CN107303204A - A kind of hand held oral three-dimensional scanner and control method - Google Patents
A kind of hand held oral three-dimensional scanner and control method Download PDFInfo
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- CN107303204A CN107303204A CN201610252136.0A CN201610252136A CN107303204A CN 107303204 A CN107303204 A CN 107303204A CN 201610252136 A CN201610252136 A CN 201610252136A CN 107303204 A CN107303204 A CN 107303204A
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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 present invention relates to a kind of hand held oral three-dimensional scanner, including：The characteristic pattern projector, for projecting characteristic pattern to measurand surface；The camera lens of two sets of different depths of focus, it is in respectively different angles from characteristic pattern projector projecting direction, the candy strip that oral cavity subject surface diffusing reflection comes out is scanned for receiving from different aspect ratios, it can be switched by electronics, complete the reflected light pickup in same scanned object different depth region；Computer, realizes that space coordinate is resolved by software and splices with many visual field scanning data；The computer is electrically connected with the characteristic pattern projector, camera lens respectively.The present invention is capable of the high efficiency of flexibility Yu the large scale haplopia field scan of binding operation person's hand exercise, and two sets of cameras of different depths of focus scan the backteeth area and labial teeth area of stamp, quickly obtained by the three dimensional surface data of buccal impression respectively.
Description
Technical field
The present invention relates to a kind of oral cavity three-dimensional scanner, the invention further relates to a kind of control method of hand held oral three-dimensional scanner.
Background technology
Oral cavity 3-D scanning is in great demand, dentognathic model spatial digitizer scanning motion path common at present is pre-set by producer, there is larger morphological differences in the oral cavity model and buccal impression of Different Individual, when being scanned using such device, scanning pattern can not personal settings, cause scanning pattern can not travel through all scanned subject surfaces, or the unnecessary multiplicating scanning of same surface region, not only influence scan efficiency, and bulk redundancy scan data can increase data fusion difficulty, increase scanning error.
The trick of people coordinates the free degree that can be achieved more than multi-axis numerical control motion structure, and can carry out targetedly high efficiency complementary scan by observing current scanning result on computer screen.Hand-held scanner can realize the effect above.But while cavity interior, model and stamp surfaces have substantial amounts of elevated regions, there is also such as interproximal area of complete crown Tooth preparation, stake core Tooth preparation, planting area and the labial teeth area of buccal impression or the larger region of undercut.Existing industrial hand-held scanner is generally fixed depth of focus, and single depth of focus camera, the projection single angle of receiving light path are difficult the whole scanning demands for meeting cavity interior, model and stamp.
The content of the invention
It is an object of the invention to provide the hand held oral three-dimensional scanner that a kind of built-in two kinds of depths of focus, two kinds of projection receiving light path angles are shot, it is capable of the high efficiency of flexibility Yu the large scale haplopia field scan of binding operation person's hand exercise, two sets of cameras of different depths of focus scan the backteeth area and labial teeth area of stamp respectively, quickly obtain by the three dimensional surface data of buccal impression.Compared with the automatically controlled motion of conventional multi-axis is with scanning constant program scanning mode, a large amount of unnecessary scanning angles can be reduced, while improving detection efficient, the error during image mosaic can be reduced, increase the accuracy of scanning.Compared with common handheld three-dimensional scanning means, it can realize that becoming depth of focus scans, and meets the scanning requirement of different aspect ratio mouth areas by switching work at present camera.
In order to achieve the above object, the present invention has following technical scheme：
A kind of hand held oral three-dimensional scanner of the present invention, including：
The characteristic pattern projector, for projecting characteristic pattern to measurand surface；
The camera lens of two sets of different depths of focus, it is in respectively different angles from characteristic pattern projector projecting direction, the candy strip that oral cavity subject surface diffusing reflection comes out is scanned for receiving from different aspect ratios, it can be switched by electronics, complete the reflected light pickup in same scanned object different depth region；
Computer, realizes that space coordinate is resolved by software and splices with many visual field scanning data；
The computer is electrically connected with the characteristic pattern projector, camera lens respectively.
