CN114521982A

CN114521982A - Intraoral scanner, intraoral scanning implementation method and storage medium

Info

Publication number: CN114521982A
Application number: CN202210158867.4A
Authority: CN
Inventors: 李红杰
Original assignee: Ziyang Lianyao Medical Instrument Co ltd
Current assignee: Ziyang Lianyao Medical Instrument Co ltd
Priority date: 2022-02-21
Filing date: 2022-02-21
Publication date: 2022-05-24

Abstract

The invention discloses an intraoral scanner, an intraoral scanning implementation method and a storage medium, wherein the intraoral scanner sequentially comprises the following components in the direction of a light path: a light source module for emitting an illumination beam including at least two colors; the projection module is used for projecting and irradiating the illumination light beam to the surface of the oral cavity to be detected so as to enable the surface of the oral cavity to be detected to be reflected to obtain a color stripe light beam; the reflection module is used for separating at least two color beams in the color stripe beams; and the at least two image acquisition modules are respectively used for shooting the stripe distribution condition of the surface of the detected oral cavity after being reflected by the reflection module and acquiring at least two monochromatic stripe pictures with different colors at the same time. The invention can greatly improve the intraoral scanning precision and speed.

Description

Intraoral scanner, intraoral scanning implementation method and storage medium

Technical Field

The invention relates to the technical field of projectors, in particular to an intraoral scanner, an intraoral scanning implementation method and a storage medium.

Background

With the increase of the incidence rate and the increase of the incidence range of various oral diseases, more and more people become aware of the harmfulness of the oral diseases.

Generally, in a dental clinic or the like, dental treatment is performed by a procedure of taking an impression of a plaster model of a patient's teeth. However, this impression process may be accompanied by various problems such as consumption of impression material, cross-infection, breakage of the assembled model, and the like. Thus, the method of forming a two-dimensional pattern of a tooth by irradiation with radiation has a disadvantage of poor accuracy by exposing a patient to a large amount of radiation. Next, intraoral scanners are becoming increasingly important in the relevant field as a key portal for digital oral treatment. The intraoral scanner can be used as an optical three-dimensional reconstruction tool to directly obtain an intraoral three-dimensional model of a patient, the optical reconstruction technology has no side effect on the patient, and the rapid three-dimensional reconstruction algorithm is utilized to shorten the intraoral modeling time of the patient.

However, because the core component of the intraoral scanner is an optical machine, the optical machine of the conventional intraoral scanner generally projects pictures with different colors in a time-sharing manner, and then the corresponding pictures are acquired by using a camera in a time-sharing manner, and the accuracy of intraoral scanning is directly influenced by the implementation method.

Disclosure of Invention

Aiming at the technical problems, the invention aims to solve the technical problem of low intraoral scanning precision.

In order to achieve the above object, the present invention provides an intraoral scanner comprising:

the intraoral scanner includes along the light path direction in proper order:

a light source module for emitting an illumination beam including at least two colors;

the projection module is used for projecting and irradiating the illumination light beam to the surface of the oral cavity to be detected so as to enable the surface of the oral cavity to be detected to be reflected to obtain a color stripe light beam;

the reflection module is used for separating at least two color beams in the color stripe beams;

and the at least two image acquisition modules are respectively used for shooting the stripe distribution condition of the surface of the oral cavity to be detected after the reflection of the reflection module and acquiring at least two monochromatic stripe pictures with different colors at the same time.

In some embodiments, the projection module includes a grating plate and a projection lens sequentially arranged along the optical path direction;

the grating plate is used for decomposing the illumination light beam to generate a color fringe light beam required by projection;

and the projection lens is used for projecting and irradiating the color stripe light beam to the surface of the oral cavity to be measured.

