阅读说明：本技术 壳状牙科器械切割方法、制备方法及电子设备 (Shell-shaped dental instrument cutting method, preparation method and electronic equipment ) 是由 姚峻峰 於路 于 2020-06-29 设计创作，主要内容包括：本发明提供壳状牙科器械切割方法及壳状牙科器械制备方法,切割方法包括：根据待切割组件上标定单元信息构建待切割组件的第一坐标系信息；获取拾取设备对应的第二坐标系,建立第一坐标系与第二坐标系之间的转化关系,并得到对应的转换信息；根据转换信息将待切割组件的预设切割路径转换为切割时拾取设备的运动路径；控制拾取设备带动待切割组件沿运动路径运动,在设定切割区域内对待切割组件进行切割,获得壳状牙科器械。通过标定单元建立实际牙颌模型与拾取设备之间的坐标系转换关系,使壳状牙科器械的预设切割路径能够转换为切割时的拾取设备的运动路径,从而提高了切割位点定位的精准性,提高了壳状牙科器械自动化生产的效率和良率。(The invention provides a cutting method of a shell-shaped dental instrument and a preparation method of the shell-shaped dental instrument, wherein the cutting method comprises the following steps: constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut; acquiring a second coordinate system corresponding to the pickup equipment, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information; converting the preset cutting path of the component to be cut into a motion path of the pickup device during cutting according to the conversion information; and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in the set cutting area to obtain the shell-shaped dental instrument. The coordinate system conversion relation between the actual dental model and the pick-up equipment is established through the calibration unit, so that the preset cutting path of the shell-shaped dental instrument can be converted into the motion path of the pick-up equipment during cutting, the accuracy of positioning the cutting point is improved, and the automatic production efficiency and yield of the shell-shaped dental instrument are improved.)

1. A shell-like dental instrument cutting method, comprising the steps of:

constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut;

acquiring a second coordinate system corresponding to the picking equipment of the component to be cut, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information;

converting the preset cutting path of the assembly to be cut into a motion path of the picking equipment during cutting according to the conversion information;

and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in a set cutting area to obtain the shell-shaped dental instrument.

2. The shell-like dental instrument cutting method according to claim 1, wherein the component to be cut comprises a dental model and a shell-like dental instrument to be cut pressed on the dental model, the dental model being provided with the calibration unit.

3. A shell-like dental instrument cutting method according to claim 2, wherein the calibration unit comprises a number of calibration bodies; and a positioning plane is arranged on the calibration bodies and is covered by the non-dental instrument part of the shell-shaped dental instrument to be cut.

4. A shell-like dental instrument cutting method according to claim 3, wherein the number of calibration bodies is three; the positioning plane of the calibration body is consistent with the reference plane of the dental model.

5. The shell-like dental instrument cutting method according to claim 3, wherein the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut comprises the following steps:

identifying image information of the component to be cut;

identifying the position information of the calibration body in the image information according to the contour information of the calibration body;

and constructing a first coordinate system of the component to be cut according to the position information of the calibration body.

6. A shell-like dental instrument cutting method according to claim 5, wherein the position information of the calibration body in the identification image information is specifically position information of any point on the positioning plane of the calibration body in the identification image information.

7. A shell-like dental instrument cutting method according to claim 6, wherein the position information of the calibration body in the identification image information is specifically position information of a center point on a positioning plane of the calibration body in the identification image information.

8. A shell-like dental instrument cutting method according to claim 7, wherein said constructing a first coordinate system of said component to be cut from position information of said calibration body comprises the steps of:

selecting the position information of the central points of the three calibration body positioning planes, calculating the relative position relationship of the central points of the three calibration body positioning planes, and constructing the calibration body plane information according to the relative position relationship of the central points of the three calibration body positioning planes;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing a first coordinate system XOY of the component to be cut by taking the connection direction of the original point O and the central point of one of the positioning planes of the calibration body as the X-axis direction, the direction perpendicular to the X-axis direction in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

9. The shell-like dental instrument cutting method according to claim 3, wherein the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut comprises the following steps:

detecting the position information of a calibration body on the component to be cut through a detection device;

and constructing a first coordinate system of the component to be cut according to the detected position information of the calibration body.