Wherein, the camera lens include main camera lens, auxiliary camera lens, the main camera lens scan area is more than auxiliary camera lens, but main camera lens depth of focus is less than auxiliary camera lens, and main camera lens are suitable for scanning cavity interior, most of region of model stamp；Auxiliary camera lens are suitable to stake core Tooth preparation, planting area and the labial teeth area of buccal impression or the larger region of undercut on the larger cavity interior of scanning aspect ratio, model.
Wherein, the characteristic pattern projector includes control system, lens drive system and projection lens, the control system is connected with lens drive system, lens drive system is connected with projection lens, the characteristic pattern projector is connected with computer, the characteristic pattern projector is controlled, default structured light patterns in computer are cast out, shape, frequency, the parameter of speed of the pattern in projection process are controlled by computer capacity, the pattern projected, which carries out structure light coding, is used for three-dimensional measurement.
Wherein, the control system includes programmable controller, SD card, jtag interface, FLASH and SDRAM synchronous DRAMs, and the programmable controller is connected with SD card, jtag interface, FLASH and SDRAM synchronous DRAMs respectively；The lens drive system includes DLPC300 digitial controllers, MDDR internal memories, Trigger triggers, FLASH, LED matrix, and the DLPC300 digitial controllers are connected with MDDR internal memories, Trigger triggers, FLASH, LED matrix respectively.
A kind of control method of hand held oral three-dimensional scanner of the present invention, comprises the following steps：
1) computer controlling feature pattern projection device projects characteristic pattern to measurand surface；
2) most areas of scanned object is first scanned with main camera lens；
3) work at present camera lens are switched to auxiliary camera lens, complementary scan is carried out according to the larger blind area in the stake core Tooth preparation, planting area and the labial teeth area of buccal impression that are shown on computer screen or undercut；
4) gradation scan data is carried out autoregistration, splicing automatically and merged by software after scanning.
Wherein, the characteristic pattern projector job step includes：First the pattern picture projected is needed to be stored to by computer according to the form of regulation in SD card vision measurement, after system electrification initialization, programmable controller goes to read the view data deposited in SD card first, and be cached in synchronous DRAM, then I2C interfaces to DLPC300 digitial controllers send image need deliver by way of and form order, DLPC300 digitial controllers start to control the dispensing of three-color light source progress view data in DLP3000 digitial controllers and projection lens according to the control command of programmable controller, and one level triggers signal of output is used for the trigger collection of synchronous camera lens while image is delivered.
Wherein, the software includes the method and step of software algorithm：One hand held oral 3 D scanning system is constituted by main camera lens C1, auxiliary camera lens C2 and characteristic pattern projector P, wherein, a depth of focus monocular system S1 being made up of main camera lens C1 and characteristic pattern projector P, another the depth of focus monocular system S2 being made up of auxiliary camera lens C2 and characteristic pattern projector P；Each monocular system is demarcated first before system scanning, solve the spin matrix R and translation vector T of two monocular systems, when measuring, two monocular systems are scanned to the different focal depth areas of the same position of measurement object respectively, each monocular system measurement data can just be carried out by Coordinate Conversion according to the spin matrix and translation vector RT demarcated, realize that measurement data is transferred under global coordinate system；
Each monocular system general principle is triangulation principle, one region feature pattern projection device and a camera lens, pattern is the pattern according to certain coding method drafting, projection pattern is to body surface, modulated by body surface height, projection pattern can deform, the purpose of three-dimensional scanning measurement is to realize that projection image's face pixel is corresponding with camera pixel according to trigonometry, if the coded structured light of collection is used as the input data of measuring system, the cloud data that three-dimensional measurement is rebuild is used as output data, there is a global mapping function between input and output as shown in formula：
The function representation three-dimensional measurement inputs a kind of mapping model between output, wherein, (xw,yw,zw) it is the three-dimensional data for needing to rebuild, (Ui,Vi,φi) it is image coordinate and coding, (Sabc,Qabc,Rabc) be inputoutput data mapping function, n be mapping exponent number.