In some embodiments, the projection module comprises a digital micromirror and a projection lens sequentially arranged along the direction of the light path;

the digital micromirror is used for carrying out turnover projection on the illumination light beam to generate a required color stripe light beam;

In some embodiments, the reflection module comprises an imaging lens and a first light splitter which are arranged in sequence along the direction of the light path;

the at least two image acquisition modules comprise a first image acquisition module and a second image acquisition module;

an included angle between the extension direction of the first light splitter and the first light path direction of the color stripe light beam passing through the imaging lens is a first preset angle;

the first light splitter is used for reflecting and filtering a first monochromatic light beam in the color stripe light beams passing through the imaging lens to obtain a second monochromatic light beam;

the first image acquisition module is used for shooting the stripe distribution condition of the first monochromatic light beam on the surface of the detected oral cavity to obtain a first monochromatic stripe picture;

and the second image acquisition module is used for shooting the stripe distribution condition of the second monochromatic light beams on the surface of the detected oral cavity and acquiring a second monochromatic stripe picture.

In some embodiments, the reflection module further includes a second light splitting sheet disposed behind the imaging lens in sequence along the optical path direction, and the extending direction of the first light splitting sheet is parallel to the extending direction of the second light splitting sheet; the at least two image acquisition modules further comprise a third image acquisition module;

the second light splitter is used for reflecting the second monochromatic light beam in the color stripe light beam passing through the first light splitter, filtering the second monochromatic light beam to obtain a third monochromatic light beam and projecting the third monochromatic light beam;

and the third image acquisition module is used for shooting the stripe distribution condition of the third monochromatic light beam on the surface of the measured oral cavity to obtain a third monochromatic stripe picture.

In some embodiments, the image acquisition module includes a number of monochrome image sensors.

According to another aspect of the present invention, the present invention further provides an intraoral scan implementation method, applied to the intraoral scanner, including the steps of:

controlling a light source module to emit an illumination beam including at least two colors;

controlling a projection module to project and irradiate the illumination light beam to the surface of the oral cavity to be measured, so that the surface of the oral cavity to be measured is reflected to obtain a color stripe light beam;

controlling a reflection module to separate at least two color beams in the color stripe beams;

and controlling at least two image acquisition modules to respectively shoot the stripe distribution condition of the surface of the detected oral cavity after the reflection of the reflection module, and acquiring at least two monochromatic stripe pictures with different colors at the same time.

In some embodiments, the controlling the projection module to project the illumination beam onto the oral cavity surface to be measured, so that the oral cavity surface to be measured reflects the color stripe beam comprises:

controlling a grating plate to decompose the illumination light beam to generate a color stripe light beam required by projection, and controlling a projection lens to project the color stripe light beam to irradiate the surface of the oral cavity to be measured; or the like, or, alternatively,

and controlling a digital micromirror to carry out turnover projection on the illumination light beam to generate a required color stripe light beam, and controlling a projection lens to project the color stripe light beam to the surface of the oral cavity to be measured.

the step of separating at least two color beams in the color stripe beams by the reflection control module comprises the following steps:

controlling the first light splitter to reflect and filter the first monochromatic light beams in the color stripe light beams passing through the imaging lens to obtain second monochromatic light beams;

controlling the second light splitter to reflect a second monochromatic light beam in the color stripe light beams passing through the first light splitter, and filtering the second monochromatic light beam to obtain a third monochromatic light beam for projection;

the step of controlling at least two image acquisition modules to respectively shoot the stripe distribution condition of the surface of the detected oral cavity after the reflection of the reflection module, and acquiring at least two monochromatic stripe pictures with different colors at the same time comprises the following steps:

controlling the first image acquisition module to shoot the stripe distribution condition of the first monochromatic light beam on the surface of the detected oral cavity to obtain a first monochromatic stripe picture;

and controlling the second image acquisition module to shoot the stripe distribution condition of the second monochromatic light beam on the surface of the detected oral cavity to obtain a second monochromatic stripe picture.

