• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A device for taking pictures of three-dimensional objects (10), in particular teeth, has a light source (22) and a camera (32) for taking pictures of the object (10), wherein in the beam path of the light source (22) at least one transparent Carrier (36, 37) is arranged with a pattern that is projected onto the object (10). The carrier (36, 37) has sections that are offset from each other in the direction of the beam path. Alternatively or additionally, at least two carriers (36, 37) are offset from one another in the direction of the beam path.
    公开号:AT511223A1
    申请号:T387/2011
    申请日:2011-03-18
    公开日:2012-10-15
    发明作者:
    申请人:A Tron3D Gmbh；Ait Austrian Inst Technology；
    IPC主号:
    专利说明:

    03/20 8/03/2011 15:32 + 43-1-5264245 PATENTANW.BEER & PARTN S.
    The invention relates to a device for receiving images of three-dimensional objects, in particular teeth, with a light source and a camera for taking images of the object, wherein in the beam path of the light source at least one transparent support is arranged with a pattern which is projected onto the object ,
    Such devices, which are known for example from AT 508 563 B, are used in particular in the field of three-dimensional recording of teeth. In this case, a randomly arranged pattern is projected onto the object, wherein in the beam path of the light source a transparent support, e.g. a slide with which pattern is arranged. The scope of application extends to the acquisition of digital dental impressions and jaw impressions, assistance with the diagnosis, the monitoring of dental treatments and the reliable control of implants used. In addition to other applications in the field of medical and industrial technology, for example in the field of endoscopy, objects can generally be measured stereometrically, which are difficult to access.
    Problems exist in this case, on the one hand, in the required miniaturization of the projection and recording unit and, on the other, in the high demands placed on the quality of the recordings. In particular, in the field of dentistry, dimensions of about 0.1-0.2 mm are often relevant, so that a resolution of in the range of about 0.01-0.04 mm is required to capture all details of the objects to be imaged with sufficient resolution.
    The object of the invention is therefore to provide a device which enables a precise recording of three-dimensional objects, such as teeth.
    This object is achieved in a device of the type mentioned above in that the carrier has portions which are offset from each other in the direction of the Strahiengangs. 18/03/2011 15:29
    No .: R855 P.003 / 020 18/03/2011 15:32 + 43-1-5264245
    PATENTANW.BEER & PARTN Ξ. 04/20 • »i * * * i n * * i» * * * ··· «» «I *
    This object is achieved in a device of the type mentioned also by the fact that at least two carriers are offset from each other in the direction of the beam path.
    If parts of the light beam with the pattern to the object to be imaged cover different distances, for example because the optical center axis of the projector is inclined to the central optical axis of the camera or because light beams are directed to the object via different mirrors, can be used in the projection of the on a support Pattern on the object blurring of the projection of the pattern arise. This leads to inaccuracies of the measurement.
    This deviation can be compensated according to the invention in that either individual sections of a carrier or two or more carriers are offset from one another in the direction of the beam path. In this way, the length of the path that the light travels with the pattern from the carrier to the object can be unified again for the entire light beam and thus blurring can be reduced.
    The arrangement of carriers according to the invention is particularly advantageous if at least two mirrors each reflect a light beam from the light source from different directions on the object and in the beam path of each light bundle is a portion of a carrier or a separate carrier, as often occurs at two mirrors different lengths of light can not be avoided.
    On the other hand, however, the use of two mirrors is particularly advantageous since the two mirrors, which reflect light from the light source from different directions onto the object, allow better illumination of the objects or a one-sided, oblique illumination of the image field at Object or tooth, which may be eg is partially shaded in an edge region of the object itself or adjacent objects can be largely avoided, creating areas such. the last molar also at the 18/03/2011 15:30
    No .: R855 P.004 / 020 18/03/2011 15:32 + 43-1-52S4245 PATENTANW.BEER & PARTN P. 05/20
    Back well lit and recorded or can be measured in a row.
    A particularly good illumination of the object for image acquisition is possible when viewed from the light source, a first mirror behind a lens of the camera and a second mirror in front of the lens. In this way, the object is illuminated by two opposite sides of the camera, so that shading of the image field on the object can be reliably avoided.
    If a three-dimensional image recording and subsequently measurement of an object is to take place, it is preferred in the invention if two cameras are provided which record images from different directions. From the prior art, for example the AT 508 563 B, an apparatus and a method for measuring objects such as teeth are already known, which provide three-dimensional images. These but also other known devices and methods can be used in the present invention to produce three-dimensional images.
    Accordingly, in the invention, two cameras may be provided which receive images from different directions, it being preferred if the cameras, viewed from the light source, are adjacent.