The advantage of the invention is that：
1st, it is capable of the high efficiency of flexibility and the large scale haplopia field scan of binding operation person's hand exercise, two sets of cameras of different depths of focus scan the backteeth area and labial teeth area of stamp, quickly obtained by the three dimensional surface data of buccal impression respectively.
2nd, compared with the automatically controlled motion of conventional multi-axis is with scanning constant program scanning mode, a large amount of unnecessary scanning angles can be reduced, while improving detection efficient, the error during image mosaic can be reduced, increase the accuracy of scanning.
3rd, compared with common handheld three-dimensional scanning means, it can realize that becoming depth of focus scans, and meets the scanning requirement of different aspect ratio mouth areas by switching work at present camera lens.
Brief description of the drawings
Fig. 1 characteristic pattern projector operation principle hardware structure diagrams；
Fig. 2 system structure model figures；
Fig. 3 faces patterning light measurement system model.
In figure, 1, testee；2nd, the characteristic pattern projector is practised physiognomy；3rd, camera lens；4th, projection lens；5th, pixel point coordinates；6th, camera is practised physiognomy；C1, main camera lens；C2, auxiliary camera lens；P, the characteristic pattern projector；R, spin matrix；T, translation vector；π, structure optical plane.
Embodiment
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
Referring to Fig. 1-3, a kind of hand held oral three-dimensional scanner of the invention, including：
The characteristic pattern projector, for projecting characteristic pattern to measurand surface；
The camera lens of two sets of different depths of focus, it is in respectively different angles from characteristic pattern projector projecting direction, the candy strip that oral cavity subject surface diffusing reflection comes out is scanned for receiving from different aspect ratios, it can be switched by electronics, complete the reflected light pickup in same scanned object different depth region；
Computer, realizes that space coordinate is resolved by software and splices with many visual field scanning data；
The computer is electrically connected with the characteristic pattern projector, camera lens respectively.
The camera lens include main camera lens, auxiliary camera lens, and the main camera lens scan area is more than auxiliary camera lens, but main camera lens depth of focus is less than auxiliary camera lens, and main camera lens are suitable for scanning cavity interior, most of region of model stamp；Auxiliary camera lens are suitable to stake core Tooth preparation, planting area and the labial teeth area of buccal impression or the larger region of undercut on the larger cavity interior of scanning aspect ratio, model.
The characteristic pattern projector includes control system, lens drive system and projection lens, the control system is connected with lens drive system, lens drive system is connected with projection lens, the characteristic pattern projector is connected with computer, the characteristic pattern projector is controlled, default structured light patterns in computer are cast out, shape, frequency, the parameter of speed of the pattern in projection process are controlled by computer capacity, the pattern projected, which carries out structure light coding, is used for three-dimensional measurement.
The control system includes programmable controller, SD card, jtag interface, FLASH and synchronous DRAM, and the programmable controller is connected with SD card, jtag interface, FLASH and synchronous DRAM respectively；The lens drive system includes DLPC300 digitial controllers, MDDR internal memories, Trigger triggers, FLASH, LED matrix, and the DLPC300 digitial controllers are connected with MDDR internal memories, Trigger triggers, FLASH, LED matrix respectively.
A kind of control method of hand held oral three-dimensional scanner of the present invention, comprises the following steps：
1) computer controlling feature pattern projection device projects characteristic pattern to measurand surface；
2) most areas of scanned object is first scanned with main camera lens；
3) work at present camera lens are switched to auxiliary camera lens, complementary scan is carried out according to the larger blind area in the stake core Tooth preparation, planting area and the labial teeth area of buccal impression that are shown on computer screen or undercut；
4) gradation scan data is carried out autoregistration, splicing automatically and merged by software after scanning.
