of the first light source module 40 to project a laser beam onto the calibration plate 30, and utilize the first image of the first image capturing module 50. The lens 51 scans the first correction plane 31 of the calibration plate 30 and the second correction plane 32 perpendicular to the first correction plane 31 for a total of 64 correction points to sample and correct the image of the calibration plate 30.
請參照圖9所示,該三維模塊取樣步驟813係利用該第二光源模組60的該第二光源發射器61配合該分光鏡62以及該全反射鏡63投射出平行的雷射光束於一標準模塊91,並利用該第二取像模組70的該第二攝像鏡頭71掃描該標準模塊91,該標準模塊91係為上下各形成六角形而具有共計12點空間座標,該第二攝像鏡頭71係對於該標準模塊91的空間座標進行取樣及校正。Referring to FIG. 9 , the three-dimensional module sampling step 813 is performed by using the second light source emitter 61 of the second light source module 60 to cooperate with the beam splitter 62 and the total reflection mirror 63 to project a parallel laser beam. The standard module 91 scans the standard module 91 by using the second imaging lens 71 of the second image capturing module 70. The standard module 91 is hexagonal and has a total of 12 space coordinates. The lens 71 samples and corrects the spatial coordinates of the standard module 91.
該校正處理步驟814係根據該校正板30的影像以及該標準模塊91的空間座標分析處理為複數的校正資訊,該複數的校正資訊係包括平均精度資訊、標準校準點資訊以及模式取向差資訊,該平均精度資訊係用以重建三維座標系中Y軸與Z軸的平均錯誤上的度量校率點,該標準校準點資訊係用以重建三維座標系中Y軸與Z軸的標準校準點的標準偏差錯誤,該模式取向差資訊係用以測量校準模式與三維座標系中Y軸和Z軸的運動方向之間的取向差的像素。The correction processing step 814 is based on the image of the calibration plate 30 and the spatial coordinate analysis processing of the standard module 91 as a plurality of correction information, and the plurality of correction information includes average precision information, standard calibration point information, and mode orientation difference information. The average accuracy information is used to reconstruct the average error rate of the Y-axis and the Z-axis in the three-dimensional coordinate system. The standard calibration point information is used to reconstruct the standard calibration points of the Y-axis and the Z-axis in the three-dimensional coordinate system. The standard deviation error is used to measure the difference in orientation between the calibration mode and the direction of motion of the Y-axis and the Z-axis in the three-dimensional coordinate system.
該匯入初始牙模檔案步驟815係匯入一立體範圍的初始牙模體積檔案以規劃掃描路徑,該初始牙模體積檔案係為100立方釐米以限制掃描範圍的邊界,並進行該χ軸、γ軸、θ軸以及β軸的路徑規劃以配合該第一取像模組50以及該第二取像模組70。The importing the initial dental model file step 815 is to import a stereoscopic range of initial dental volume files to plan a scan path. The initial dental volume file is 100 cubic centimeters to limit the boundary of the scanning range, and the axis is The path of the γ axis, the θ axis, and the β axis is planned to match the first image capturing module 50 and the second image capturing module 70 .
該粗略掃描流程82係使用該第一光源模組40的該第一光源發射器41以及該第一取像模組50的該第一攝像鏡頭51進行初步的掃描,該粗略掃描流程82係包括一放置步驟821、一粗掃步驟822以及一結合步驟823;請參照圖10所示,該放置步驟821係將一待掃描的牙模90放置於該牙模治具24且移動該牙模治具24至該校正板30上;該粗掃步驟822係利用該第一光源模組40的該第一光源發射器41投射雷射光束於該待掃描的牙模90且該第一取像模組50的該第一攝像鏡頭51係掃描該待掃描的牙模90,利用該垂直旋轉機構22將該牙模治具24沿該θ軸法線的二相反方向的正負九十度進行擺動,讓該第一攝像鏡頭51於該正負九十度每25度角進行一次拍攝,並根據拍攝的內容產生五個面向的粗掃檔案;該結合步驟823係將該五個面向的粗掃檔案貼合為一可瀏覽的三維粗掃檔案,由於每25度角的拍攝中均有部份角度與相鄰拍攝的角度重疊,因此所貼合成的該可瀏覽的三維粗掃檔案係完整而不會產生未掃描的死角,更佳地,該粗掃步驟822中亦可令該第一光源模組40亦可另外加裝該第一、二投射部的分光鏡以及全反射鏡,藉此投射平行的雷射光源增加粗掃步驟822的速度。The rough scanning process 82 performs preliminary scanning by using the first light source emitter 41 of the first light source module 40 and the first image capturing lens 51 of the first image capturing module 50. The rough scanning process 82 includes a placing step 821, a roughing step 822, and a combining step 823; as shown in FIG. 10, the placing step 821 is to place a dental mold 90 to be scanned on the dental mold fixture 24 and move the dental mold. 24 is applied to the calibration plate 30; the coarse scanning step 822 is to use the first light source emitter 41 of the first light source module 40 to project a laser beam onto the dental mold 90 to be scanned and the first image capturing mode The first imaging lens 51 of the group 50 scans the dental mold 90 to be scanned, and the vertical rotation mechanism 22 swings the dental mold fixture 24 at right and minus ninety degrees in the opposite direction of the θ-axis normal. The first imaging lens 51 is photographed once every 90 degrees of the positive and negative ninety degrees, and five rough scan files are generated according to the captured content; the combining step 823 is to paste the five oriented rough scan files. Combine a viewable 3D rough scan file, due to the shooting at every 25 degree angle Each of the angles overlaps with the angle of the adjacent shot, so that the viewable three-dimensional rough scan file is completely integrated without generating an unscanned dead angle, and more preferably, the rough scan step 822 can also The first light source module 40 may additionally add the beam splitter and the total reflection mirror of the first and second projection portions, thereby projecting parallel laser light sources to increase the speed of the rough sweeping step 822.