10. A shell-like dental instrument cutting method according to claim 9, wherein said constructing a first coordinate system of said component to be cut from said detected position information of said calibration body comprises the steps of:

selecting detection position information of the three calibration bodies, and constructing calibration body plane information according to the detection position information of the three calibration bodies;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing the first coordinate system XOY of the component to be cut by taking the connecting line direction of the original point O and the detection position information of one calibration body as the X-axis direction, the direction which is perpendicular to the X-axis direction in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

11. The shell-shaped dental instrument cutting method according to any one of claims 3 to 10, wherein the calibration unit includes a first calibration body, the first calibration body is disposed inside the dental model and connected to the dental model through a connecting portion, and a center point of the first calibration body coincides with a center of a circle circumscribing the dental model; and selecting the central point of the positioning plane of the first calibration body as the origin of the first coordinate system of the component to be cut.

12. A shell-like dental instrument cutting method according to claim 11, wherein the calibration unit further comprises a second calibration body and a third calibration body, a connecting line between the second calibration body positioning plane center point and the first calibration body positioning plane center point being arranged at right angles to a connecting line between the third calibration body positioning plane center point and the first calibration body positioning plane center point, a first coordinate system XOY of the component to be cut being established by the first calibration body positioning plane center point, the second calibration body positioning plane center point, the third calibration body positioning plane center point.

13. A shell-like dental instrument cutting method according to claim 3, wherein said establishing a translation relationship between said first coordinate system and said second coordinate system comprises: and adjusting the relative position of the assembly to be cut and the picking equipment according to the first coordinate system of the assembly to be cut, so that the conversion relation between the first coordinate system of the assembly to be cut and the second coordinate system of the picking equipment meets a preset threshold value.

14. A shell-like dental instrument cutting method according to claim 13, wherein said adjusting the relative position of the component to be cut and the pick-up device comprises in particular: and adjusting the picking angle of the picking equipment to ensure that the conversion relation between the coordinate system of the adjusted picking equipment and the first coordinate system of the component to be cut meets a preset threshold value.

15. A shell-like dental instrument cutting method according to claim 14, wherein after adjusting the pick-up angle of the pick-up device, the origin of the first coordinate system of the component to be cut coincides with the origin of the coordinate system of the pick-up device after adjustment, or satisfies a predetermined displacement relationship.

16. Shell-like dental instrument cutting method according to claim 15, wherein said adjusting the pick-up angle of the pick-up device comprises in particular:

acquiring parameters to be adjusted of the pickup equipment;

and controlling the pickup equipment to rotate to adjust the parameters to be adjusted, so that the adjusted parameters meet preset conditions, and enabling the origin of the coordinate system adjusted by the pickup equipment to coincide with the origin of the first coordinate system of the assembly to be cut or meet a preset displacement relation through rotation compensation.

17. The shell-like dental instrument cutting method according to claim 16, wherein said obtaining the parameter to be adjusted of the pick-up device comprises:

controlling a pickup device to drive the assembly to be cut to rotate in a first coordinate system plane of the assembly to be cut, respectively measuring vertical distances from at least three calibration bodies to a preset calibration point of a second coordinate system of the pickup device in the rotation process of the pickup device, and acquiring three vertical distances, wherein the three vertical distances are used as parameters to be adjusted.

18. A shell-like dental instrument cutting method according to claim 17, wherein the preset condition is that the three perpendicular distances are respectively equal, and the controlling the pick-up device to rotate adjusts the parameter to be adjusted specifically includes:

controlling the picking equipment to rotate by an angle A around a Z axis, an angle B around a Y axis and an angle C around an X axis of a first coordinate system of the assembly to be cut respectively, so that the three vertical distances are equal respectively;

wherein, the rotation angles (A, B, C) are corresponding conversion information.

19. A shell-like dental instrument cutting method according to claim 18, characterized in that the pick-up angle of the pick-up device is adjusted, the adjusted coordinate system of the pick-up device coinciding with the first coordinate system of the component to be cut.

