阅读说明：本技术 一种牙模3d建模装置、方法及系统 (Dental model 3D modeling device, method and system ) 是由 贺庆 周胜杰 邓祖键 吴献 郭斌 邓伯禾 于 2021-09-30 设计创作，主要内容包括：本发明公开了一种牙模3D建模装置、方法及系统,包括：牙模,还包括：动力组件,所述动力组件上设置有旋转台；旋转组件,所述旋转组件设置在所述旋转台上；支撑组件,所述支撑组件设置在所述旋转组件上,并连接于所述旋转组件,所述支撑组件上设置有所述牙模；以及拍摄组件,所述拍摄组件设置在所述支撑组件的上方,并用于拍摄所述牙模。解决了现有技术在牙模修正过程中不可避免的出现不可挽回的错误修补带来的问题,以及牙模修正不够准确高效,以及修正牙模工作难度较大的问题。(The invention discloses a dental model 3D modeling device, method and system, comprising: the dental model still includes: the power assembly is provided with a rotating table; a rotation assembly disposed on the rotation stage; the supporting component is arranged on the rotating component and connected with the rotating component, and the dental cast is arranged on the supporting component; and the shooting assembly is arranged above the supporting assembly and is used for shooting the dental cast. The method solves the problems of irreparable error repair in the dental cast correction process, inaccurate and efficient dental cast correction and high work difficulty of correcting the dental cast in the prior art.)

1. A dental model 3D modeling apparatus comprising: the dental cast, its characterized in that still includes:

the power assembly is provided with a rotating table;

a rotation assembly disposed on the rotation stage;

the supporting component is arranged on the rotating component and connected with the rotating component, and the dental cast is arranged on the supporting component;

and the shooting assembly is arranged above the supporting assembly and is used for shooting the dental cast.

2. The dental model 3D modeling apparatus of claim 1, wherein the rotating assembly comprises:

the turntable is arranged on the rotating platform, the supporting component is arranged on the turntable, and the turntable drives the supporting component to rotate through the driving of the power component;

and the rotary encoder is arranged on the turntable and is used for acquiring the rotating angle of the turntable in real time.

3. The dental model 3D modeling apparatus of claim 2, wherein the support assembly comprises:

the wedge block is arranged on the turntable;

the dental cast fixing plate is arranged on the wedge block and faces the shooting assembly, a plurality of marking points are arranged on the dental cast fixing plate, and the marking points are used as reference points when the shooting assembly shoots; the dental cast is fixed on the dental cast fixing plate;

the plurality of mark points are positioned at one end of the arc surface of the dental cast and are respectively arranged at two sides of the dental cast along the length direction of the dental cast fixing plate.

4. The dental model 3D modeling apparatus of claim 2, wherein the camera assembly comprises:

a motion mechanism;

the 3D camera faces the direction of the supporting component and is connected to the moving mechanism, after the 3D camera adjusts the shooting angle according to the position of the dental cast, the position of the 3D camera is fixed, and the 3D camera does not move along with the moving mechanism in the shooting process.

5. A dental model 3D modeling method, characterized in that the dental model 3D modeling apparatus according to claim 3 or 4 is applied, the method comprising the steps of:

fixing a dental model of 3D data to be measured on a dental model fixing plate, and ensuring that the dental model cannot shield a mark point on the dental model fixing plate;

fixing the dental model fixing plate on which the dental model is fixed on a wedge block, and placing the wedge block on a turntable;

starting a turntable and acquiring the rotation angle of the turntable in real time;

when the turntable rotates to reach a series of fixed angles, the 3D camera is triggered to shoot the rotating tooth model at intervals;

and splicing the shooting data acquired by the 3D camera at different rotation angles to obtain a 3D model of the whole dental model.

6. The dental model 3D modeling method according to claim 5, wherein the step of fixing the dental model for which 3D data is to be measured on the dental model fixing plate specifically comprises: selecting different dental model fixing plates and placing the dental model fixing plates on the wedge blocks with different slope angles;

the step of starting the turntable and acquiring the rotation angle of the turntable in real time comprises the following steps: the rotary encoder is arranged on the rotary table, and the rotating angle of the rotary table is obtained in real time through the rotary encoder;

the step of splicing the shooting data acquired by the 3D camera at different rotation angles to obtain the 3D model of the whole dental model specifically comprises the following steps: acquiring shooting data of each rotation angle, wherein the shooting data are 3D point cloud data;

and sequentially splicing the 3D point cloud data shot at each moment to obtain the 3D data of the whole dental model.