    In one embodiment of the invention, if the optical axes of the mirrors lie in a plane and the lenses of the cameras are symmetrical to the plane in which the optical axes of the mirrors lie, then this symmetrical arrangement provides particularly reliable illumination or image projection and image acquisition possible, which leads to very precise three-dimensional images, as in the measurement of edge areas {eg Incisors) no defects in the point clouds on the object arise, which would make the recording and registration of the geometry of the object in this area difficult or impossible. Besides, 18/03/2011 allows 15:31
    No .: R855 P.005 / 020 18/03/2011 15:32 + 43-1-5264245
    PATENTANW.BEER & PARTN 5. 06/20 • ·· 9 9 9 9 9 9 · • * · | »» 9 9 ·· 9 * · * * 4 * t * * * * * * * «·« «« 9 I I 99 * 999 9 * II I 9 · * this arrangement is a very compact, especially slim design.
    Further preferred embodiments of the invention are the subject of the remaining dependent claims.
    Further features and advantages of the invention will become apparent from the following description of preferred embodiments of the invention with reference to the accompanying drawings.
    It shows:
    1 shows an embodiment of a handpiece for the invention from the side,
    2 shows the handpiece of Fig. 1 in plan view,
    Fig. 3 shows the handpiece of Fig. 1 from the front
    4 shows the handpiece of FIGS. 1 to 3 in oblique view,
    Fig. 5 is a partial exploded view of a
    Embodiment of the invention,
    6 shows a longitudinal section through the embodiment of FIG. 5, FIG. 7 shows a detail of FIG. 6, FIG.
    Fig. 8 is a section through the device along the line VIII-VIII and
    9 shows a detail of an embodiment of a projector.
    In the drawings, a preferred embodiment of a device 1 for three-dimensional recording of objects 10, in particular teeth is shown, which has a receiving area 2 and a handle portion 3. Between receiving area 2 and handle area 3, a central area 5 is arranged in the illustrated embodiment. Since the middle region 5 has smaller outer dimensions than the receiving region 2, the receiving region 2 has a substantially conical transition region 6 towards the middle region 5. At the front end 4 of the receiving area 2 is rounded.
    The receiving area 2 has a central axis 7, the grip area 3 of the central axis 8 and the central area 5 a central axis 9. The angle α between the central axis 7 and the 18/03/2011 15:31
    No .: R855 P.006 / 020 07/20 18/03/2011 15:32 + 43-1-5264245 PATENTANW.BEER & PARTN S.
    Central axis 8 is according to the invention between 10 ° and 40 °, said angle a in the illustrated embodiment (with a central region 5) in two angles ß and γ, the angle ß between the central axis 7 of the receiving part 2 and the central axis 9 of the central region 5 and the angle γ between the central axis 9 of the central region 5 and the central axis 8 of the handle part 3 is located. The angle β is preferably between 3 ° and 15 ° and the angle γ between 7 ° and 25 °. The length of the receiving area is preferably between 10 and 60 mm, since within these limits both good handleability of the handpiece 1 and sufficient space for Housing the projection and / or recording technology is present.
    On its side facing the male object 10, an opening 12 (FIG. 5) is arranged in the receiving part 2, which is closed by a disc 13. By means of this disk 13, light, in particular a random pattern, can be directed onto the object 10 with a projector 14 and images of the object 10 can be taken with a camera system 15. The receiving area 2 is thus inclined relative to the handle 3 by an angle α between 10 ° and 40 ° counter to the direction of projection to the rear.
    FIGS. 5 to 8 show an embodiment of the invention in which the projector 14 emits a light beam 23 with a light source. The light beam 23 passes through one or more transparent supports 36, 37 shown in FIG. 9, for example slides, on which a randomly arranged pattern is arranged. The pattern preferably consists of substantially randomly distributed, possibly irregularly shaped dots and / or lines, which are subsequently projected onto the object 10, for example a tooth.
    In the beam path of the light beam 23 is a deflection mirror 26, the part 23a of the light beam 23, in the embodiment of Fig, 7 the lowest part, to a first mirror 27 18/03/2011 15:32
    No .: R855 P.007 / 020 18/03/2011 15:32 + 43-1-5264245
    PATENTANW.BEER & PARTN p. 08/20 deflects, which subsequently directs the light to the object 10. Another part 23b of the light beam 23, in the exemplary embodiment of FIG. 7 the middle part, strikes directly on a second mirror 28, from which the light is likewise directed onto the object 10.
    The deflection mirror 26 is preferably a plane mirror, but could also be a convex or concave curved mirror if required. The two mirrors 27 and 28 are preferably biaxially convexly curved mirrors with identical or different radii of curvature in the two axes, with which the respective portion of the radiation beam 23 can be scattered more strongly as required.
