WO2023082124A1 - 大视场口内三维扫描仪 - Google Patents

大视场口内三维扫描仪 Download PDF

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Publication number
WO2023082124A1
WO2023082124A1 PCT/CN2021/129977 CN2021129977W WO2023082124A1 WO 2023082124 A1 WO2023082124 A1 WO 2023082124A1 CN 2021129977 W CN2021129977 W CN 2021129977W WO 2023082124 A1 WO2023082124 A1 WO 2023082124A1
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light
intraoral
intersection point
outer ray
ray
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PCT/CN2021/129977
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English (en)
French (fr)
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敖明武
庄富强
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宁波频泰光电科技有限公司
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Priority to PCT/CN2021/129977 priority Critical patent/WO2023082124A1/zh
Publication of WO2023082124A1 publication Critical patent/WO2023082124A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons

Definitions

  • the invention relates to the field of three-dimensional scanners, in particular to an in-port three-dimensional scanner with a large field of view.
  • An intraoral 3D scanner generally includes: a head, a handheld part, a light source system, an imaging device, a light output system, and a mirror.
  • the head includes a front end that needs to be inserted into the oral cavity and a rear end that is connected with the handle when in use.
  • the handle part is a part for the operator to hold during use.
  • the light source system including a light source and a lens, is used to emit light that is irradiated to the object to be scanned; the nature of the light is, for example, structured light; the light can be parallel light or approximately parallel light.
  • the imaging device is used to photograph the topography information of the surface of the scanned object when it is irradiated by the light emitted by the light source system; the topography information of the scanned object photographed by the imaging device can be processed into a three-dimensional model as shown in FIG. 1 .
  • the scanned object is an object in the oral cavity, such as teeth, gums, etc., when the intraoral 3D scanner is used normally.
  • the light output system including a reflector and a light channel window, is used to emit the light emitted by the light source system onto the object to be scanned, and the reflected light is perpendicular or nearly perpendicular to the upper surface of the object to be scanned.
  • the reflected light needs to be perpendicular or approximately perpendicular to the upper surface of the object to be scanned, so that the light can shine into the gap and be captured by the imaging device. Captured and formed a 3D model.
  • the reflector is installed inside the front end of the head, and forms an angle of 45 degrees or about 45 degrees with the optical axis of the light source system; in order to save space, the front end of the head where the reflector is installed is designed to be parallel or approximately parallel to the reflector; the light channel window Located on the lower surface of the front end of the head and parallel or approximately parallel to the optical axis of the light source system, the light path window is the exit of the 3D scanner projecting light to the object to be scanned in the oral cavity and the entrance to receive the reflected light from the object to be scanned in the oral cavity.
  • the included angle between the reflecting mirror and the optical channel window is 45 degrees or about 45 degrees.
  • the purpose of setting the reflector and the light channel window is to ensure that the parallel light or near-parallel light emitted by the light source system passes through the light outlet and is perpendicular or approximately perpendicular to the scanned object as shown in Figure 2. irradiated in a superficial manner.
  • the preset threshold is generally 17mm. Due to factors such as the internal structure and component design of the intraoral 3D scanner, the distance between the upper and lower surfaces of the head (especially the front end of the head) is generally set to 13-17mm. For example, Ningbo Pintai Optoelectronics Technology Co., Ltd. The company's Panda 2 product (hereinafter referred to as P2).
  • the size of the oral cavity limits the distance between the upper and lower surfaces of the head (especially the front end), which limits H, and the combination of this distance and the "vertical requirement" limits W. W affects the single-frame shooting area of the imaging device (the field of view is small), which in turn affects the intraoral operation speed.
  • An embodiment of the present invention provides an intraoral three-dimensional scanner, which includes a casing, on which a light path window is formed, and a first light source system and a second light source system are arranged in the casing; the first light source system and The second light source system is respectively used to generate a first light cone and a second light cone incident on the light track window; the first light cone and the second light cone are used to obtain point cloud data of the scanned object;
  • the first light cone includes a first outer ray and a second outer ray, and the second light cone includes a third outer ray and a fourth outer ray; wherein, the first outer ray, the second outer ray, Both the third outer ray and the fourth outer ray are approximately perpendicular to the track window; the intersection points of the first outer ray and the second outer ray with the track window are respectively the first intersection point and The second intersection point, the intersection points of the third outer ray and the fourth outer ray and the track window are respectively the third intersection point and the fourth intersection point; wherein,
  • the intraoral three-dimensional scanner uses two light source systems emitting light cones, and the light rays of the two light cones incident on the optical track window do not overlap or nearly overlap, so the width of the optical track window can be enlarged , so that the single-frame shooting area of the imaging device can be increased, and the intraoral operation speed can be improved.