7. The dental model 3D modeling method of claim 5, further comprising the steps of:

the 3D camera is driven to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the movement mechanism, and a dental model 3D model shot in multiple angles is obtained;

and aligning a plurality of dental model 3D models according to the mark points on each 3D model, fusing the plurality of dental model 3D models together, and acquiring complete dental model 3D data.

8. A dental model 3D modeling system, characterized in that the dental model 3D modeling method according to any one of claims 5-7 is applied, the system comprising:

the dental model fixing module is used for fixing a dental model of 3D data to be measured on a dental model fixing plate and ensuring that the dental model cannot shield mark points on the dental model fixing plate;

the dental cast rotating module is used for fixing the dental cast fixing plate on which the dental cast is fixed on a wedge block and placing the wedge block on a turntable;

the rotating angle acquisition module is used for starting the turntable and acquiring the rotating angle of the turntable in real time;

the image shooting module is used for triggering the 3D camera to shoot the rotating dental model at intervals when the turntable rotates to reach a series of fixed angles;

and the data splicing module is used for splicing the shooting data acquired by the 3D camera at different rotation angles to obtain a 3D model of the whole dental model.

9. The dental model 3D modeling system according to claim 8, wherein the dental model fixing module specifically comprises: the wedge block model selection sub-module is used for selecting different dental cast fixing plates and placing the dental cast fixing plates on the wedge blocks with different slope angles;

the rotation angle acquisition module specifically includes: the rotary encoder submodule is used for arranging the rotary encoder on the rotary table and acquiring the rotation angle of the rotary table in real time through the rotary encoder;

the data splicing module specifically comprises: the image acquisition sub-module is used for acquiring shooting data of each rotation angle, wherein the shooting data are 3D point cloud data;

and the image splicing submodule is used for sequentially splicing the 3D point cloud data shot at each moment to obtain the 3D data of the whole dental model.

10. The dental model 3D modeling system of claim 8, further comprising:

the 3D model acquisition modules are used for driving the 3D camera to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the movement mechanism so as to acquire the dental model 3D model shot at multiple angles;

and the 3D model fusion modules align the 3D models of the dental casts according to the mark points on each 3D model, fuse the 3D models of the dental casts together, and acquire complete 3D data of the dental casts.

Technical Field

The invention relates to the technical field of oral cavity digitization, in particular to a dental model 3D modeling device, method and system.

Background

In the existing technology of repairing and filling teeth, a patient is generally required to bite a silica gel tooth paste to completely leave a hole of a tooth model, then a model of the tooth is obtained through enclosing and filling the gel, two tooth models are required to be manufactured, one tooth model is used as a reference tooth model, and the other tooth model is used as a correction tooth model.

After obtaining the modified tooth model, the modified tooth model needs to be finely modified so as to obtain the correct tooth form required by tooth modification and tooth filling; in the process, in order to confirm whether the correction is correct, the reference dental model is required to be continuously referred, and the film-repairing cutter is required to be used for continuously cutting and filling the correction dental model; if irreparable error repair occurs in the process of correction, the corrected dental model needs to be manufactured again, so that the correction of the dental model is quite complicated and delicate work, and how to realize accurate and efficient correction of the dental model and reduce the difficulty of the work of correcting the dental model become problems to be solved urgently at present.

Accordingly, the prior art is yet to be improved and developed.

Disclosure of Invention

In view of the above-mentioned deficiencies of the prior art, the present invention provides a device, a method and a system for 3D modeling of a dental model, which aim to solve the problems of the prior art, such as irreparable error repair, inaccurate and efficient dental model modification, and difficulty in dental model modification.

The technical scheme of the invention is as follows:

a dental model 3D modeling apparatus comprising: the dental model still includes:

the power assembly is provided with a rotating table;

a rotation assembly disposed on the rotation stage;

the supporting component is arranged on the rotating component and connected with the rotating component, and the dental cast is arranged on the supporting component;

and the shooting assembly is arranged above the supporting assembly and is used for shooting the dental cast.

Further, the rotating assembly includes:

the turntable is arranged on the rotating platform, the supporting component is arranged on the turntable, and the turntable drives the supporting component to rotate through the driving of the power component;

and the rotary encoder is arranged on the turntable and is used for acquiring the rotating angle of the turntable in real time.

Further, the support assembly includes:

the wedge block is arranged on the turntable;

the dental cast fixing plate is arranged on the wedge block and faces the shooting assembly, a plurality of marking points are arranged on the dental cast fixing plate, and the marking points are used as reference points when the shooting assembly shoots; the dental cast is fixed on the dental cast fixing plate;

the plurality of mark points are positioned at one end of the arc surface of the dental cast and are respectively arranged at two sides of the dental cast along the length direction of the dental cast fixing plate.

