KR101483216B1 - Automatic scanning system for oral cavity - Google Patents

Abstract

The present invention provides an automatic intraocular scanning system comprising: a scanning head for measuring a three-dimensional shape of a tooth; and a multiaxial robot unit for moving and rotating the scanning head so that the scanning head automatically measures teeth, A second arm connected to the first arm so as to be horizontally rotatable; a vertical arm connected to the second arm so as to be rotatable in a vertical direction; And a supporting member to which the scanning head is mounted, the supporting member being configured to be horizontally rotatably connected to the vertical arm so that the scanning head can measure an upper surface, a front surface, and a rear surface of the tooth, The scanner head is automatically moved to measure the teeth, reducing the working time and enabling more precise 3D stereoscopic images. And the three sides (top, front and back) of the tooth can be sequentially measured in a single operation so that the scanner head can be swiveled.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic intraocular scanning system,

The present invention relates to an automatic intraocular scanning system and a scanning method for automatically scanning three-dimensional shapes of teeth in an oral cavity.

Presently, as a method of manufacturing a dental prosthesis such as an inlay, a crown, and a bridge, a method of casting a metal material or a ceramics material by a lost wax process is employed.

However, recently, as a manufacturing method of a dental prosthesis replacing the roast wax method, an optical three-dimensional camera was used to measure the oral cavity of a tooth and a gum, and then a dental prosthesis was designed and manufactured using a CAD / CAM system System is getting attention. As a representative example of this system, there is a Serec system.

The Cerec system performs in-mouth measurements of the teeth and gums by directly reading the shape of the teeth in the mouth using an optical three-dimensional camera.

In the optical three-dimensional camera, a camera that performs noncontact three-dimensional measurement represented by a phase shift method or a space coding method is used. As described above, by using the optical three-dimensional camera and the CAD / CAM system as a conventional method of manufacturing a dental prosthesis, dental prosthesis can be manufactured more efficiently than in the case of the roast wax method, Dental restorations can be made.

However, in the conventional optical three-dimensional camera, triangulation is used. Therefore, in order to improve the measurement accuracy, it is necessary to increase the expected angle between the optical axis on the light-transmitting side and the optical axis on the imaging side. In order to increase the expected angle, it is necessary to increase the size of the optical three-dimensional camera. However, since the optical three-dimensional camera is inserted into the oral cavity, there is a limit to increase the size.

A conventional three-dimensional oral scanner is provided with a light output section for outputting output light and a light output section for rotating the light output section along a first reference axis, as disclosed in Japanese Patent Application Laid-Open No. 10-2011-0068954 (Jun. 22, 2011) An optical system for reflecting the output light whose emission position is controlled by the optical output control unit to the object tooth to be scanned, and a control unit for controlling the optical system to move the optical system to the first reference axis A guide for guiding the optical system to be moved within a predetermined distance from the optical output unit, and a guide for guiding the optical system to be moved within a predetermined distance from the optical output unit, An optical sensing unit for sensing the light reflected by the optical system and converting the light into an electrical signal, It is composed of a data transfer by sending the information in group reflection angle parts of the three-dimensional data generation model to generate a three-dimensional scanning of the scanning target tooth.

In such a conventional three-dimensional oral scanner, the optical output control unit moves the optical system according to the position of the target tooth to be scanned, and there is a problem that only the optical system can be moved and all the teeth can not be scanned.

Therefore, in the conventional three-dimensional oral scanner, after a predetermined number of teeth are scanned, the main body is moved and a certain number of teeth are scanned again, so that the main body must be manually moved.

In this way, when the scanner is manually moved, the distance between the teeth and the scanner is changed. Therefore, the operation of matching the interval between the scanner and the tooth needs to be performed again and the measurement time is long and the measurement accuracy is low.

Published Patent Application No. 10-2011-0068954 (June 22, 2011)

Accordingly, an object of the present invention is to provide an automatic oral-scanning system capable of reducing the working time and obtaining a more precise three-dimensional stereoscopic image by measuring the teeth by automatically moving the scanning head using the robot unit having a multi-axis structure .