該精確掃描流程83係使用該第二光源模組60以及該第二取像模組70進行精確的掃描,該精確掃描流程83係包括一取樣步驟831、一分析步驟832以及一整合步驟833;該取樣步驟831係利用該第二光源模組60的該第二光源發射器61配合該分光鏡62及該全反射鏡63投射出平行的二道光束於該待掃描的牙模90,如圖11所示,該待掃描的牙模90係拆解為複數個牙體92裝設於該牙模治具24上,該第二取像模組70的該第二攝像鏡頭71係對於該待掃描的牙模90中的一選定牙體92於三維座標系中Y軸以及Z軸的剖面座標進行取樣掃描並計算該取像掃描的向量數值;該分析步驟832係對於該取像掃描的向量數值與該平均精度資訊、該標準校準點資訊以及該模式取向差資訊進行比較及分析,並透過三維運算產出複數點雲資料;該整合步驟833係將該複數點雲資料進行重整並整合為一可瀏覽的三維精確檔案。The precise scanning process 83 uses the second light source module 60 and the second image capturing module 70 for accurate scanning. The precise scanning process 83 includes a sampling step 831, an analysis step 832, and an integration step 833; The sampling step 831 is performed by using the second light source emitter 61 of the second light source module 60 to cooperate with the beam splitter 62 and the total reflection mirror 63 to project parallel two beams of light onto the tooth mold 90 to be scanned. 11 shows that the dental mold 90 to be scanned is disassembled into a plurality of dental bodies 92 mounted on the dental mold fixture 24, and the second imaging lens 71 of the second image capturing module 70 is A selected tooth body 92 of the scanned dental mold 90 is sampled and scanned in the Y-axis and Z-axis cross-sectional coordinates of the three-dimensional coordinate system and the vector value of the image capturing scan is calculated; the analyzing step 832 is a vector for the image capturing scan. The value is compared and analyzed with the average accuracy information, the standard calibration point information, and the mode orientation difference information, and the plurality of point cloud data is generated through the three-dimensional operation; the integration step 833 is to reconstruct and integrate the plurality of point cloud data. For a viewable 3D Indeed file.
該重複演算流程84係判斷該待掃描的牙模90中的所有牙體92是否都經過該精確掃描步驟,若有,則結束掃描;若無,則根據該牙模90中剩餘牙體92的數量繼續重複該精確掃描步驟,至該牙模90中的所有的牙體92均經過該精確掃描步驟為止。The repetitive calculation process 84 determines whether all the teeth 92 in the dental mold 90 to be scanned have undergone the precise scanning step, and if so, ends the scanning; if not, according to the residual tooth 92 in the dental mold 90 The number continues to repeat the precise scanning step until all of the teeth 92 in the dental mold 90 have passed the precise scanning step.
以上所述,僅是本發明的較佳實施例,並非對本發明作任何形式上的限制,任何所屬技術領域中具有通常知識者,若在不脫離本發明所提技術特徵的範圍內,利用本發明所揭示技術內容所作出局部更動或修飾的等效實施例,均仍屬於本發明技術特徵的範圍內。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any one of ordinary skill in the art can use the present invention without departing from the technical features of the present invention. Equivalent embodiments of the local changes or modifications made by the disclosed technology are still within the scope of the technical features of the present invention.