Further, the photographing assembly includes:

a motion mechanism;

the 3D camera faces the direction of the supporting component and is connected to the moving mechanism, after the 3D camera adjusts the shooting angle according to the position of the dental cast, the position of the 3D camera is fixed, and the 3D camera does not move along with the moving mechanism in the shooting process.

A dental model 3D modeling method applying the dental model 3D modeling apparatus as described above, the method comprising the steps of:

fixing a dental model of 3D data to be measured on a dental model fixing plate, and ensuring that the dental model cannot shield a mark point on the dental model fixing plate;

fixing the dental model fixing plate on which the dental model is fixed on a wedge block, and placing the wedge block on a turntable;

starting a turntable and acquiring the rotation angle of the turntable in real time;

when the turntable rotates to reach a series of fixed angles, the 3D camera is triggered to shoot the rotating tooth model at intervals;

and splicing the shooting data acquired by the 3D camera at different rotation angles to obtain a 3D model of the whole dental model.

Further, the step of fixing the dental model of the 3D data to be measured on the dental model fixing plate specifically includes: selecting different dental model fixing plates and placing the dental model fixing plates on the wedge blocks with different slope angles;

the step of starting the turntable and acquiring the rotation angle of the turntable in real time comprises the following steps: the rotary encoder is arranged on the rotary table, and the rotating angle of the rotary table is obtained in real time through the rotary encoder;

the step of splicing the shooting data acquired by the 3D camera at different rotation angles to obtain the 3D model of the whole dental model specifically comprises the following steps: acquiring shooting data of each rotation angle, wherein the shooting data are 3D point cloud data;

and sequentially splicing the 3D point cloud data shot at each moment to obtain the 3D data of the whole dental model.

Further, the method also comprises the following steps:

the 3D camera is driven to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the movement mechanism, and a dental model 3D model shot in multiple angles is obtained;

and aligning a plurality of dental model 3D models according to the mark points on each 3D model, fusing the plurality of dental model 3D models together, and acquiring complete dental model 3D data.

A dental model 3D modeling system applying the dental model 3D modeling method as described above, the system comprising:

the dental model fixing module is used for fixing a dental model of 3D data to be measured on a dental model fixing plate and ensuring that the dental model cannot shield mark points on the dental model fixing plate;

the dental cast rotating module is used for fixing the dental cast fixing plate on which the dental cast is fixed on a wedge block and placing the wedge block on a turntable;

the rotating angle acquisition module is used for starting the turntable and acquiring the rotating angle of the turntable in real time;

the image shooting module is used for triggering the 3D camera to shoot the rotating dental model at intervals when the turntable rotates to reach a series of fixed angles;

and the data splicing module is used for splicing the shooting data acquired by the 3D camera at different rotation angles to obtain a 3D model of the whole dental model.

Further, the dental cast fixing module specifically comprises: the wedge block model selection sub-module is used for selecting different dental cast fixing plates and placing the dental cast fixing plates on the wedge blocks with different slope angles;

the rotation angle acquisition module specifically includes: the rotary encoder submodule is used for arranging the rotary encoder on the rotary table and acquiring the rotation angle of the rotary table in real time through the rotary encoder;

the data splicing module specifically comprises: the image acquisition sub-module is used for acquiring shooting data of each rotation angle, wherein the shooting data are 3D point cloud data;

and the image splicing submodule is used for sequentially splicing the 3D point cloud data shot at each moment to obtain the 3D data of the whole dental model.

Further, still include:

the 3D model acquisition modules are used for driving the 3D camera to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the movement mechanism so as to acquire the dental model 3D model shot at multiple angles;

and the 3D model fusion modules align the 3D models of the dental casts according to the mark points on each 3D model, fuse the 3D models of the dental casts together, and acquire complete 3D data of the dental casts.

Compared with the prior art, the power assembly is provided with the rotating table, the rotating assembly is arranged on the rotating table, the supporting assembly is arranged on the rotating assembly and connected with the rotating assembly, the dental model is arranged on the supporting assembly, and the shooting assembly is arranged above the supporting assembly and used for shooting the dental model, so that a corrected dental model with complete 3D data is formed, the working environment for correcting the dental model is avoided, the difficulty in correction is reduced, the 3D data of the corrected dental model can be effectively compared with an original dental model and analyzed at any time, the processing of the 3D data of the corrected dental model is more convenient, and more accurate and efficient film correction is realized. In addition, the data of the original dental model and the corrected dental model can be stored in a digital mode, and medical record files of patients can be stored, and medical examination after tooth repair and filling can be facilitated. The problems that in the prior art, irreparable error repair is inevitably caused in the dental cast correction process, the dental cast correction is not accurate and efficient enough, and the work difficulty of correcting the dental cast is high are well solved.