    In the illustrated embodiment, the arrangement and curvature of the deflecting mirror 26 and the first mirror 27 is selected so that the part 23a of the light beam 23 in the image plane of the drawing has an opening angle δ of about 30 °. The arrangement and curvature of the second mirror 28 is chosen by way of example so that the part 23b of the light beam 23 in the image plane of the drawing has an opening angle ε of about 2S °. The opening angle of the parts 23a, 23b of the light beam 23 in the direction normal to the image plane of the drawing can be equal to or different from the respective opening angle δ, ε lying in the image plane by suitable curvature of the mirrors 27, 28.
    Due to the arrangement of the mirrors 27, 28 exemplarily selected in FIG. 7, their optical axes 29, 30 are inclined relative to one another in such a way that the light beam parts 23a, 23b strike the object 10 from different directions.
    In the projection direction of the projector 14 seen between the two mirrors 27, 28, slightly closer to the second mirror 28 in the illustrated embodiment, a camera system 15 is arranged, which consists in the illustrated embodiment of two cameras 32 which record stereoscopic images for three-dimensional measurement of the object 10 , by 18/03/2011 15:32
    No .: R855 P.008 / 020 09/20 18/03/2011 15:32 + 43-1-5264245 PATENT APPLIC. BEER & PARTN S. * * * * * * * * * m * t «· *« * M · * 4 · * · »*« («· · ** * · 4» Use overlapping picture-taking pictures The two optical axes 29, 30 of the mirrors 27, 28 span a plane ω, the two cameras 32, more precisely their lenses 33, lying symmetrically on both sides of this plane ω.
    By this preferred arrangement, the camera system 15 with the mirrors 26, 27 and their optical axes 29, 30 in a plane ω, which allows a very precise image acquisition and thus measurement of the object. By projecting the light bundle parts 23a, 23b through mirrors 26, 27 which lie on both sides of the camera system 15, an illumination or projection of the random pattern on the object 10 takes place from two sides in this plane ω, whereby - from the viewpoint of the camera system 15, shadows or imperfections on the object 10, which can occur, for example, in molars or incisors, can be avoided very reliably.
    In principle, it would also be possible to position the mirrors - viewed from the projector 14 - next to the two cameras 32 and if necessary to rotate the two cameras 32 by 90 ° so that they both lie in the plane ω. There are also more than two mirrors, both before and / or behind and laterally of the cameras 32 conceivable to obtain the best possible illumination or pattern projection on the object 10.
    In the illustrated embodiment, a diaphragm 34 is disposed in the area above the deflection mirror 26, which blocks a third part 23c of the light beam 23 so that it does not cause unwanted reflections in the optics 33 of the cameras 32. Depending on the arrangement of the mirrors 26, 27, 28 and the lenses 33, the diaphragm 34 may also be omitted or arranged or shaped differently.
    All mirrors 26, 27, 28, the aperture 34 and optionally also the camera system 15 can be adjusted to the corresponding 18/03/2011 15:33
    No .: R855 P.009 / 020 18/03/2011 15:32 + 43-1-5264245
    PATENTANW.BEER & PARTN P. 10/20 »« * «ft« »··· 4 · *» * ft * · * · * «I ·· B · | | «··· *« · 4Q * * * * * * * «* 4 ft« O ** m * *
    Mounts 31 may be attached so that if necessary, a simple adjustment and / or calibration of the individual components is possible. In addition, all or even a portion of the components described above may be mounted and preset on a carrier system which may then be inserted into a recorder. The housing of the device 1 preferably consists of two housing halves 16, 17, which are designed mirror-symmetrically, whereby the device can be very easily assembled together.
    By the selected and shown by way of example in the drawing arrangement according to the invention a very compact and slim design is possible, which can for example be very well integrated into a handpiece for three-dimensional recording of teeth.
    Preferably, the arrangement of the mirrors and cameras described in connection with FIGS. 5 to 8 is used for handpieces with an angled receiving area 2 and optionally central area 5, since a particularly good possibility is offered by the mirrors 26, 27, 28 To incorporate the entire projection and recording technique in an angled handpiece 1, which is very slim and is particularly easy to handle due to the kink, especially with oral scanners.
    With the device according to the invention, an optimal degree of sharpness can already be achieved directly from the outer surface of the scanner glass 13 without the risk of shadows or imperfections, in order to be able to rest on an object, e.g. a tooth, this can already be measured, whereas known scanners often have to be kept at a certain distance to the teeth, which significantly hampers the recording process, in comparison to the inventive possibility also directly on the teeth can.