The characteristic pattern projector job step includes：First the pattern picture projected is needed to be stored to by computer according to the form of regulation in SD card vision measurement, after system electrification initialization, programmable controller goes to read the view data deposited in SD card first, and be cached in synchronous DRAM, then I2C interfaces to DLPC300 digitial controllers send image need deliver by way of and form order, DLPC300 digitial controllers start to control the dispensing of three-color light source progress view data in DLP3000 digitial controllers and projection lens according to the control command of programmable controller, and one level triggers signal of output is used for the trigger collection of synchronous camera lens while image is delivered.
See Fig. 2, the software includes the method and step of software algorithm：One hand held oral 3 D scanning system is constituted by main camera lens C1, auxiliary camera lens C2 and characteristic pattern projector P, wherein, a depth of focus monocular system S1 being made up of main camera lens C1 and characteristic pattern projector P, another the depth of focus monocular system S2 being made up of auxiliary camera lens C2 and characteristic pattern projector P；Each monocular system is demarcated first before system scanning, solve the spin matrix R and translation vector T of two monocular systems, when measuring, two monocular systems are scanned to the different focal depth areas of the same position of measurement object respectively, each monocular system measurement data can just be carried out by Coordinate Conversion according to the spin matrix and translation vector RT demarcated, realize that measurement data is transferred under global coordinate system；
Each monocular system general principle is triangulation principle, area-structure light three-dimension measuring system structure such as Fig. 3 based on pattern, one region feature pattern projection device and a camera lens, pattern is the pattern according to certain coding method drafting, projection pattern is to body surface, modulated by body surface height, projection pattern can deform, the purpose of three-dimensional scanning measurement is to realize that projection image's face pixel is corresponding with camera pixel according to trigonometry, if the coded structured light of collection is used as the input data of measuring system, the cloud data that three-dimensional measurement is rebuild is used as output data, there is a global mapping function between input and output as shown in formula：
The function representation three-dimensional measurement inputs a kind of mapping model between output, wherein, (xw,yw,zw) it is the three-dimensional data for needing to rebuild, (Ui,Vi,φi) it is image coordinate and coding, (Sabc,Qabc,Rabc) be inputoutput data mapping function, n be mapping exponent number.
As described above, just more can sufficiently realize the present invention.The relatively reasonable embodiment of the present invention is the foregoing is only, protection scope of the present invention includes but is not limited to this, those skilled in the art is any to be included within the scope of the present invention includes based on unsubstantiality denaturation change in technical solution of the present invention.
Claims (7)
1. a kind of hand held oral three-dimensional scanner, it is characterised in that including：
The characteristic pattern projector, for projecting characteristic pattern to measurand surface；
The camera lens of two sets of different depths of focus, respectively with characteristic pattern projector projecting direction in not
Same angle, is scanned what oral cavity subject surface diffusing reflection came out for receiving from different aspect ratios
Candy strip, can be switched by electronics, complete the anti-of same scanned object different depth region
Penetrate light pickup；
Computer, realizes that space coordinate is resolved by software and splices with many visual field scanning data；
The computer is electrically connected with the characteristic pattern projector, camera lens respectively.
2. a kind of hand held oral three-dimensional scanner according to claim 1, it is special
Levy and be：The camera lens include main camera lens, auxiliary camera lens, the principal phase machine mirror
Head scan area is more than auxiliary camera lens, but main camera lens depth of focus is less than auxiliary camera lens, main
Camera lens are suitable for scanning cavity interior, most of region of model stamp；Auxiliary camera lens
Suitable for the larger cavity interior of scanning aspect ratio, stake core Tooth preparation, planting area on model with
And the labial teeth area of buccal impression or the larger region of undercut.
3. a kind of hand held oral three-dimensional scanner according to claim 1, it is special
Levy and be：The characteristic pattern projector includes control system, lens drive system and projecting mirror
Head, the control system is connected with lens drive system, and lens drive system connects with projection lens
Connect, the characteristic pattern projector is connected with computer, the characteristic pattern projector is controlled
System, default structured light patterns in computer are cast out, and control to project by computer capacity
During pattern shape, frequency, the parameter of speed, the pattern that projects carries out structure light
Encode for three-dimensional measurement.