Drawings

FIG. 1 is a schematic structural diagram of a dental cast 3D modeling apparatus according to embodiments of the dental cast 3D modeling apparatus, method and system of the present invention;

FIG. 2 is a non-time plot line graph of an embodiment of a dental cast 3D modeling apparatus, method and system of the present invention;

FIGS. 3-5 are schematic diagrams of multi-angle photographing for a dental model 3D modeling apparatus, method and system according to embodiments of the present invention;

FIG. 6 is a flowchart of a method of embodiments of a dental cast 3D modeling apparatus, method and system of the present invention;

FIG. 7 is a flowchart of a system of embodiments of a dental cast 3D modeling apparatus, method and system of the present invention;

the reference numbers in the figures: 100. a dental cast; 300. a rotating assembly; 400. a support assembly; 500. a shooting component; 310. a turntable; 410. a wedge block; 420. a dental model fixing plate; 430. marking points; 510. a motion mechanism; 520. a 3D camera; 600. marking lines; 610. a first reticle; 620. and a second reticle.

Detailed Description

The invention provides a dental model 3D modeling device, a method and a system, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail by referring to the attached drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the existing technology of repairing and filling teeth, a patient is generally required to bite a silica gel tooth paste to completely leave a hole of a tooth model, then a model of the tooth is obtained through enclosing and filling the gel, two tooth models are required to be manufactured, one tooth model is used as a reference tooth model, and the other tooth model is used as a correction tooth model. After obtaining the modified tooth model, the modified tooth model needs to be finely modified so as to obtain the correct tooth form required by tooth modification and tooth filling; in the process, in order to confirm whether the correction is correct, the reference dental model is required to be continuously referred, and the film-repairing cutter is required to be used for continuously cutting and filling the correction dental model; if irreparable error repair occurs in the process of correction, the corrected dental model needs to be manufactured again, so that the correction of the dental model is quite complicated and delicate work, and how to realize accurate and efficient correction of the dental model and reduce the difficulty of the work of correcting the dental model become problems to be solved urgently at present. In order to overcome the above problems, the present invention proposes the following embodiments.

The first embodiment is as follows:

as shown in fig. 1, an embodiment of the present invention provides a dental model 3D modeling apparatus, including: a dental model 100, the dental model 3D modeling apparatus comprising: a power assembly, a rotation assembly 300, a support assembly 400 and a camera assembly 500. The power assembly is provided with a rotating platform, the rotating assembly 300 is arranged on the rotating platform, the supporting assembly 400 is arranged on the rotating assembly 300 and connected to the rotating assembly 300, the dental cast 100 is arranged on the supporting assembly 400, and the shooting assembly 500 is arranged above the supporting assembly 400 and used for shooting the dental cast 100. Through the arrangement, the rotating component 300 drives the supporting component 400 to rotate the dental cast 100, the shooting component 500 takes pictures ceaselessly at certain time intervals, and finally all the taken pictures are spliced into the correction dental cast with complete 3D data, and the related cutting and filling work of the correction dental cast can be realized in 3D modeling and processing tools such as CAD (computer-aided design), so that the working environment for correcting the dental cast is greatly reduced, the difficulty of the correction work is reduced, the correction work can be effectively compared with the original dental cast and analyzed, and more accurate and efficient film correction is realized.

In the above scheme, by arranging the rotating table on the power assembly, arranging the rotating assembly 300 on the rotating table, arranging the supporting assembly 400 on the rotating assembly 300 and connecting to the rotating assembly 300, arranging the dental cast 100 on the supporting assembly 400, and arranging the shooting assembly 500 above the supporting assembly 400 for shooting the dental cast 100, the complete 3D data of the corrected dental cast 100 is formed, the working environment for correcting the dental cast is avoided, the difficulty of correction work is reduced, comparison with the original dental cast and data analysis can be effectively performed at any time, the 3D data of the corrected dental cast can be processed more conveniently, and more accurate and efficient film correction can be realized. In addition, the data of the original dental model and the corrected dental model can be stored in a digital mode, and medical record files of patients can be stored, and medical examination after tooth repair and filling can be facilitated. The problems that in the prior art, irreparable error repair is inevitably caused in the dental cast correction process, the dental cast correction is not accurate and efficient enough, and the work difficulty of correcting the dental cast is high are well solved.