20. The shell-like dental instrument cutting method according to claim 1, further comprising the step of acquiring the preset cutting path:

acquiring identity information of the component to be cut according to the information carrier on the component to be cut;

and calling the preset cutting path of the corresponding component to be cut according to the identity information of the component to be cut.

21. A shell-like dental instrument cutting method according to claim 20, wherein said converting a preset cutting path of the component to be cut into a movement path of the pick-up device at the time of cutting according to the conversion information; the method specifically comprises the following steps:

and converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the picking device carries out cutting operation according to the conversion information, wherein the corresponding point coordinates jointly form a movement path when the picking device carries out the cutting operation.

22. A shell-like dental instrument cutting method according to claim 21, wherein said converting coordinates of points on said predetermined cutting path into corresponding point coordinates when a pick-up device performs a cutting operation comprises: the cutting is laser cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the laser direction.

23. A shell-like dental instrument cutting method according to claim 21, wherein said converting coordinates of points on said predetermined cutting path into corresponding point coordinates when a pick-up device performs a cutting operation comprises: the cutting is mechanical cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the axial direction of the cutting head in mechanical cutting.

24. The shell-like dental instrument cutting method according to claim 21, wherein the picking device is controlled to move the component to be cut along the motion path, and the component to be cut is cut within a set cutting area to obtain the shell-like dental instrument.

25. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the shell-like dental instrument cutting method according to any one of claims 1-24.

26. A method of making a shell-like dental instrument, comprising the steps of:

3D printing is carried out based on the digital dental model, and the dental model is prepared;

preparing a shell-shaped dental instrument to be cut containing the dental model on the dental model in a hot press molding mode;

cutting the shell-shaped dental instrument using the shell-shaped dental instrument cutting method of any one of claims 1-24 to produce a shell-shaped dental instrument.

Technical Field

The invention belongs to the technical field of tooth correction, and particularly relates to a shell-shaped tooth corrector manufacturing technology, in particular to a cutting method and a preparation method of a shell-shaped dental instrument and electronic equipment.

Background

At present, in the processing process of a shell-shaped dental instrument, procedures such as dental jaw model 3D printing, film preparation, film pressing, shell-shaped dental instrument cutting and cleaning are generally required. In the whole preparation process, the method for identifying and positioning the dental model is manual placement and visual identification, and although automation is realized to a certain degree, manual participation is still needed in some links, for example, the case number and the patient name of the dental model need to be identified and obtained by manually placing the dental model in the positioning process.

In addition to the above-mentioned need for manual intervention, the existing shell-shaped dental instruments are also disadvantageous in cutting the shell-shaped dental instruments, for example, when cutting the shell-shaped dental instruments, the cutting is performed manually, which results in extremely low production efficiency; or when the existing mechanical cutting is adopted, the preset cutting path is often not matched with the actual cutting path of the shell-shaped dental instrument, so that the actual cutting path has cutting deviation, and finally the cut shell-shaped dental instrument is unqualified.

Disclosure of Invention

The invention mainly aims to overcome the defects of the prior art, provides a cutting method and a preparation method of a shell-shaped dental instrument and electronic equipment, solves the technical problem of inaccurate positioning in the cutting process of the prior shell-shaped dental instrument, and improves the production efficiency of the shell-shaped dental appliance.

The technical scheme provided by the invention is as follows:

the invention provides a cutting method of a shell-shaped dental instrument, which comprises the following steps:

constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut;

acquiring a second coordinate system corresponding to the picking equipment of the component to be cut, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information;

converting the preset cutting path of the assembly to be cut into a motion path of the picking equipment during cutting according to the conversion information;

and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in a set cutting area to obtain the shell-shaped dental instrument.

Further preferably, the component to be cut comprises a dental model and a shell-shaped dental instrument to be cut pressed on the dental model, and the dental model is provided with the calibration unit.

Further preferably, the calibration unit comprises a plurality of calibration bodies; and a positioning plane is arranged on the calibration bodies and is covered by the non-dental instrument part of the shell-shaped dental instrument to be cut.