    FIG. 9 schematically shows an embodiment of the invention in which two transparent supports 36, 37, for example two slides, on which at random 18/03/2011 15:33
    No .: R855 P.010 / 020 11/20 18/03/2011 15:32 + 43-1-5264245 PATENT APPLICATION Ξ. Are arranged in the beam path of a light bundle 23, a * a · a · a · a ································. which is emitted by a light source 22, for example an LED. The pattern may consist essentially of randomly distributed, possibly irregularly shaped, dots and / or lines. The light passes in the illustrated embodiment first through a lens 35, then through the two carriers 36, 37, and subsequently through a symbolically represented by a lens 38 further lens system which serves to align the projection beam 23 and focus adjustment.
    The projector 14 of FIG. 9 can be used, for example, in a device shown in FIGS. 5 to 8, in which the light beam 23 is directed onto an object 10 via two mirrors 27 and 28. Since the light travels paths of different lengths, depending on whether it hits the object 10 either via the deflection mirror 26 and the mirror 27 or via the mirror 28, blurring of the one can occur when the pattern on a support is projected onto the object 10 or other or both projections.
    Through the use of two carriers 36, 37 can be taken into account and blurring can be compensated individually. This can be done, for example, that the two carriers 36, 37 are offset in the direction of propagation of the light to each other. This is e.g. the carrier 36, which lies in the beam path of the light beam 23b of the mirror 28, farther away from the lens 38 and a subsequent lens system than the carrier 37, which lies in the beam path of the light beam 23a of the mirror 27, so that the total path of the light from the respective carrier 36, 37 via the respective mirror 26, 27, 28 to the object 10 is again approximately the same length. Decisive are the different distances of the carriers 36, 37 to the lens system 38, since these distances determine the position and position of the focal plane in the measuring space. If the path difference across the respective mirror 26, 27, 28 to the object 10 is not very large, for example, only a single carrier could be used, either step by step 18/03/2011 15:34
    No .: R855 P.011 / 020 18/03/2011 15:32 + 43-1-5264245
    PATENTANW.BEER & PARTN p. 12/20 • * * * * * * * «« «I * • * 4 · *« t. «• * * * * * β > n * * • · »« »« * * -L W »ψ 9 9 has separated sections or is inclined to a steep slope in order to compensate for the difference in the mean. As a further possibility, a single carrier could be used, which is coated on different areas or sections respectively on the front and on the back with a pattern. The thickness of the carrier material then determines the distance difference.
    In Fig. 9, an inclination of the beams 36, 37 to the propagation direction of the light can be seen, i. that the carriers 36, 37 are not exactly at right angles to the propagation direction of the light. This embodiment of the invention is advantageous when the projector 14 or its optical center axis 39 is aligned as in the embodiment shown in FIGS. 1 to 8 at an angle ß greater than 0 ° to the receiving area 2, in particular the optical center axis 39 not is aligned at right angles to the optical center axis 40 of the camera 32. The arrangement of the projector 14 in the angled transition region between the receiving area 2, in which the cameras are 32, and the central area 5 is particularly advantageous, since in this way the receiving area 2 can be kept relatively short, which significantly improves the handling of the handpiece 1 , Due to the inclination of the carrier 36, 37 caused by the inclination of the projector 14 blurring of projected onto the object 10 pattern can be compensated. 18/03/2011 15:34
    No .: R855 P.012 / 020
    权利要求:
    Claims (20)
    [1]
    13/20 18/03/2011 15:32 + 43-1-5264245 PATENTANW.BEER & PARTN S. • * «* * * * 4« »• · * 9 *» | 9 9 9 9 9 "I I f I · < II Φ * * * 4 * * 9 4 ή -1 * * ··· ♦ »1 * 4 *« ItU 499 Claims 1. A device for taking pictures of three-dimensional objects (10), in particular teeth, with a light source ( 22) and a camera (32) for taking images of the object (10), wherein in the beam path of the light source (22) at least one transparent carrier (36, 37) is arranged with a pattern which is projected onto the object (10) , characterized in that the carrier (36, 37) has portions which are offset from each other in the direction of the beam path.
    [2]
    2. Device for taking pictures of three-dimensional objects (10), in particular teeth, with a light source (22) and a camera (32) for taking pictures of the object (10), wherein in the beam path of the light source (22) at least one transparent Carrier (36, 37) is arranged with a pattern which is projected onto the object (10), characterized in that at least two carriers (36, 37) are offset from each other in the direction of the beam path.
    [3]
    3. Apparatus according to claim 2, characterized in that at least one carrier (36, 37) has portions which are offset from one another in the direction of the beam path.