Example two:

in addition to the first embodiment, as shown in fig. 1, in a specific embodiment of the present invention, the rotating assembly 300 includes: a turntable 310 and a rotary encoder. The carousel 310 sets up on the revolving stage, supporting component sets up on the carousel, carousel 310 passes through power component's drive and drive supporting component 400 is rotatory, just carousel 310 is high accuracy carousel 310, be provided with high accuracy rotary encoder on the carousel 310, rotary encoder can be used to acquire in real time the rotation angle of carousel 310. Through the arrangement, the rotary disc 310 continuously rotates to obtain the photos of the dental cast 100 at different angles, so that the photos of the dental cast 100 at different angles can be shot, and point cloud loss caused by fine shielding is effectively avoided; and a high-precision rotary encoder is arranged to acquire the rotating angle of the turntable 310 in real time, so that each photo can be corresponding to the corresponding angle, the data of the 3D dental model 100 can be accurately restored, and the accurate film repairing is ensured.

As shown in fig. 1, in a specific embodiment of the present invention, the support assembly 400 includes: wedge 410 and dental cast retainer plate 420. The wedge 410 is disposed on the turntable 310 and fixedly connected to the turntable 310, the dental cast fixing plate 420 is disposed on the wedge 410 and is disposed toward the shooting assembly 500, a plurality of mark points 430 are disposed on the dental cast fixing plate 420, the mark points 430 are used as reference points when the shooting assembly 500 shoots, and the dental cast is fixed on the dental cast fixing plate. It should be noted that the wedge 410 is used for obliquely placing the dental cast on one hand and raising the dental cast on the other hand, so that the dental cast faces the shooting assembly at the maximum angle and the clearest dental cast image is scanned, and thus, various placing angles can be provided for the dental cast fixing plate 420, a 3D data acquisition worker can freely adjust according to actual needs so as to obtain the optimal 3D data of the dental cast, and the wedge 410 can also realize multi-angle shooting of the dental cast 100 of the present invention. Specifically, at least two mark points 430 are provided, and the mark points 430 are located at one end of the arc surface of the dental cast 100 and are respectively disposed at two sides of the dental cast 100 along the length direction of the dental cast fixing plate 420. It is easy to think that the plurality of marking points 430 may be set to four in order to more precisely mark the specific position of the dental cast. By using the mark points 430 on the dental model fixing plate 420, automatic multi-angle dental model 100 data alignment registration can be realized, more angles and more detailed 3D data acquisition of the dental model can be effectively supported, whether point cloud data are scanned sufficiently can be observed at any time, and the angle is changed to realize targeted shooting and point cloud supplement, so that complete and accurate grinding 3D data can be constructed.

As shown in fig. 1, in a specific embodiment of the present invention, the photographing assembly 500 includes: a motion mechanism 510 and a 3D camera 520. The 3D camera 520 is disposed toward the dental cast fixing plate 420 and connected to the moving mechanism 510, and after the 3D camera 520 adjusts the photographing angle according to the position of the dental cast, the 3D camera 520 is fixed and does not move along with the moving mechanism 510 during photographing. Specifically, the 3D camera 520 is a line laser 3D camera 520, the line laser 3D camera 520 can only acquire 3D data on a line at a time, and compare a planar 3D data that ordinary 3D camera 520 can once gather, obtain the 3D data that do not shelter from more easily through adjusting the visual angle, make things convenient for the dental model 100 of semicircle distribution state, can effectively avoid the point cloud that tiny shelters from and cause to lose, obtain the best shooting visual angle. The motion mechanism 510 is a high-precision motion mechanism 510, in order to obtain complete and accurate dental model 3D, the invention also obtains 3D data of dental models shot from different visual angles by changing the placing angle of the dental models 100 or changing the shooting angle of the line laser 3D camera 520 through the position of the motion mechanism 510, and then realizes complete acquisition of the 3D data of the dental models by splicing, thereby providing a feasible and excellent method for 3D digitization of the dental models 100 and providing support for false tooth correction, modeling and production based on digitization.

Example three:

on the basis of the first embodiment and the second embodiment, as shown in fig. 6, the invention further provides a dental model 3D modeling method, which specifically comprises the following steps:

s100, fixing a dental model of 3D data to be measured on the dental model fixing plate, and ensuring that the dental model cannot shield the mark points on the dental model fixing plate.