  • Fig. 1 is the schematic diagram of existing tooth three-dimensional scanning
  • FIG. 2 is an optical schematic diagram of an existing intraoral scanner
  • FIG. 3 is a schematic diagram of the head structure of an existing intraoral scanner
  • Fig. 4 is a schematic diagram of an intraoral scanner provided by an embodiment of the present invention.
  • Fig. 5 and Fig. 6 are schematic diagrams of the outermost light rays incident on the first light cone and the second light cone of the light channel window.
  • an embodiment of the present invention provides an intraoral three-dimensional scanner, which includes a housing 1 on which an optical path window 2 is formed, and a first light source system and a first light source system are arranged in the housing 1. Second light source system. Wherein, the first light source system and the second light source system are respectively used to generate a first light cone 5 and a second light cone 6 incident on the light channel window.
  • the light source system in the embodiment of the present invention is similar to the light source system in the prior art, except that the emitted light is not parallel light (or near parallel light), but a light cone.
  • the first light source system may include a first reflection device 3
  • the second light source system may include a second reflection device 4
  • the first reflecting device and the second reflecting device may be mirrors.
  • the first light source system is used to emit a first light cone 5 to the first reflection device 3
  • the second light source system is used to emit a second light cone 6 to the second reflection device 4.
  • a light cone 5 and a second light cone 6 are reflected by the first reflector and the second reflector respectively and then incident into the optical track window 2, the reflected first light cone 5 and the second light cone 6
  • the acquisition of the point cloud data of the scanned object by using the first light cone and the second light cone belongs to the prior art.
  • first reflecting device 3 there is one first reflecting device 3 , and there are multiple second reflecting devices 4 . Preferably, there are three second reflecting devices.
  • the specific positions of the first reflecting device and the second reflecting device can be set according to the actual situation, as long as the projected light paths of the first light cone and the second light cone do not interfere.
  • the first reflector 3 can be arranged at the front end of the head of the housing 1 at a specific position such that the reflected light of the first light cone can basically cover the light. left area of the channel window.
  • the included angle between the first reflecting device 3 and the track window is 45-50°, so that, after being reflected by the reflecting device 3, it will be perpendicular to or approximately perpendicular to the scanned Objects (such as teeth) are projected onto the scanned object (such as teeth), so that the scanning effect is better than non-perpendicular or approximately vertical projection angles.
  • the plurality of second reflectors 4 are arranged in the space between the outer side of the first light cone 5 and the housing 1 .
  • an upper space and a lower space are formed between the outer side of the first light cone 5 and the housing 1; wherein, two second reflecting devices are arranged in the upper space, and one second reflecting device is arranged In the lower space, the installation positions of the three second reflecting devices are set so that the reflected light from the second light cone can basically cover the right area of the light channel window.
  • the first reflecting device will not block the light path of the second light source system
  • the second emitting device will not block the light path of the first light source system, so that the light output range of the light channel window can be increased as much as possible.
  • the optical axis of the first light cone 5 is reflected by the first reflection device 3 and projected to the surface of the scanned object in a manner perpendicular to the optical track window, and the optical axis of the second light cone 6 passes through After being reflected by the second reflecting device 4 , it is projected onto the surface of the object to be scanned in a manner perpendicular to the optical track window.
  • the light cone is projected onto the surface of the scanned object through the vertical channel window, and can be irradiated into the gaps of the scanned object such as the gaps of teeth.
  • the included angle between the first light cone 5 and the second light cone 6 can be set according to specific needs.
  • the included angle ⁇ 1 of the first light cone 5 may be 16°
  • the included angle ⁇ 2 of the second light cone 6 may be 15°.
  • the first light cone 5 may include the first outer light L1 and the second outer light L2 obtained after being reflected by the first reflecting device 3, and the second light cone includes The third outer ray L3 and the fourth outer ray L4 obtained after reflection.
  • the first outer ray L1 , the second outer ray L2 , the third outer ray L3 and the fourth outer ray L4 are all approximately perpendicular to the optical track window 2 .