    [4]
    4. Device according to one of claims 1 to 3, characterized in that at least one carrier (36, 37) is inclined with respect to the propagation direction of the light at an angle not equal to 90 °.
    [5]
    5. Device according to one of claims 1 to 4, characterized in that at least two mirrors (27, 28) each reflect a light beam (23a, 23b) of the light source (22) from different directions on the object (10) and that in Beam path of each light beam (23a, 23b) is a portion of a carrier or in each case a separate carrier (36, 37). 18/03/2011 15:35 No .: R855 P.013 / 020 14/20 18/03/2011 15:32 + 43-1-5264245 PATENTANW.BEER & PARTN S. • · I I * * · * < * • I * «« »« ► · +4 II fr • · * · «· · 4 > > > > " * * * * * · * " " * * In the · · ·
    [6]
    6. Apparatus according to claim 5, characterized in that the mirrors (27, 28) have differently aligned optical axes (29, 30).
    [7]
    7. Apparatus according to claim 5 or 6, characterized in that a first mirror (27) indirectly via a deflecting mirror (26) and a second mirror (28) directly from the light source (22) is illuminated.
    [8]
    8. Device according to one of claims 5 to 7, characterized in that two mirrors (27, 28) lie on different sides of the camera (32).
    [9]
    9. Apparatus according to claim 8, characterized in that, viewed from the light source (22), a first mirror (27) in front of a lens (33) of the camera (32) and a second mirror (28) behind the lens (33 ) lies.
    [10]
    10. Device according to one of claims 1 to 9, characterized by two cameras (32) with each other overlapping receiving areas which receive images from different directions.
    [11]
    11. The device according to claim 10, characterized in that the lenses (33) of the cameras (32), viewed from the light source (22), are adjacent.
    [12]
    12. Device according to one of claims 5 to 10, characterized in that the optical axes (29, 30) of the mirrors (27, 28) lie in a plane (w).
    [13]
    13. The apparatus of claim 11 and 12, characterized in that the lenses (33) of the cameras (32) are symmetrical to the plane (o) in which the optical axes (29, 30) of the mirror (27, 28) lie ,
    [14]
    14. The device according to one of claims 1 to 13, characterized in that the light source (22) after a 18/03/2011 15:35 No .: R855 P.014 / 020 15/20 18/03/2011 15: 32 + 43-1-5264245 PATENTANW.BEER & PARTN S. «» · * * * Ψ · »· • *» · »·» * ·· * ♦ * t * · I · it · · # · · »« «Random pattern« projected onto the object (10).
    [15]
    15. The device according to claim 14, characterized in that the pattern consists essentially of randomly distributed, optionally irregularly shaped, points and / or lines.
    [16]
    16. Device according to one of claims 1 to 15, with a receiving area (2), in which the mirrors (26, 27, 28) are arranged, and with a handle portion (3), characterized in that the camera (32) and / or the light source (22) in the receiving area (2) is arranged / and that the receiving area (2) against the projection direction by an angle (a) between 10 ° and 40 ° relative to the handle portion (3) is inclined.
    [17]
    17. The apparatus according to claim 16, characterized in that between the handle portion (3) and the receiving area (2), a central region (5) is arranged opposite the handle portion (3) and the receiving area (2) by an angle (ß , γ) is inclined by at least 3 ".
    [18]
    18. The apparatus of claim 16 or 17, characterized in that the central region (5) relative to the handle region (3) by an angle (γ) of 7 ° to 25 ° is inclined.
    [19]
    19. Device according to one of claims 16 to 18, characterized in that the receiving area (2) relative to the central region (5) by an angle (ß) of 3 ° to 15 ° is inclined.
    [20]
    20. Device according to one of claims 16 to 19, characterized in that the light source (22) in the transition region between the receiving area (2) and the adjoining central area (5) or handle area (3) is arranged. 18/03/2011 15:36 No .: R855 P.015 / 020
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    法律状态:
    2018-11-15| MM01| Lapse because of not paying annual fees|Effective date: 20180318 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA387/2011A|AT511223B1|2011-03-18|2011-03-18|DEVICE FOR TAKING PICTURES OF THREE-DIMENSIONAL OBJECTS|ATA387/2011A| AT511223B1|2011-03-18|2011-03-18|DEVICE FOR TAKING PICTURES OF THREE-DIMENSIONAL OBJECTS|
    EP12450016.6A| EP2499992B1|2011-03-18|2012-03-12|Device for taking pictures of three-dimensional objects|
    US13/423,351| US9101434B2|2011-03-18|2012-03-19|Device for recording images of three-dimensional objects|
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