The reflecting module also comprises second light splitting sheets which are positioned behind the imaging lens and are sequentially arranged along the direction of a light path, and the extension direction of the first light splitting sheets is parallel to the extension direction of the second light splitting sheets; the at least two image acquisition modules further comprise a third image acquisition module; further comprising the steps of:

controlling the second light splitter to reflect the second monochromatic light beam in the color stripe light beams passing through the first light splitter, and filtering to obtain a third monochromatic light beam for projection;

and controlling the third image acquisition module to shoot the stripe distribution condition of the third monochromatic light beam on the surface of the detected oral cavity to obtain a third monochromatic stripe picture.

According to another aspect of the present invention, the present invention further provides a storage medium, wherein at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement the operation performed by the intra-oral scan implementation method.

Compared with the prior art, the intraoral scanner, the intraoral scanning implementation method and the storage medium provided by the invention can greatly improve the intraoral scanning precision and speed.

Drawings

The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.

FIG. 1 is a schematic block diagram of one embodiment of an intraoral scanner of the present invention;

FIG. 2 is a schematic block diagram of another embodiment of an intraoral scanner of the present invention;

FIG. 3 is a schematic block diagram of another embodiment of an intraoral scanner of the present invention;

FIG. 4 is a flow chart illustrating an exemplary method for implementing intra-oral scanning according to the present invention;

FIG. 5 is a schematic flow chart diagram illustrating another exemplary method for implementing intra-oral scanning according to the present invention;

fig. 6 is a flowchart illustrating another embodiment of an intra-oral scan implementation method according to the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "a" means not only "only one of this but also a case of" more than one ".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Referring to fig. 1 to 3, an intraoral scanner includes, in order along an optical path direction:

a light source module 1 for emitting an illumination beam comprising at least two colors;

the projection module is used for projecting and irradiating the illumination light beam to the oral cavity surface 4 to be measured so as to enable the oral cavity surface 4 to be measured to reflect and obtain a color stripe light beam;

and the at least two image acquisition modules are respectively used for shooting the stripe distribution condition of the oral cavity surface 4 to be detected after the reflection of the reflection module and acquiring at least two monochromatic stripe pictures with different colors at the same time.

In particular, the at least two colors comprised by the illumination beam are typically red, blue and green. The illuminating light beam can be emitted by three independent light sources of red, green and blue. The invention provides a novel design method of an optical machine of an intraoral scanner, which can improve the accuracy and speed of intraoral scanning. The light source module 1 can emit and provide a light source including at least two colors, i.e., an illumination light beam, for example, the illumination light beam emitted by the light source module 1 including three spectrums of red, green and blue is projected and reflected by the projection module to obtain a color stripe light beam, and is reflected by the reflection module onto the oral cavity surface 4 to be measured, so that the oral cavity surface 4 to be measured presents color stripes. The image acquisition module shoots the distribution condition of the color stripes on the surface 4 of the detected oral cavity to obtain at least two monochromatic stripe pictures with different colors at the same time. The optical-mechanical device of the intraoral scanner of the invention acquires at least two monochromatic stripe pictures with different colors aiming at the surface 4 of the tested oral cavity at the same time.

In one embodiment, the projection module comprises a grating plate 2 and a projection lens 3 which are arranged in sequence along the direction of an optical path;

the grating plate 2 is used for decomposing the illumination light beam to generate a color fringe light beam required by projection;

and the projection lens 3 is used for projecting and irradiating the color stripe light beam to the oral cavity surface 4 to be measured.

In one embodiment, the projection module comprises a digital micromirror and a projection lens 3 arranged in sequence along the direction of the light path;

Specifically, the Digital Micromirror is a Digital Micromirror device, which is abbreviated as DMD.