Further preferably, the number of the calibration bodies is three; the positioning plane of the calibration body is consistent with the reference plane of the dental model.

Further preferably, the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut specifically includes the steps of:

identifying image information of the component to be cut,

identifying the position information of the calibration body in the image information according to the contour information of the calibration body;

and constructing a first coordinate system of the component to be cut according to the position information of the calibration body.

Further preferably, the position information of the calibration body in the identification image information is specifically position information of any point on the positioning plane of the calibration body in the identification image information.

Further preferably, the position information of the calibration body in the identification image information is specifically position information of a central point on a positioning plane of the calibration body in the identification image information.

Further preferably, the constructing the first coordinate system of the component to be cut according to the position information of the calibration body includes: selecting central point position information of the three calibration bodies, calculating relative position relations of the central points of the three calibration bodies, and constructing calibration body plane information according to the relative position relations of the central points of the three calibration bodies;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing the first coordinate system XOY of the component to be cut by taking the direction of a connecting line of the original point O and one central point of the calibration body as the X-axis direction, the direction perpendicular to the X-axis in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

Further preferably, the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut specifically includes the steps of:

detecting the position information of a calibration body on the component to be cut through a detection device;

and constructing a first coordinate system of the component to be cut according to the detected position information of the calibration body.

Further preferably, the constructing a first coordinate system of the component to be cut according to the detected position information of the calibration body specifically includes the steps of:

selecting detection position information of the three calibration bodies, and constructing calibration body plane information according to the detection position information of the three calibration bodies;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing the first coordinate system XOY of the component to be cut by taking the connecting line direction of the original point O and the detection position information of one calibration body as the X-axis direction, the direction which is perpendicular to the X-axis direction in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

Preferably, the calibration unit comprises a first calibration body, the first calibration body is arranged on the inner side of the dental model and is connected with the dental model through a connecting part, and the center point of the first calibration body is coincided with the center of a circle circumscribed by the dental model; and selecting the central point of the first calibration body as the origin of the first coordinate system of the component to be cut.

Preferably, the calibration unit further includes a second calibration body and a third calibration body, a connection line between a center point of the second calibration body and a center point of the first calibration body and a connection line between a center point of the third calibration body and a center point of the first calibration body are arranged at a right angle, and a first coordinate system XOY of the component to be cut is established through the center point of the first calibration body, the center point of the second calibration body and the center point of the third calibration body.

Further preferably, the establishing of the transformation relationship between the first coordinate system and the second coordinate system specifically includes: and adjusting the relative position of the assembly to be cut and the picking equipment according to the first coordinate system of the assembly to be cut, so that the conversion relation between the first coordinate system of the assembly to be cut and the second coordinate system of the picking equipment meets a preset threshold value.

Further preferably, the adjusting the relative position of the to-be-cut assembly and the picking device specifically includes: and adjusting the picking angle of the picking equipment to ensure that the conversion relation between the coordinate system of the adjusted picking equipment and the first coordinate system of the component to be cut meets a preset threshold value.

Further preferably, after the picking angle of the picking device is adjusted, the origin of the first coordinate system of the component to be cut coincides with the origin of the coordinate system of the picking device after adjustment, or satisfies a predetermined displacement relationship.

Further preferably, the adjusting the pickup angle of the pickup device specifically includes:

acquiring parameters to be adjusted of the pickup equipment;

and controlling the pickup equipment to rotate to adjust the parameters to be adjusted, so that the adjusted parameters meet preset conditions, and enabling the origin of the coordinate system adjusted by the pickup equipment to coincide with the origin of the first coordinate system of the assembly to be cut or meet a preset displacement relation through rotation compensation.

Further preferably, the acquiring the parameter to be adjusted of the pickup device includes:

controlling a pickup device to drive the assembly to be cut to rotate in a first coordinate system plane of the assembly to be cut, respectively measuring vertical distances from at least three calibration bodies to a preset calibration point of a second coordinate system of the pickup device in the rotation process of the pickup device, and acquiring three vertical distances, wherein the three vertical distances are used as parameters to be adjusted.

