Three-dimensional scanner and control method
A three-dimensional scanner includes a lens, imaging circuitry that obtains an image of an object located at a focal position of the lens, a lens driver that drives the lens to make reciprocating motion in a linear direction, obtaining circuitry that obtains geometrical data representing a surface geometry based on an image taken by the imaging circuitry, and lens controller circuitry that controls the lens driver to change an amplitude of reciprocating motion of the lens based on the geometrical data obtained by the obtaining circuitry.
1 . A three-dimensional scanner configured to obtain three-dimensional data of a surface geometry of an object with a focus method, the three-dimensional scanner comprising:
a lens;
imaging circuitry configured to obtain an image of the object located at a focal position of the lens;
a lens driver configured to drive the lens to make reciprocating motion in a linear direction;
obtaining circuitry configured to obtain geometrical data representing the surface geometry based on the image taken by the imaging circuitry;
an estimator circuitry configured to estimate a ratio, in a depth of field, of a tooth included in the object based on the geometrical data obtained by the obtaining circuitry; and
lens controller circuitry configured to control the lens driver to change an amplitude of reciprocating motion of the lens based on the ratio.
2 . The three-dimensional scanner according to claim 1 , wherein
the estimator circuitry is further configured to estimate the ratio based on the geometrical data and a machine-trained estimation model.
3 . The three-dimensional scanner according to claim 2 , wherein
the estimator circuitry is further configured to further estimate a result of identification of the object.
4 . The three-dimensional scanner according to claim 1 , wherein
the lens controller circuitry is further configured to change the amplitude of reciprocating motion of the lens such that the ratio is set to a prescribed value.
5 . The three-dimensional scanner according to claim 1 , wherein
the lens controller circuitry is further configured to change the amplitude of reciprocating motion of the lens such that the ratio is within a prescribed range.
6 . The three-dimensional scanner according to claim 1 , wherein
the geometrical data includes two-dimensional data of the surface geometry or the three-dimensional data of the surface geometry.
7 . The three-dimensional scanner according to claim 6 , wherein
the geometrical data includes data indicating a color of the object.
8 . The three-dimensional scanner according to claim 1 , wherein
the imaging circuitry is configured to change a frame rate of imaging of the object in accordance with the amplitude of reciprocating motion of the lens.
9 . The three-dimensional scanner according to claim 1 , further comprising:
a counterweight identical or substantially identical in mass to the lens;
a counterweight driver configured to drive the counterweight to make reciprocating motion in a direction opposite to reciprocating motion of the lens; and
counterweight controller circuitry configured to control an operation of the counterweight in accordance with an operation of the lens.
10 . The three-dimensional scanner according to claim 1 , further comprising a hand-held housing in which the lens is accommodated.
11 . A control method of controlling a three-dimensional scanner configured to obtain three-dimensional data of a surface geometry of an object, the control method comprising, using processing circuitry of a computer:
obtaining an image of the object located at a focal position of a lens provided in the three-dimensional scanner;
driving the lens to make reciprocating motion in a linear direction;
obtaining geometrical data representing the surface geometry based on an image taken in the obtaining of the image;
estimating a ratio, in a depth of field, of a tooth included in the object based on the geometrical data; and
changing an amplitude of reciprocating motion of the lens based on the ratio.
12 . The control method according to claim 11 , wherein
the estimating includes estimating the ratio based on the geometrical data and a machine-trained estimation model.
13 . The control method according to claim 12 , wherein
the estimating further includes estimating a result of identification of the object.
14 . The control method according to claim 11 , further comprising:
changing the amplitude of reciprocating motion of the lens such that the ratio is set to a prescribed value.
15 . The control method according to claim 11 , further comprising:
changing the amplitude of reciprocating motion of the lens such that the ratio is within a prescribed range.
16 . The control method according to claim 11 , wherein
the geometrical data includes two-dimensional data of the surface geometry or the three-dimensional data of the surface geometry.
17 . The control method according to claim 16 , wherein
the geometrical data includes data indicating a color of the object.
18 . The control method according to claim 11 , further comprising:
changing a frame rate of imaging of the object in accordance with the amplitude of reciprocating motion of the lens.