4. a kind of hand held oral three-dimensional scanner according to claim 3, it is special
Levy and be：The control system includes programmable controller, SD card, jtag interface, FLASH
And synchronous DRAM, the programmable controller respectively with SD card, jtag interface,
FLASH and synchronous DRAM connection；The lens drive system includes DLPC300
Digitial controller, MDDR internal memories, Trigger triggers, FLASH, LED matrix, it is described
DLPC300 digitial controllers respectively with MDDR internal memories, Trigger triggers, FLASH, LED
Device is connected.
5. a kind of control method of hand held oral three-dimensional scanner, it is characterised in that including
Following steps：
1) computer controlling feature pattern projection device projects characteristic pattern to measurand surface；
2) most areas of scanned object is first scanned with main camera lens；
3) work at present camera lens are switched to auxiliary camera lens, according on computer screen
Stake core Tooth preparation, planting area and the labial teeth area of buccal impression of display or larger blind of undercut
Area carries out complementary scan；
4) gradation scan data is carried out autoregistration, splicing automatically and merged by software after scanning.
6. according to a kind of control of hand held oral three-dimensional scanner described in claim 6
Method, it is characterised in that the characteristic pattern projector job step includes：First by vision measurement
Need the pattern picture of projection to be stored to by computer according to the form of regulation in SD card, be
Unite after power-up initializing, programmable controller goes to read the view data deposited in SD card first,
And be cached in synchronous DRAM, then by I2C interfaces to DLPC300
Digitial controller, which sends image, needs the order for the mode and form delivered, DLPC300 numeral controls
Device processed according to the control command of programmable controller start control DLP3000 digitial controllers and
Three-color light source carries out the dispensing of view data in projection lens, and is exported while image is delivered
One level triggers signal is used for the trigger collection of synchronous camera lens.
7. according to a kind of control of hand held oral three-dimensional scanner described in claim 6
Method, it is characterised in that the software includes the method and step of software algorithm：By main camera lens
(C1), auxiliary camera lens (C2) and the characteristic pattern projector (P) constitute a hand-held
Oral cavity 3 D scanning system, wherein, by main camera lens (C1) and the characteristic pattern projector (P)
One depth of focus monocular system (S1) of composition, by auxiliary camera lens (C2) and characteristic pattern
Another depth of focus monocular system (S2) of the case projector (P) composition；Before system scanning
Each monocular system is demarcated first, the rotation of two monocular systems is solved
Matrix (R) and translation vector (T), when measuring, two monocular systems
The different focal depth areas of the same position of measurement object are scanned respectively, according to the rotation demarcated
Each monocular system measurement data can just be carried out coordinate by matrix and translation vector (RT)
Conversion, realizes that measurement data is transferred under global coordinate system；
Each monocular system general principle is triangulation principle, a region feature pattern
The projector and a camera lens, pattern are the patterns according to certain coding method drafting, are thrown
Shadow pattern is modulated to body surface by body surface height, and projection pattern can deform,
The purpose of three-dimensional scanning measurement is to realize projection image's face pixel and camera pixel according to trigonometry
Correspondence, if the coded structured light of collection is as the input data of measuring system, three-dimensional measurement is rebuild
Cloud data as output data, between input and output in the presence of a global mapping function
As shown in formula：
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The function representation three-dimensional measurement inputs a kind of mapping model between output, wherein,
(xw,yw,zw) it is the three-dimensional data for needing to rebuild, (Ui,Vi,φi) it is image coordinate and coding,
(Sabc,Qabc,Rabc) be inputoutput data mapping function, n be mapping exponent number.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108827151A (en) * | 2018-06-22 | 2018-11-16 | 北京大学口腔医学院 | Registration of Measuring Data method and Registration of Measuring Data system |
| CN110634179A (en) * | 2018-06-22 | 2019-12-31 | 阿莱恩技术有限公司 | Method for generating digital three-dimensional model using intraoral three-dimensional scanner |
| CN112426240A (en) * | 2021-01-05 | 2021-03-02 | 南京长相依贸易有限公司 | Telescopic three-dimensional high accuracy scanner in oral cavity |
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