In one embodiment, the reflection module comprises an imaging lens 5 and a first light splitter 7 which are arranged in sequence along the direction of the light path;

the at least two image acquisition modules include a first and second image acquisition module 62;

an included angle between the extending direction of the first light splitter 7 and the first light path direction 100 of the color stripe light beam passing through the imaging lens 5 is a first preset angle, so that an included angle between the second light path direction 200 of the color stripe light beam passing through the first light splitter 7 and the first light path direction 100 is a second preset angle;

the first light splitter 7 is configured to reflect and filter a first monochromatic 91 light beam of the color stripe light beams passing through the imaging lens 5 to obtain a second monochromatic 92 light beam;

the first image acquisition module 61 is configured to capture a fringe distribution of a first monochromatic 91 light beam on the oral surface 4 to be detected, and obtain a first monochromatic 91 fringe picture;

the second image capturing module 62 is configured to capture a fringe distribution of a second monochromatic 92 light beam on the oral surface 4 to be measured, and obtain a second monochromatic 92 fringe picture.

Specifically, the first and second monochromatic 92 light beams may be any one of red, blue and green, respectively, in any case, as long as the first and second monochromatic 92 light beams are different in color from each other. The invention provides a novel design method of an optical machine of an intraoral scanner, which can improve the accuracy and speed of intraoral scanning. The light source module 1 can emit light sources providing light containing red and blue spectrums, so that the illumination light beams emitted by the light source module 1 containing the red and blue spectrums pass through the grating plate 2 and are irradiated onto the oral cavity surface 4 to be measured through the projection lens 3, so that the oral cavity surface 4 to be measured presents color stripes. For example, after color stripes on the oral surface 4 to be measured pass through the imaging lens 5 to the first light splitter 7, red light is reflected to the first image acquisition module 61, and blue light is reflected to the second image acquisition module 62, all the above mentioned image acquisition modules can take images at the same time, so that the optical engine of the intraoral scanner of the present invention can acquire two stripe images for the oral surface 4 to be measured at the same time.

Similarly, for example, the color stripes on the oral surface 4 to be measured pass through the imaging lens 5 to the first light splitter 7, and then the blue light is reflected to the first image acquisition module 61, and the green light is reflected to the second image acquisition module 62, all the above mentioned image acquisition modules can shoot and acquire pictures at the same time, so that the optical engine of the intraoral scanner of the present invention can acquire two stripe pictures for the oral surface 4 to be measured at the same time.

In one embodiment, as shown in fig. 3, the reflection module further includes a second light splitter 8 disposed behind the imaging lens 5 in sequence along the optical path direction, and the extending direction of the first light splitter 7 is parallel to the extending direction of the second light splitter 8; the at least two image acquisition modules further comprise a third image acquisition module 63;

the second light splitter 8 is configured to reflect a second monochromatic 92 light beam in the color stripe light beams passing through the first light splitter 7, and filter the reflected light beam to obtain a third monochromatic 93 light beam for projection;

the third image acquisition module 63 is configured to shoot a stripe distribution condition of a third monochromatic 93 light beam on the oral surface 4 to be detected, and obtain a third monochromatic 93 stripe picture.

Specifically, the first to third monochromatic 93 light beams may be any one of red, blue and green, respectively, in any case, as long as the first to third monochromatic 93 light beams are different in color from each other. Similarly, the reflected monochromatic light beams after being filtered by the first light splitting plate 7 and the second light splitting plate 8 may be determined according to the material of the light splitting plates, and is not limited herein. The invention provides a novel design method of an optical machine of an intraoral scanner, which can improve the accuracy and speed of intraoral scanning. The light source module 1 can emit light sources providing light containing red and blue spectrums, so that the illumination light beams emitted by the light source module 1 containing the red and blue spectrums pass through the grating plate 2 and are irradiated onto the oral cavity surface 4 to be measured through the projection lens 3, so that the oral cavity surface 4 to be measured presents color stripes. For example, the color stripes on the oral surface 4 to be measured pass through the imaging lens 5 to the first light splitter 7, then the blue light is reflected to the first image capturing module 61, the red and green light passes through the first light splitter 7 to reach the second light splitter 8, the green light is reflected to the second image capturing module 62, and then the red light passes through the second light splitter 8 and is reflected to the third image capturing module 63. All the image acquisition modules mentioned above can take acquisition pictures at the same time, so that the optical-mechanical apparatus of the intraoral scanner of the present invention can acquire three stripe pictures for the oral surface 4 to be measured at the same time.