In specific implementation, the dental model of the 3D data to be measured is fixed on the dental model fixing plate and used for fixing the position of the dental model, so that the position of the dental model is fixed in the shooting process, the same reference is convenient for shooting, and the accuracy of the shot image is ensured. Meanwhile, the dental cast can not shield the mark points on the dental cast fixing plate, so that the mark points are used as reference points when images are shot, the shot images are controlled within the range of the reference points, the shooting efficiency is guaranteed, and the mark points are used as the reference points when the shot images are spliced in the following steps, so that the images are conveniently coincided to obtain the optimal 3D model.

Further, the step S100 specifically includes:

and S110, selecting different dental cast fixing plates and placing the dental cast fixing plates on the wedge blocks with different slope angles.

Specifically, a proper dental model shooting angle is selected according to the structural condition of the dental model, and the wedge blocks of different slope angles of the dental model fixing plate and the lower part of the dental model fixing plate need to be selected, so that the dental model can be placed at various angles at proper inclination angles and various slope angles, and convenience is provided for obtaining a 3D model.

S200, fixing the dental model fixing plate fixed with the dental model on the wedge block, and placing the wedge block on the turntable.

When the dental model is implemented specifically, the dental model fixing plate on which the dental model is fixed on the wedge block with the selected slope angle, the wedge block is placed on the turntable, and the wedge block rotates along with the turntable, so that the 3D camera can shoot images of the dental model at different rotation angles conveniently.

And S300, starting the turntable and acquiring the rotation angle of the turntable in real time.

And in specific implementation, the rotating angle of the turntable is acquired in real time, and the rotating dental model is continuously triggered and shot. For example: when the 3D camera is triggered to shoot once by rotating 0.1 degree and the dental cast occupies a rotating sector angle of 120 degrees, 1200 shoots at different positions can be carried out on the dental cast. Furthermore, the image shooting module requires that each shooting angle is exactly located at the center of the inner arc of the molar when shooting, so that high-precision 3D data of the dental cast can be obtained, the shielding of the 3D camera by the self three-dimensional structure of the dental cast is considered, and at least the inner side and the outer side of the dental cast are required to be respectively shot, so that the shielded 3D data of the outer side of the dental cast is obtained, and the 3D data of the dental cast is more complete.

Further, step S310, the rotary encoder is disposed on the turntable, and the rotation angle of the turntable is obtained in real time through the rotary encoder.

During specific implementation, a rotary encoder is required to be used for acquiring the rotating angle of the turntable in real time, then the shooting frequency is determined according to the acquired rotating angle, the rotary encoder is a high-precision rotary encoder, and the rotary encoder is arranged on the turntable and is convenient to read the rotating angle of the turntable in real time.

And S400, when the turntable rotates to reach a series of fixed angles, triggering the 3D camera to shoot the rotating dental model at intervals.

In the specific implementation, in the process of obtaining the image, the rotating disc continuously rotates, when the rotating disc rotates to reach a series of fixed angles, the 3D camera is triggered intermittently to shoot the rotating dental cast, specifically, the 3D camera can be triggered to shoot once when the rotating disc rotates by 0.1 degree, and different dental cast images are obtained.

And S500, splicing the shooting data acquired by the 3D camera at different rotation angles to obtain a 3D model of the whole dental model.

In specific implementation, the mark points are used as a reference, shooting data acquired by the 3D camera at different rotation angles are spliced to obtain a 3D model of the whole dental model, and the 3D model of the dental model is more accurate.

Further, step S510, capturing data of each rotation angle is acquired, wherein the capturing data is 3D point cloud data.

In specific implementation, the shooting data is acquired by setting shooting time each time, the shooting data is 3D point cloud data, wherein the 3D point cloud data is a set of vectors in a three-dimensional coordinate system, and is generally recorded in the form of points, and each point includes three-dimensional coordinates.

Further, in step S520, the 3D point cloud data captured at each moment are sequentially merged to obtain 3D data of the entire dental model.

In specific implementation, as shown in the left drawing of fig. 2, the 3D camera obtains 3D point cloud data marked by the first reticle 610 at a first time, the dental cast rotates under the action of the turntable, as shown in the right drawing of fig. 2, the 3D point cloud data marked by the second reticle 620 is obtained by shooting at a second time after the rotation, the 3D point cloud data marked by the first reticle 610 at the first time in fig. 2 is determined by converting the position of the turntable into the rotation axial direction and the rotation angle of the turntable due to the position conversion of the turntable, the rotation axial direction of the turntable can be selected according to the needs of a system, and the rotation angle is obtained by the rotary encoder, so that the position of the first time point cloud data conversion can be obtained under the condition that two parameters of the rotation axial direction and the rotation angle of the turntable are known; and then splicing with the point cloud data obtained at the second moment, continuously shooting, and finally continuously splicing to obtain the 3D data of the whole dental model.