  • intersections of the first outer ray L1 and the second outer ray L2 with the track window 2 are the first intersection A and the second intersection B respectively, the third outer ray L3 and the fourth outer ray
  • the points of intersection of L4 and the track window 2 are respectively the third point of intersection C and the fourth point of intersection D; wherein, the second point of intersection and the third point of intersection coincide or approximately coincide; the first point of intersection and the first edge of the track window (Fig. 4 The left edge in FIG. 4 ) coincides or nearly coincides; the fourth intersection point coincides or nearly coincides with the second edge of the track window (the right edge in FIG. 4 ).
  • the outermost rays of the first light cone and the second light cone do not overlap or nearly overlap, therefore, the range of the track window can be greatly increased, for example, the length of the track window in the prior art can be About 2 times, so that the scanning range can be increased and the scanning operation can be accelerated.
  • the first to fourth outer light rays in this embodiment are relative to the direction shown in FIG. 4 , that is, the outer light rays observed from the front of the housing. Since there are usually gaps between teeth as the main object to be scanned, the reflected light needs to be perpendicular or approximately perpendicular to the upper surface of the scanned object, so that the light can shine into the gap, and then be photographed by the imaging device and form a 3D model.
  • approximately vertical means that there is a preset angle difference ⁇ between the vertical angles (90°), and the value range of ⁇ is ⁇ 3 ⁇ 5°.
  • approximate overlap means that there is a preset value difference m between the value and the value 0.
  • the included angle between the first outer ray L1 and the second outer ray L2 and the optical channel window 2 may be (90- ⁇ 1/2), and the third The included angle between the outer ray L3 and the fourth outer ray L4 and the optical track window 2 is (90- ⁇ 2/2). Due to the use of the first light cone, under the condition that the included angle ⁇ 1 is not too large, as shown in Figure 5, the minimum angle between the light exit of the track window and the surface of the scanned object is still (90- ⁇ 1/2) A nearly vertical relationship can be formed.
  • the minimum angle between the light output of the optical channel window and the surface of the scanned object is (90- ⁇ 2/2 ) can still form an approximately vertical relationship.
  • intersection point B and the intersection point C coincide. Since the intersection point B and the intersection point C coincide, it can be guaranteed that the surface of the object to be scanned will not be missed in a single frame or a single group of frames during actual operation.
  • the intersection point B and the intersection point C are approximately coincident, and there is a preset distance between them.
  • the distance S between the intersection point B and the intersection point C satisfies: S ⁇ h*(tg ⁇ 1/2+tg ⁇ 2/2), wherein, h is the shortest distance between the three-dimensional scanner and the surface of the scanned object during the scanning operation, It can ensure that the light coming out of the light channel window just hits the surface of the scanned object such as teeth.
  • intersection point B and the intersection point C may also have an intersection, and the distance of the intersection local area may be determined according to actual conditions.
  • the first light source system may include a first light source and a first lens
  • the second light source system 4 may include a second light source and a second lens.
  • the first light source and the second light source project the same structured light.
  • the first light source and the second light source project according to a preset operating sequence.
  • the specific running sequence can adopt the prior art, for example, the running sequence disclosed in the patent document CN105547192A.
  • the first light source and the second light source project different structured lights that do not interfere with each other. Compared with both the first light source and the second light source projecting the same structured light, there is no need to project according to the running sequence, so the control can be simplified.
  • This embodiment provides an intraoral scanner.
  • the intraoral three-dimensional scanner provided by this embodiment is basically the same in structure as the intraoral three-dimensional scanner in the foregoing embodiments. Compared with the foregoing embodiments, the difference lies in that no reflection device is included.
  • the light cone is emitted directly into the light channel window 2 by the light source system. In this embodiment, since no means for reflecting the light cone are provided, the cost can be reduced.
  • the positions of the first to fourth outer light rays and the positional relationship between the intersection points with the track window are the same as those in the foregoing embodiments, and their introduction is omitted in this embodiment to avoid redundant description.