Similarly, for example, the color stripes on the oral surface 4 to be measured pass through the imaging lens 5 to the first light splitter 7, then the red light is reflected to the first image capturing module 61, the blue-green light passes through the first light splitter 7 to the second light splitter 8, the green light is reflected to the second image capturing module 62, and then the blue light passes through the second light splitter 8 and is reflected to the third image capturing module 63. All the image acquisition modules mentioned above can take acquisition pictures at the same time, so that the optical-mechanical apparatus of the intraoral scanner of the present invention can acquire three stripe pictures for the oral surface 4 to be measured at the same time.

Of course, the light source module 1 of the present invention can adopt three independent light sources of red, green and blue. Further, the grating may be replaced with a Digital Micromirror (DMD). The number of the imaging lens 5 or the projection lens 3 may be one or more.

In one embodiment, the image acquisition module includes a number of monochrome image sensors.

The invention can generate red, green and blue light at the same time and respectively acquire the monochrome pictures of the three stripes of red, green and blue at the same time. Because the red, green and blue pictures are imaged on different image sensors respectively, the image sensors can be monochrome sensors. The use of a monochrome sensor provides a higher spatial resolution than a color sensor, and therefore the reconstruction accuracy of a picture with a monochrome sensor is higher than that of a picture with a color sensor for intraoral scanners. Compared with the prior art that the red, green and blue light is respectively projected in a time-sharing mode, and the photo machine of only one image sensor shoots and acquires the picture of the measured oral cavity surface 4, the invention simultaneously generates the red, green and blue light at the same time and simultaneously acquires three stripe pictures with different colors, so that the time can be saved by one third, and the speed of the intraoral scanner is greatly improved.

According to another aspect of the present invention, as shown in fig. 4, the present invention further provides an intraoral scan implementation method, applied to the intraoral scanner, where the intraoral scanner sequentially includes a light source module 1, a projection module, a reflection module, and at least two image acquisition modules along a light path direction, including the steps of:

s100 controls the light source module 1 to emit an illumination beam including at least two colors;

s200, controlling a projection module to project and irradiate the illumination light beam to the oral cavity surface 4 to be detected, so that the oral cavity surface 4 to be detected is reflected to obtain a color stripe light beam;

s300, controlling a reflection module to separate at least two color beams in the color stripe beams;

s400, controlling at least two image acquisition modules to respectively shoot the stripe distribution condition of the oral cavity surface 4 to be detected after the reflection of the reflection module, and acquiring at least two monochromatic stripe pictures with different colors at the same time.

In particular, the at least two colors comprised by the illumination beam are typically red, blue and green. The illuminating light beam can be emitted by three independent light sources of red, green and blue. The invention provides a novel design method of an optical machine of an intraoral scanner, which can improve the accuracy and speed of intraoral scanning. The light source module 1 can emit and provide a light source including at least two colors, i.e., an illumination light beam, for example, the illumination light beam emitted by the light source module 1 including three spectrums of red, green and blue is projected and reflected by the projection module to obtain a color stripe light beam, and is reflected onto the measured oral cavity surface 4 through the reflection module, so that the measured oral cavity surface 4 presents color stripes. The image acquisition module shoots the distribution condition of the color stripes on the surface 4 of the detected oral cavity to obtain at least two monochromatic stripe pictures with different colors at the same time. The optical-mechanical device of the intraoral scanner of the invention acquires at least two monochromatic stripe pictures with different colors aiming at the surface 4 of the tested oral cavity at the same time.