And S600, driving the 3D camera to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the motion mechanism, and obtaining the dental model 3D model shot at multiple angles.

During specific implementation, the 3D camera is driven to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the moving mechanism, so that multi-angle shooting of the dental cast relative to the position of the camera can be realized, and a plurality of 3D models of the dental casts are established. Specifically, the 3D camera is fixed on the motion mechanism, the 3D camera moves along with the motion of the motion mechanism to drive the 3D camera to realize shooting angle and position conversion, the motion mechanism is a high-precision motion mechanism and can drive the 3D camera to carry out very fine motion, so that the angle difference of images shot by the 3D camera is smaller, and the spliced 3D model in the subsequent step is more precise.

Step S700, aligning a plurality of dental model 3D models according to the mark points on each 3D model, fusing the plurality of dental model 3D models together, and acquiring complete dental model 3D data.

In specific implementation, each 3D model comprises the mark points arranged on the dental cast fixing plate, so that the 3D data can be aligned with a plurality of 3D models according to the mark points, and the plurality of 3D models are fused together, so that the 3D data can be completely acquired by selecting a proper wedge block and adjusting the motion mechanism to change the view angle of the 3D camera.

Example four:

on the basis of the first embodiment, the second embodiment and the third embodiment, as shown in fig. 7, the present invention further provides a dental model 3D modeling system, the dental model 3D modeling system including: the dental cast device comprises a dental cast fixing module, a dental cast rotating module, a rotating angle obtaining module, an image shooting module and a data splicing module. The dental model fixing module is used for fixing a dental model of 3D data to be measured on the dental model fixing plate and ensuring that the dental model cannot shield the mark points on the dental model fixing plate. The dental model rotating module is used for fixing the dental model fixing plate on which the dental model is fixed on the wedge block and placing the wedge block on the turntable. The rotation angle acquisition module is used for starting the turntable and acquiring the rotation angle of the turntable in real time. When the turntable rotates to reach a series of fixed angles, the image shooting module is used for triggering the 3D camera to shoot the rotating dental model at intervals. The data splicing module is used for splicing shooting data acquired by the 3D camera at different rotation angles to obtain a 3D model of the whole dental model. Through the setting, can turn into digital 3D data with dental model data, realize carrying out virtual repair and packing to the dental model in 3D drawing instrument for can utilize 3D printing technique to realize the quick preparation of denture, provide one set of feasible, excellent dental model 3D modeling system, provide for artificial tooth correction based on digitization, model building, production to and postoperative diagnosis and follow-up provide the support.

In a specific embodiment of the present invention, the dental cast fixing module specifically includes: and the wedge block model selection sub-module is used for selecting different dental cast fixing plates and placing the dental cast fixing plates on the wedge blocks with different slope angles. The wedge-shaped block model selection submodule selects the wedge-shaped blocks with different slope angles and is matched with the movement mechanism with precision, so that the dental model can be shot at multiple angles, pictures of the dental model at all angles can be shot more accurately, and finally, the complete and accurate 3D model of the dental model can be spliced.

In a specific embodiment of the present invention, the rotation angle obtaining module specifically includes: the rotary encoder submodule is used for arranging the rotary encoder on the rotary disc, and the rotary encoder acquires the rotation angle of the rotary disc in real time. The rotary encoder submodule can continuously trigger the 3D camera to shoot the rotating dental model according to a certain rotating angle and rotating frequency when the rotary disc rotates and the rotary encoder outputs the rotary disc rotating angle in real time.

In a specific embodiment of the present invention, the data splicing module specifically includes: the image acquisition sub-module and the image splicing sub-module. The image acquisition submodule is used for acquiring the shooting data of each rotation angle, wherein the shooting data are 3D point cloud data. And the image splicing submodule is used for sequentially splicing the 3D point cloud data shot at each moment to obtain the 3D data of the whole dental model. The image acquisition sub-module acquires data shot at each set shooting time, wherein the shot data are 3D point cloud data, the 3D point cloud data are a set of vectors in a three-dimensional coordinate system and are generally recorded in a point form, and each point comprises a three-dimensional coordinate. The image splicing submodule is used for acquiring the 3D point clouds at the first moment and the second moment, splicing the 3D point clouds at the first moment and the second moment together, continuously splicing the point clouds at all the moments, and obtaining the 3D data of the whole dental cast. Specifically, as shown in the left drawing of fig. 2, the 3D camera obtains the 3D point cloud marked by the first reticle 610 at the first time, the dental cast rotates under the action of the turntable, as shown in the right drawing of fig. 2, the 3D point cloud marked by the second reticle 620 is obtained by shooting at the second time after the rotation, the 3D point cloud marked by the first reticle 610 at the first time in fig. 2 is determined by the rotation of the turntable, which is converted into the rotation axial direction of the turntable and the rotation angle, the rotation axial direction of the turntable can be selected according to the needs of the system, and the rotation angle is obtained by the rotary encoder, so that the cloud conversion position of the first time point can be obtained under the condition that the two parameters of the rotation axial direction of the turntable and the rotation angle are known; and then splicing with the point cloud obtained at the second moment, continuously shooting, and finally continuously splicing to obtain the scanning of the whole dental model.