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Abstract

本发明提供了一种口内三维扫描仪，包括壳体，壳体上形成有光道窗口，壳体内设置有第一光源系统和第二光源系统，分别用于生成入射到光道窗口的用于获取被扫描物的点云数据的第一光锥和第二光锥；第一光锥包括第一外侧光线和第二外侧光线，第二光锥包括第三外侧光线和第四外侧光线；其中，第一至第四外侧光线均与光道窗口近似垂直；第一和第二外侧光线与光道窗口的交点分别为第一交点和第二交点，第三和第四外侧光线与光道窗口的交点分别为第三交点和第四交点；第二和第三交点重合或近似重合；第一交点与光道窗口的第一边缘重合或近似重合；第四交点与光道窗口的第二边缘重合或近似重合。本发明能够使得光道窗口的宽度变大，能够提高口内作业速度。

Description

大视场口内三维扫描仪 技术领域
本发明涉及三维扫描仪领域，具体涉及一种大视场口内三维扫描仪。
背景技术
口内三维扫描仪一般包括：头部、手持部、光源系统、成像装置、出光系统，反射镜。头部包括在使用时需要伸入口腔内的前端以及与手持部连接的后端。手持部，为使用时供操作者握持的部分。光源系统，包括光源和透镜，用于发出照射到被扫描物的光；光的性质例如为结构光；光可以为平行光或近似平行光。成像装置，用于拍摄被光源系统发出的光所照射时的被扫描物表面的形貌信息；成像装置拍摄的被扫描物的形貌信息可以被处理成为图1所示的三维模型。被扫描物，在口内三维扫描仪正常使用时，为口腔内的物体，例如牙齿、牙床等。出光系统，包括反射镜和光道窗口，用于将光源系统发出的光发射到被扫描物上，反射后的光与被扫描物上表面垂直或近似垂直。
参考图1，由于作为主要被扫描物的牙齿之间通常会存在间隙，因此反射后的光需要与被扫描物上表面垂直或近似垂直，从而能够使得光能够照射到间隙中，进而被成像装置拍摄到并形成三维模型。反射镜安装于头部前端内侧，并与光源系统的光轴成45度或约45度角；为节约空间，安装反射镜的头部前端，被设计与反射镜平行或近似平行；光道窗口位于头部前端的下表面，并与光源系统的光轴平行或近似平行，光道窗口为三维扫描仪向口腔内被扫描物投射光线的出口，以及接收口腔内被扫描物反射光线的入口。反射镜与光道窗口的夹角为45度或约45度。如图2所示，反射镜与光道窗口的设置，目的是能够保证如图2所示，使得光源系统发出的平行光或近平行光经过出光口后，以垂直或近似垂直于被扫描物表面的方式照射。
由于需要伸入口腔内部(尤其是拍摄7-8号臼齿时)，头部(尤其是头部前端)上下表面的距离受到限制，低于预设阈值，否则无法进行口内三维扫描 工作。预设阈值一般为17mm，受制于口内三维扫描仪内部结构和部件的设计等因素，头部(尤其是头部前端)上下表面的距离一般被设置为13-17mm，如宁波频泰光电科技有限公司的Panda 2产品(以下简称P2)。如图3所示，P2产品的反射镜的高度H≤上下表面的距离-上下表面的厚度。优选的是“＝”；进一步的，在上下表面厚度非常小的情况下，H为约15mm(图3中的14.7mm)。光道窗口的宽度W≥H*ctgθ，θ为反射镜与光道窗口的夹角。优选的为“＝”，且θ＝45度，使得W＝H，实际工业生产中会略微大一些，留下冗余量(图3中的16mm)。
由此可知，口腔大小限制了头部(尤其是前端)上下表面的距离，该距离限制了H，该距离与“垂直要求”的组合共同限制了W。W影响到成像装置的单帧拍摄面积(视场较小)，进而影响到口内作业速度。
因此，如何在口内三维扫描仪头部(尤其是头部前端)尺寸不发生明显变化的前提下，使得光道窗口的宽度W变大以提高成像装置的单帧拍摄面积，进而提高口内作业速度是需要亟待解决的课题。
发明内容
针对上述技术问题，本发明采用的技术方案为：
本发明实施例提供一种口内三维扫描仪，包括壳体，所述壳体上形成有光道窗口，所述壳体内设置有第一光源系统和第二光源系统；所述第一光源系统和第二光源系统分别用于生成入射到所述光道窗口的第一光锥和第二光锥；所述第一光锥和所述第二光锥用于获取被扫描物的点云数据；所述第一光锥包括第一外侧光线和第二外侧光线，所述第二光锥包括第三外侧光线和第四外侧光线；其中，所述第一外侧光线、所述第二外侧光线、所述第三外侧光线和所述第四外侧光线均与所述光道窗口近似垂直；所述第一外侧光线和所述第二外侧光线与所述光道窗口的交点分别为第一交点和第二交点，所述第三外侧光线和所述第四外侧光线与所述光道窗口的交点分别为第三交点和第四交点；其中，第二交点和第三交点重合或近似重合；第一交点与光道窗口的第一边缘重合或近似重合；第四交点与光道窗口的第二边缘重合或近似重合。