Further preferably, the preset condition is that the three vertical distances are equal, and the controlling the pickup device to rotate adjusts the parameter to be adjusted, specifically includes:

controlling the picking equipment to rotate by an angle A around a Z axis, an angle B around a Y axis and an angle C around an X axis of a first coordinate system of the assembly to be cut respectively, so that the three vertical distances are equal respectively;

wherein, the rotation angles (A, B, C) are corresponding conversion information.

Further preferably, after the picking angle of the picking device is adjusted, the coordinate system of the picking device after adjustment coincides with the first coordinate system of the component to be cut.

Further preferably, the method further comprises the step of obtaining the preset cutting path:

acquiring identity information of the component to be cut according to the information carrier on the component to be cut;

and calling the preset cutting path of the corresponding component to be cut according to the identity information of the component to be cut.

Further preferably, the preset cutting path of the component to be cut is converted into the motion path of the picking device during cutting according to the conversion information; the method specifically comprises the following steps:

and converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the picking device carries out cutting operation according to the conversion information, wherein the corresponding point coordinates jointly form a movement path when the picking device carries out the cutting operation.

Further preferably, the converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the pickup device performs the cutting operation includes: the cutting is laser cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the laser direction.

Further preferably, the converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the pickup device performs the cutting operation includes: the cutting is mechanical cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the axial direction of the cutting head in mechanical cutting.

Preferably, the picking device is controlled to drive the component to be cut to move along the movement path, and the component to be cut is cut in a set cutting area by laser cutting to obtain the shell-shaped dental instrument.

The invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the shell-like dental instrument cutting method as described above when executing the computer program.

The invention also provides a preparation method of the shell-shaped dental instrument, which comprises the following steps:

3D printing is carried out based on the digital dental model, and the dental model is prepared;

preparing a shell-shaped dental instrument to be cut containing the dental model on the dental model in a hot press molding mode;

and cutting by adopting the shell-shaped dental instrument cutting method to prepare the shell-shaped dental instrument.

The cutting method of the shell-shaped dental instrument, the preparation method of the shell-shaped dental instrument and the terminal equipment provided by the invention can bring at least one of the following beneficial effects:

the space coordinate system of the actual dental model is accurately calculated through the calibration unit on the dental model, the coordinate system conversion relation between the actual component to be cut and the picking device is established through position correction of the picking device, the preset cutting path of the shell-shaped dental instrument can be converted into the motion path of the picking device during cutting, the accuracy of positioning the cutting point of the hot-press formed membrane on the dental model is improved, and the automatic production efficiency and yield of the shell-shaped dental instrument are improved.

Furthermore, in the cutting process, the dental jaw model is spatially positioned based on the identification and positioning unit on the dental jaw model, and manual placement is not needed, so that intelligent positioning in the preparation process of the shell-shaped dental instrument is realized, the labor cost is saved, the working efficiency is improved, and the production quality of the shell-shaped dental instrument is ensured; further avoids the contact pollution of shell-shaped dental instruments and reduces the difficulty and the cost of subsequent cleaning operation.

Drawings

The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.

FIG. 1 is a flow chart of a shell-like dental instrument segmentation method;

FIG. 2 is a flow chart for establishing a dental model space coordinate system;

FIG. 3 is a flow chart of another construction method of the dental model space coordinate system;

FIG. 4 is a flow chart of adjusting the pick-up angle of the pick-up device;

FIG. 5 is a flow chart of parameter acquisition to be adjusted by the pickup device;

FIG. 6 is a flowchart of the specific adjustment of parameters to be adjusted of the pickup device;

FIG. 7 is a flow chart of another method of segmenting the shell-like dental instrument;

FIG. 8 is a functional block diagram of an electronic device;

FIG. 9 is a schematic view of a dental model;

FIG. 10 is a schematic view of another dental model;

FIG. 11 is a schematic view of another dental model;

FIG. 12 is a schematic view of another dental model;

FIG. 13 is a schematic view of image erosion;

FIG. 14 is a flow chart for preparing a shell-shaped dental appliance.

Detailed Description

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.