According to another aspect of the present invention, as shown in fig. 5, the present invention further provides an intraoral scan implementation method, which is applied to the intraoral scanner, wherein the reflection module includes an imaging lens 5 and a first light splitter 7, which are sequentially arranged along the optical path direction; the at least two image acquisition modules include a first and second image acquisition module 62; an included angle between the extending direction of the first light splitter 7 and the first light path direction 100 of the color stripe light beam passing through the imaging lens 5 is a first preset angle, so that an included angle between the second light path direction 200 of the color stripe light beam passing through the first light splitter 7 and the first light path direction 100 is a second preset angle; the light incident directions of the first and second image capturing modules 62 are parallel to the second light path direction 200; the method comprises the following steps:

s210, controlling the grating plate 2 to decompose the illumination light beam to generate a color stripe light beam required by projection, and controlling the projection lens 3 to project the color stripe light beam to irradiate the surface 4 of the oral cavity to be measured;

s310 controls the first light splitter 7 to reflect and filter the first monochromatic 91 light beam of the color stripe light beam passing through the imaging lens 5 to obtain a second monochromatic 92 light beam;

s410, the first image acquisition module 61 is controlled to shoot the stripe distribution condition of a first monochromatic 91 light beam on the surface 4 of the detected oral cavity, and a first monochromatic 91 stripe picture is obtained;

s420 controls the second image capturing module 62 to capture the fringe distribution of the second monochromatic 92 light beam on the measured oral surface 4, so as to obtain a second monochromatic 92 fringe picture.

Specifically, the Digital Micromirror is Digital Micromirror Devices, which is abbreviated as DMD. The first and second monochromatic 92 light beams may be any of red, blue and green, respectively, provided that, in any case, the first and second monochromatic 92 light beams are different in color from each other.

The invention provides a novel design method of an optical machine of an intraoral scanner, which can improve the accuracy and speed of intraoral scanning. The light source module 1 can emit light sources providing light containing red and blue spectrums, so that the illumination light beams emitted by the light source module 1 containing the red and blue spectrums pass through the grating plate 2 and are irradiated onto the oral cavity surface 4 to be measured through the projection lens 3, so that the oral cavity surface 4 to be measured presents color stripes. For example, after color stripes on the oral surface 4 to be measured pass through the imaging lens 5 to the first light splitter 7, red light is reflected to the first image acquisition module 61, and blue light is reflected to the second image acquisition module 62, all the above mentioned image acquisition modules can take images at the same time, so that the optical engine of the intraoral scanner of the present invention can acquire two stripe images for the oral surface 4 to be measured at the same time.

According to another aspect of the present invention, the present invention further provides an intraoral scan implementation method, which is applied to the intraoral scanner, wherein the reflection module includes an imaging lens 5 and a first light splitter 7, which are sequentially arranged along a light path direction; the at least two image acquisition modules include a first and second image acquisition module 62; an included angle between the extending direction of the first light splitter 7 and the first light path direction 100 of the color stripe light beam passing through the imaging lens 5 is a first preset angle, so that an included angle between the second light path direction 200 of the color stripe light beam passing through the first light splitter 7 and the first light path direction 100 is a second preset angle; the light incident directions of the first and second image capturing modules 62 are parallel to the second light path direction 200; the method comprises the following steps:

s220, controlling a digital micromirror to perform turning projection on the illumination light beam to generate a required color stripe light beam, and controlling a projection lens 3 to project the color stripe light beam to irradiate the surface 4 of the oral cavity to be measured;

s410, controlling the first image acquisition module 61 to shoot the stripe distribution condition of the first monochromatic 91 light beam on the detected oral surface 4, and acquiring a first monochromatic 91 stripe picture;