本发明实施例提供的口内三维扫描仪，由于使用两个发射光锥的光源系统， 两个光锥入射到光道窗口的光线不重合或者近似重合，因此，能够使得光道窗口的宽度变大，从而能够提高成像装置的单帧拍摄面积，进而提高口内作业速度。
附图说明
图1为现有的牙齿三维扫描示意图；
图2为现有的口内扫描仪的光学原理图；
图3为现有的口内扫描仪的头部结构示意图；
图4为本发明一实施例提供的口内扫描仪的示意图；
图5和图6为入射到光道窗口的第一光锥和第二光锥的最外侧光线的示意图。
具体实施方式
为使本发明要解决的技术问题、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
(实施1)
如图4所示，本发明一实施例提供一种口内三维扫描仪，包括壳体1，所述壳体1上形成有光道窗口2，所述壳体1内设置有第一光源系统和第二光源系统。其中，所述第一光源系统和第二光源系统分别用于生成入射到所述光道窗口的第一光锥5和第二光锥6。本发明实施例中的光源系统与现有技术中的光源系统类似，不同之处在于发出的光不是平行光(或近平行光)，而是光锥。
进一步地，在一个示意性实施例中，第一光源系统可包括第一反射装置3，第二光源系统包括第二反射装置4。在本实施例中，第一反射装置和第二反射装置可为反射镜。具体地，所述第一光源系统用于向所述第一反射装置3发射第一光锥5，所述第二光源系统用于向所述第二反射装置4发射第二光锥6，第一光锥5和第二光锥6分别经第一反射装置和第二反射装置反射后入射到光 道窗口2内，经反射后的所述第一光锥5和所述第二光锥6用于获取被扫描物的点云数据，利用第一光锥和第二光锥获取被扫描物的点云数据属于现有技术。
进一步地，在一个示意性实施例中，所述第一反射装置3为一个，所述第二反射装置4为多个。优选地，第二反射装置为三个。第一反射装置和第二反射装置的具体位置可根据实际情况进行设置，只要确保第一光锥和第二光锥的投射光路不产生干涉即可。在一个示例中，如图4所示，所述第一反射装置3可设置在所述壳体1的头部的前端，具体位置为能够使得第一光锥经反射后的光线能够基本覆盖光道窗口的左侧区域。在一个示意性实施例中，所述第一反射装置3与所述光道窗口之间的夹角为45～50°，这样，经反射装置3反射后会以垂直于或近似垂直于被扫描物(例如牙齿)的方式投射到被扫描物(例如牙齿)上，从而使得扫描效果较以非垂直或近似垂直的投射角度更优。
所述多个第二反射装置4设置在所述第一光锥5的外侧和所述壳体1之间的空间中。具体地，所述第一光锥5的外侧与所述壳体1之间形成有上空间和下空间；其中，两个第二反射装置设置在所述上空间中，一个第二反射装置设置在所述下空间中，三个第二反射装置的安装位置被设置为能够使得第二光锥经反射后的光线能够基本覆盖光道窗口的右侧区域。这样，第一反射装置不会挡住第二光源系统的光路，第二发射装置也不会挡住第一光源系统的光路，从而能够尽可能的增大光道窗口的出光范围。
进一步地，所述第一光锥5的光轴经所述第一反射装置3反射后以垂直所述光道窗口的方式投射至被扫描物表面，所述第二光锥6的光轴经所述第二反射装置4反射后以垂直所述光道窗口的方式投射至被扫描物表面。光锥通过垂直光道窗口的方式投射至被扫描物表面，能够照射到被扫描物的缝隙中例如牙齿的缝隙中。
进一步地，在本实施例中，第一光锥5和第二光锥6的夹角可根据具体需要进行设置。在一个示意性实施例中，第一光锥5的夹角β1可为16°，第二光锥6的夹角β2可为15°。
如图4所示，所述第一光锥5可包括经第一反射装置3反射后得到的第一外侧光线L1和第二外侧光线L2，所述第二光锥包括经第二反射装置4反射后得到的第三外侧光线L3和第四外侧光线L4。其中，所述第一外侧光线L1、 所述第二外侧光线L2、所述第三外侧光线L3和所述第四外侧光线L4均与所述光道窗口2近似垂直。所述第一外侧光线L1和所述第二外侧光线L2与所述光道窗口2的交点分别为第一交点A和第二交点B，所述第三外侧光线L3和所述第四外侧光线L4与所述光道窗口2的交点分别为第三交点C和第四交点D；其中，第二交点和第三交点重合或近似重合；第一交点与光道窗口的第一边缘(图4中的左侧边缘)重合或近似重合；第四交点与光道窗口的第二边缘(图4中的右侧边缘)重合或近似重合。这样，第一光锥和第二光锥的最外侧光线不会重叠或者近似重叠，因此，能够使得光道窗口的范围大幅度增加，例如，能够为现有技术中的光道窗口的长度的2倍左右，从而能够提高扫描范围，加快扫描操作。本实施例中的第一至第四外侧光线是相对于图4所示方向而言的，即，从壳体的正面观测到的外侧光线。由于作为主要被扫描物的牙齿之间通常会存在间隙，因此反射后的光需要与被扫描物上表面垂直或近似垂直，从而能够使得光能够照射到间隙中，进而被成像装置拍摄到并形成三维模型。