Further, when the 3D camera is triggered to shoot once by rotating 0.1 degree and the dental model occupies a rotation sector angle of 120 degrees, 1200 shots of different positions can be conducted on the dental model. Specifically, the image shooting module requires that each shooting angle is exactly located at the center of the inner arc of the molar when shooting, so that high-precision 3D data of the dental cast can be obtained, the shielding of the 3D camera by the three-dimensional structure of the dental cast per se is considered, and at least the inner side and the outer side of the dental cast are required to be respectively shot, so that the shielded 3D data of the outer side of the dental cast are obtained, and the 3D data of the dental cast are more complete.

In a specific embodiment of the present invention, the dental cast 3D modeling system further comprises: the system comprises a plurality of 3D model acquisition modules and a plurality of 3D model fusion modules. The plurality of 3D model acquisition modules are used for driving the 3D camera to carry out shooting angle and position conversion by adjusting the slope angle of the wedge block or changing the position of the movement mechanism, so as to acquire the dental model 3D model shot at multiple angles. And the 3D model fusion modules align the 3D models of the dental casts according to the mark points on each 3D model, fuse the 3D models of the dental casts together, and acquire complete 3D data of the dental casts. Specifically, multi-angle shooting of the dental cast relative to the camera position can be achieved by selecting wedge blocks with different slope angles or adjusting through a 3D camera movement mechanism, so that 3D models of a plurality of dental casts are established, and as each 3D model comprises the mark points arranged on the dental cast fixing plate, a plurality of 3D models can be aligned according to the mark points to 3D data, so that the 3D models are fused together, and therefore, the 3D camera view angle can be changed by selecting the proper wedge blocks and adjusting the movement mechanism, and complete 3D data of the dental cast can be obtained.

Specifically, multi-angle shooting is an effective mode for processing occlusion, a line laser camera has good flexibility, and can effectively process the problem of multi-angle shooting, as shown in fig. 3, under the condition that normal shooting is not occluded, only 3D data on one line is obtained in each shooting, the best visual angle is obtained for each line by effectively adjusting the relative position of the camera and the dental model, the clearest 3D data is obtained, then the dental model can keep a good visual angle in the rotating process relative to the camera by rotating, and when the angle interval of the rotating shooting is small enough, only high-precision 3D data on one side of the dental model can be obtained; as shown in fig. 4, when photographed from the inside of the dental cast, the outside of the dental cast is not visible due to occlusion, and complete 3D data cannot be obtained; as shown in fig. 5, by adjusting the position of the camera and the inclination angle of the wedge, the inclination angle of the dental cast is adjusted, so that the outer side of the dental cast can be photographed, and the inner side of the dental cast is not visible, and complete 3D data cannot be obtained. Therefore, multi-angle photographing is required. And carrying out a plurality of 3D model alignments on the 3D data according to the mark points, and fusing into a complete 3D model.

In summary, according to the invention, the power assembly is provided with the rotating table, the rotating assembly is arranged on the rotating table, the supporting assembly is arranged on the rotating assembly and connected to the rotating assembly, the dental model is arranged on the supporting assembly, and the shooting assembly is arranged above the supporting assembly and used for shooting the dental model, so that a corrected dental model with complete 3D data is formed, the working environment for correcting the dental model is avoided, the difficulty in correcting is reduced, the 3D data of the corrected dental model can be effectively compared with the original dental model and analyzed at any time, the processing of the 3D data of the corrected dental model is more convenient, and more accurate and efficient film correction is realized. In addition, the data of the original dental model and the corrected dental model can be stored in a digital mode, and medical record files of patients can be stored, and medical examination after tooth repair and filling can be facilitated. The problems that in the prior art, irreparable error repair is inevitably caused in the dental cast correction process, the dental cast correction is not accurate and efficient enough, and the work difficulty of correcting the dental cast is high are well solved.

It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.