10...框架10. . . frame
20...載具20. . . vehicle
21...位移機構twenty one. . . Displacement mechanism
211...移動平台211. . . mobile platform
212...載台212. . . Loading platform
213...運行軌道213. . . Running track
22...垂直旋轉機構twenty two. . . Vertical rotation mechanism
221...載臂221. . . Carrier arm
23...水平旋轉機構twenty three. . . Horizontal rotation mechanism
24...牙模治具twenty four. . . Dental mold fixture
30...校正板30. . . Calibration board
31...第一校正平面31. . . First correction plane
32...第二校正平面32. . . Second correction plane
40...第一光源模組40. . . First light source module
41...第一光源發射器41. . . First light source emitter
50...第一取像模組50. . . First image capture module
51...第一攝像鏡頭51. . . First camera lens
60...第二光源模組60. . . Second light source module
61...第二光源發射器61. . . Second light source emitter
62...分光鏡62. . . Beam splitter
63...全反射鏡63. . . Total reflection mirror
70...第二取像模組70. . . Second image capture module
71...第二攝像鏡頭71. . . Second camera lens
81...初始校正流程81. . . Initial calibration process
811...原點回歸步驟811. . . Origin return step
812...校正板取樣步驟812. . . Calibration plate sampling step
813...三維模塊取樣步驟813. . . 3D module sampling step
814...校正處理步驟814. . . Correction process step
815...匯入初始牙模檔案步驟815. . . Import the initial model file step
82...粗略掃描流程82. . . Rough scan process
821...放置步驟821. . . Placement step
822...粗掃步驟822. . . Rough sweep step
823...結合步驟823. . . Combination step
83...精確掃描流程83. . . Precise scanning process
831...取樣步驟831. . . Sampling step
832...分析步驟832. . . Analysis step
833...整合步驟833. . . Integration step
84...重複演算流程84. . . Repeated calculation process
90...牙模90. . . Dental mold
91...標準模塊91. . . Standard module
92...牙體92. . . Tooth body
圖1係本發明較佳實施例的立體示意圖。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a preferred embodiment of the present invention.
圖2係本發明較佳實施例另一角度的立體示意圖。Figure 2 is a perspective view of another preferred embodiment of the present invention.
圖3係本發明較佳實施例的俯視圖。Figure 3 is a top plan view of a preferred embodiment of the present invention.
圖4係本發明較佳實施例的載具作動的局部放大示意圖。Figure 4 is a partially enlarged schematic view showing the operation of the carrier in accordance with a preferred embodiment of the present invention.
圖5係本發明較佳實施例的垂直旋轉機構及水平旋轉機構作動的使用示意圖。Fig. 5 is a schematic view showing the use of a vertical rotation mechanism and a horizontal rotation mechanism according to a preferred embodiment of the present invention.
圖6係本發明較佳實施例的第二光源模組及第二取像模組的局部示意圖。FIG. 6 is a partial schematic view of a second light source module and a second image capturing module according to a preferred embodiment of the present invention.
圖7係本發明較佳實施例的第二光源模組的作動示意圖。FIG. 7 is a schematic diagram of the operation of the second light source module according to the preferred embodiment of the present invention.
圖8係本發明較佳實施例的流程圖。Figure 8 is a flow chart of a preferred embodiment of the present invention.
圖9係本發明較佳實施例於三維模塊取樣步驟的操作示意圖。Figure 9 is a schematic illustration of the operation of the three-dimensional module sampling step in accordance with a preferred embodiment of the present invention.
圖10係本發明較佳實施例於放置步驟的操作示意圖。Figure 10 is a schematic illustration of the operation of the preferred embodiment of the present invention in the placement step.
圖11係本發明較佳實施例於精確掃描流程的操作示意圖。Figure 11 is a schematic illustration of the operation of the preferred embodiment of the preferred embodiment of the present invention.
10...框架10. . . frame
20...載具20. . . vehicle
21...位移機構twenty one. . . Displacement mechanism
211...移動平台211. . . mobile platform
212...載台212. . . Loading platform
213...運行軌道213. . . Running track
22...垂直旋轉機構twenty two. . . Vertical rotation mechanism
221...載臂221. . . Carrier arm
23...水平旋轉機構twenty three. . . Horizontal rotation mechanism
24...牙模治具twenty four. . . Dental mold fixture
30...校正板30. . . Calibration board
31...第一校正平面31. . . First correction plane
32...第二校正平面32. . . Second correction plane
40...第一光源模組40. . . First light source module
41...第一光源發射器41. . . First light source emitter
50...第一取像模組50. . . First image capture module
51...第一攝像鏡頭51. . . First camera lens
60...第二光源模組60. . . Second light source module
61...第二光源發射器61. . . Second light source emitter
62...分光鏡62. . . Beam splitter
63...全反射鏡63. . . Total reflection mirror
70...第二取像模組70. . . Second image capture module
71...第二攝像鏡頭71. . . Second camera lens
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