在本实施例中，表述“近似”是指根据工业误差或者根据扫描仪内部的部件布局或者处于美观考虑而进行的不影响功能的微调等。例如，近似垂直是指垂直角(90°)之间存在预设角度差α，α的取值范围为±3～5°。又例如，近似重叠是指与数值0之间存在预设数值差m。
进一步地，在一示意性实施例中，所述第一外侧光线L1和所述第二外侧光线L2与所述光道窗口2的夹角可为(90-β1/2)，所述第三外侧光线L3和所述第四外侧光线L4与所述光道窗口2的夹角为(90-β2/2)。由于使用了第一光锥，在夹角Φ 1不是太大的情况下，如图5所示，光道窗口的出光与被扫描物表面之间的角度最小为(90-β1/2)仍然能够形成近似垂直的关系。同样的，由于使用了第二光锥，在夹角β2不是太大的情况下，如图6所示，光道窗口的出光与被扫描物表面之间的角度最小为(90-β2/2)仍然能够形成近似垂直的关系。
进一步地，在一示意性实施例中，交点B和交点C重合。由于交点B和交点C重合，能够保证实际作业时单帧或单组帧内不出现被扫描物的表面被遗漏掉。
在一示意性实施例中，交点B和交点C近似重合，两者之间间隔预设距 离。在一个示例中，交点B和交点C之间的距离S满足：S≤h*(tgβ1/2+tgβ2/2)，其中，h为扫描作业时三维扫描仪与被扫描物表面的最近距离，能够确保光道窗口出去的光刚好打到被扫描物例如牙齿的表面。
在一个示意性实施例中，交点B和交点C也可存在交集，交集局域的距离可根据实际情况进行确定。
进一步地，在本实施例中，所述第一光源系统可包括第一光源和第一透镜，所述第二光源系统4可包括第二光源和第二透镜。
在一个示意性实施例中，所述第一光源和所述第二光源投射相同的结构光。所述第一光源和所述第二光源按照预设的运行时序进行投射。具体运行时序可采用现有技术，例如，专利文献CN105547192A公开的运行时序。
在另一个示意性实施例中，所述第一光源和所述第二光源为投射相互之间不发生干涉的不同的结构光。与第一光源和第二光源均投射相同的结构光相比，不需要按照运行时序进行投射，因此能够简化控制。
(实施2)
本实施例提供一种口内扫描仪，本实施例提供的口内三维扫描仪与前述实施例的口内三维扫描仪的结构基本相同，与前述实施例相比，不同之处在于，没有包括反射装置，光锥通过光源系统直接发射入射到光道窗口2中。在该实施例中，由于没有设置用于对光锥进行反射的装置，能够降低成本。
本实施例中，第一至第四外侧光线的位置以及与光道窗口之间的交点之间的位置关系与前述实施例相同，为避免赘述，本实施例省略对它们的介绍。
虽然已经通过示例对本申请的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上示例仅是为了进行说明，而不是为了限制本申请的范围。本领域的技术人员还应理解，可以对实施例进行多种修改而不脱离本申请的范围和精神。本申请开的范围由所附权利要求来限定。

Claims (10)

  1. 一种口内三维扫描仪，包括壳体，其特征在于，所述壳体上形成有光道窗口，所述壳体内设置有第一光源系统和第二光源系统；所述第一光源系统和第二光源系统分别用于生成入射到所述光道窗口的第一光锥和第二光锥；所述第一光锥和所述第二光锥用于获取被扫描物的点云数据；
    所述第一光锥包括第一外侧光线和第二外侧光线，所述第二光锥包括第三外侧光线和第四外侧光线；其中，所述第一外侧光线、所述第二外侧光线、所述第三外侧光线和所述第四外侧光线均与所述光道窗口近似垂直；
    所述第一外侧光线和所述第二外侧光线与所述光道窗口的交点分别为第一交点和第二交点，所述第三外侧光线和所述第四外侧光线与所述光道窗口的交点分别为第三交点和第四交点；其中，第二交点和第三交点重合或近似重合；第一交点与光道窗口的第一边缘重合或近似重合；第四交点与光道窗口的第二边缘重合或近似重合。