According to another aspect of the present invention, as shown in fig. 6, the present invention further provides an intraoral scan implementation method, which is applied to the intraoral scanner, wherein the reflection module includes an imaging lens 5 and a first light splitter 7 sequentially arranged along an optical path direction, the reflection module further includes a second light splitter 8 sequentially arranged along the optical path direction behind the imaging lens 5, and an extension direction of the first light splitter 7 is parallel to an extension direction of the second light splitter 8; the at least two image capturing modules include first to third image capturing modules 63; an included angle between the extending direction of the first light splitter 7 and the first light path direction 100 of the color stripe light beam passing through the imaging lens 5 is a first preset angle, so that an included angle between the second light path direction 200 of the color stripe light beam passing through the first light splitter 7 and the first light path direction 100 is a second preset angle; the light incident directions of the first and second

image capturing modules

62 and 63 are parallel to the second light path direction 200, and the first light path direction 100; the method comprises the following steps:

s320, controlling the second light splitter 8 to reflect the second monochromatic 92 light beam in the color stripe light beams passing through the first light splitter 7, and filtering to obtain a third monochromatic 93 light beam for projection;

s420, controlling the second image acquisition module 62 to shoot the stripe distribution condition of the second monochromatic 92 light beam on the detected oral surface 4, and acquiring a second monochromatic 92 stripe picture;

s430 controls the third image capturing module 63 to capture the stripe distribution of the third monochromatic 93 light beam on the oral surface 4 to be detected, so as to obtain a third monochromatic 93 stripe picture.

Similarly, for example, the color stripes on the oral surface 4 to be measured pass through the imaging lens 5 to the first light splitter 7, then the red light is reflected to the first image capturing module 61, the blue-green light passes through the first light splitter 7 to the second light splitter 8, the green light is reflected to the second image capturing module 62, and then the blue light passes through the second light splitter 8 and is reflected to the third image capturing module 63. All the image acquisition modules mentioned above can shoot and acquire pictures at the same time, so that the optical-mechanical device of the intraoral scanner of the present invention can acquire three strip pictures for the oral surface 4 to be measured at the same time.

According to another aspect of the present invention, the present invention further provides an intraoral scan implementation method, which is applied to the intraoral scanner, wherein the reflection module includes an imaging lens 5 and a first light splitter 7 sequentially arranged along an optical path direction, the reflection module further includes a second light splitter 8 sequentially arranged along the optical path direction behind the imaging lens 5, and an extension direction of the first light splitter 7 is parallel to an extension direction of the second light splitter 8; the at least two image capturing modules include first to third image capturing modules 63; an included angle between the extending direction of the first light splitter 7 and the first light path direction 100 of the color stripe light beam passing through the imaging lens 5 is a first preset angle, so that an included angle between the second light path direction 200 of the color stripe light beam passing through the first light splitter 7 and the first light path direction 100 is a second preset angle; the light incident directions of the first and second

image capturing modules

The invention can generate red, green and blue light at the same time and respectively obtain monochromatic pictures of three stripes of red, green and blue at the same time. Because the red, green and blue pictures are imaged on different image sensors respectively, the image sensors can be monochrome sensors. The use of a monochrome sensor provides a higher spatial resolution than a color sensor, and therefore the reconstruction accuracy of a picture with a monochrome sensor is higher than that of a picture with a color sensor for intraoral scanners. Compared with the prior art that the red, green and blue light is respectively projected in a time-sharing mode, and the photo machine of only one image sensor shoots and acquires the picture of the measured oral cavity surface 4, the invention simultaneously generates the red, green and blue light at the same time and simultaneously acquires three stripe pictures with different colors, so that the time can be saved by one third, and the speed of the intraoral scanner is greatly improved.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.