  2. 根据权利要求1所述的口内三维扫描仪，其特征在于，所述第一光源系统包括第一反射装置，所述第二光源系统包括第二反射装置；所述第一外侧光线和所述第二外侧光线为所述第一光锥经所述第一反射装置反射后得到的光线；所述第三外侧光线和所述第四外侧光线为所述第二光锥经所述第二反射装置反射后得到的光线。
  3. 根据权利要求2所述的口内三维扫描仪，其特征在于，所述第一反射装置为一个，所述第二反射装置为多个；所述第三外侧光线和所述第四外侧光线为所述第二光锥依次经多个第二反射装置反射后得到的光线。
  4. 根据权利要求2或3所述的口内三维扫描仪，其特征在于，所述第一光锥的光轴经所述第一反射装置反射后以垂直所述光道窗口的方式投射至被扫描物表面，所述第二光锥的光轴经所述第二反射装置反射后以垂直所述光道窗口的方式投射至被扫描物表面。
  5. 根据权利要求4所述的口内三维扫描仪，其特征在于，
    所述第一外侧光线和所述第二外侧光线与所述光道窗口的夹角为(90-β1/2)，其中，β1为第一光锥的夹角。
  6. 根据权利要求4所述的口内三维扫描仪，其特征在于，所述第三外侧 光线和所述第四外侧光线与所述光道窗口的夹角为(90-β2/2)，其中，β2为第二光锥的夹角。
  7. 根据权利要求3所述的口内三维扫描仪，其特征在于，所述第一反射装置设置在所述壳体的头部的前端，所述多个第二反射装置设置在所述第一光锥的外侧和所述壳体之间的空间中。
  8. 根据权利要求7所述的口内三维扫描仪，其特征在于，
    所述第一光锥的外侧与所述壳体之间形成有上空间和下空间；所述第二反射装置为三个，其中，两个第二反射装置设置在所述上空间中，一个第二反射装置设置在所述下空间中。
  9. 根据权利要求7所述的口内三维扫描仪，其特征在于，所述第一反射装置与所述光道窗口之间的夹角为45～50°。
  10. 根据权利要求1所述的口内三维扫描仪，其特征在于，第二交点和第三交点间隔预设距离S≤h*(tgβ1/2+tgβ2/2)，其中，h为扫描作业时三维扫描仪与被扫描物表面的最近距离。
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CN102008282A (zh) * 2010-10-29 2011-04-13 深圳大学 数字印模口内扫描仪及口腔内表面形貌图像实时重建系统
CN112346246A (zh) * 2019-08-09 2021-02-09 蒋晶 光学元件制造方法、光束合成器制造方法及波导型光学组件
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WO2021178889A1 (en) * 2020-03-05 2021-09-10 The Trustees Of Columbia University In The City Of New York Three-dimensional dosimetry procedures, methods and devices, and optical ct scanner apparatus which utilizes fiber optic taper for collimated images
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CN102008282A (zh) * 2010-10-29 2011-04-13 深圳大学 数字印模口内扫描仪及口腔内表面形貌图像实时重建系统
CN112346246A (zh) * 2019-08-09 2021-02-09 蒋晶 光学元件制造方法、光束合成器制造方法及波导型光学组件
WO2021178889A1 (en) * 2020-03-05 2021-09-10 The Trustees Of Columbia University In The City Of New York Three-dimensional dosimetry procedures, methods and devices, and optical ct scanner apparatus which utilizes fiber optic taper for collimated images
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