In an embodiment of the present invention, a storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the corresponding embodiments of the intra-oral scanning implementation method. For example, the storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

They may be implemented in program code that is executable by a computing device such that it is executed by the computing device, or separately, or as individual integrated circuit modules, or as a plurality or steps of individual integrated circuit modules. Thus, the present invention is not limited to any specific combination of hardware and software.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units may be stored in a storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by sending instructions to relevant hardware through a computer program, where the computer program may be stored in a storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program may be in source code form, object code form, an executable file or some intermediate form, etc. The storage medium may include: any entity or device capable of carrying the computer program, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier signal, telecommunications signal, and software distribution medium, etc. It should be noted that the content of the storage medium may be increased or decreased as appropriate according to the requirements of legislation and patent practice in the jurisdiction, for example: in certain jurisdictions, in accordance with legislation and patent practice, computer-readable storage media do not include electrical carrier signals and telecommunications signals.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An intraoral scanner, comprising, in order along an optical path direction:

a light source module for emitting an illumination beam comprising at least two colors;

and the at least two image acquisition modules are respectively used for shooting the stripe distribution condition of the surface of the detected oral cavity after being reflected by the reflection module and acquiring at least two monochromatic stripe pictures with different colors at the same time.

2. The intraoral scanner of claim 1, wherein the projection module comprises a grating plate and a projection lens arranged in sequence along the optical path direction;

3. The intraoral scanner of claim 1, wherein the projection module comprises a digital micromirror and a projection lens arranged in sequence along the optical path direction;

and the projection lens is used for projecting the color stripe light beams to the surface of the oral cavity to be measured.

4. The intraoral scanner according to any of claims 1-3, wherein the reflection module comprises an imaging lens, a first light splitter, which are arranged in sequence along the optical path direction;

the first image acquisition module is used for shooting the stripe distribution condition of the first monochromatic light beam on the surface of the measured oral cavity to obtain a first monochromatic stripe picture;

5. The intraoral scanner according to claim 4, wherein the reflection module further comprises a second dichroic sheet disposed behind the imaging lens in sequence along the optical path direction, and the extending direction of the first dichroic sheet is parallel to the extending direction of the second dichroic sheet; the at least two image acquisition modules further comprise a third image acquisition module;

the second light splitter is used for reflecting the second monochromatic light beam in the color stripe light beams passing through the first light splitter, filtering the second monochromatic light beam to obtain a third monochromatic light beam and projecting the third monochromatic light beam;

and the third image acquisition module is used for shooting the stripe distribution condition of the third monochromatic light beam on the surface of the detected oral cavity and acquiring a third monochromatic stripe picture.

6. An intraoral scanner according to claim 4, wherein the image acquisition module comprises a number of monochrome image sensors.

7. An intraoral scanner implementing method, applied to the intraoral scanner of any one of claims 1 to 6, comprising the steps of:

controlling a projection module to project and irradiate the illumination light beam to the surface of the oral cavity to be detected so as to enable the surface of the oral cavity to be detected to reflect to obtain a color stripe light beam;

8. An intraoral scanning implementation method according to claim 7 wherein controlling the projection module to project the illumination beam onto the oral surface to be measured so that the oral surface to be measured reflects a color stripe beam comprises:

controlling a grating plate to decompose the illumination light beam to generate a color stripe light beam required by projection, and controlling a projection lens to project the color stripe light beam to irradiate the surface of the oral cavity to be measured; or the like, or a combination thereof,

and controlling a digital micromirror to turn and project the illumination light beam to generate a required color stripe light beam, and controlling a projection lens to project the color stripe light beam to the surface of the oral cavity to be measured.

9. An intra-oral scanning implementation method according to claim 7 or 8, wherein the reflection module includes an imaging lens, a first light splitter, which are sequentially arranged along the optical path direction;

10. The intraoral scanning implementation method according to claim 9, wherein the reflection module further includes a second dichroic sheet sequentially disposed along the optical path direction behind the imaging lens, and the extending direction of the first dichroic sheet is parallel to the extending direction of the second dichroic sheet; the at least two image acquisition modules further comprise a third image acquisition module; further comprising the steps of:

11. A storage medium having stored therein at least one instruction that is loaded and executed by a processor to perform operations performed by an intraoral scan implementation of any one of claims 7 to 10.