Another object of the present invention is to provide a scanning head capable of swinging three axes (top surface, front surface, back surface) of a tooth in a single operation so as to shorten a tooth measurement time and improve measurement accuracy The present invention provides an automatic intraocular scanning system that can be used in an oral cavity.

It is still another object of the present invention to provide an automatic intraocular scanning system capable of enhancing the accuracy of a three-dimensional image by projecting a plurality of grid patterns in a scanning region with parallel rays.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. .

In order to achieve the above object, an automatic oral cavity scanning system of the present invention comprises: a scanning head for measuring a three-dimensional shape of a tooth; and a multi-axis robot unit for moving and rotating the scanning head so that the scanning head automatically measures teeth Wherein the multi-axis robot unit comprises a first arm connected to the main body of the apparatus such that it can be rotated horizontally, a second arm connected to the first arm so as to be rotatable in a horizontal direction, and a second arm rotatably connected to the second arm in a vertical direction A vertical arm, and a support member vertically connected to the vertical arm so as to be vertically movable and on which the scanning head is mounted, the support member being movable in the vertical arm so that the scanning head can measure an upper surface, a front surface, And is connected horizontally rotatably.

A scanning head of the present invention includes a head body, a laser diode provided in the head body for irradiating a laser beam, a measurement nozzle disposed in front of the head body for irradiating the teeth with laser light, A camera for photographing light, a grating mask for making light emitted from the laser diode into a lattice pattern, and a voice coil motor for moving the grating mask.

In the multi-axis robot unit of the present invention, the fixed bracket fixed to the main body of the apparatus is connected to one end of the first arm by a first hinge axis to form a single-axis rotation (? 1), and the other end of the first arm And the other end of the second arm and the vertical arm are connected by a third hinge shaft so that a three-axis rotation? 3 is performed in the vertical direction The scanning head is moved to a set position and the supporting member is vertically elevated and lowered on one side of the vertical arm to adjust the height of the scanning head.

The present invention provides a method for automatically scanning an oral cavity, comprising the steps of: detecting at least three positions of teeth to detect a position of a tooth; teaching the teeth to move the scanning head to teeth when the tooth structure is grasped; Sequentially scanning three surfaces (upper surface, rear surface, front surface) of the tooth by orbiting the head, moving the scanning head to the next tooth, rotating the scanning head when the scanning head is positioned in the next tooth And sequentially measuring three surfaces (an upper surface, a rear surface, and a front surface) of the tooth.

A method of measuring teeth of a scanning head according to the present invention includes the steps of making laser light into a light in a grid pattern form, irradiating the object to be measured in the oral cavity with laser light reflected from the object to be measured, A step of moving the grating mask to obtain four pattern images having different phases, and a step of calculating a three-dimensional image from the four pattern images and displaying the three-dimensional image on the display unit.

As described above, the automatic oral-scanning system of the present invention has a scanning head mounted on a multi-axis robot unit, the multi-axis robot unit automatically moves the scanning head to measure teeth, There is an advantage in obtaining stereoscopic images.

In the automatic scanning system of the present invention, when the supporting member to which the scanning head is fixed is connected to the fourth hinge axis and the supporting member is rotated when the fourth hinge axis is rotated, the scanning head fixed to the supporting member rotates And the three sides (top, front and back) of the tooth can be measured sequentially by one operation.

In addition, the automatic oral scanning system of the present invention can enhance a precision of a three-dimensional image by allowing a plurality of grid patterns to be projected in a scan region with parallel rays.

1 is a perspective view of an intraoral oral automatic scanning system according to an embodiment of the present invention.
2 is a side view of an intraoral oral scanning system in accordance with an embodiment of the present invention.
3 is a configuration diagram of a scanning head according to an embodiment of the present invention.
4 is a view showing the optical path of a scanning head according to an embodiment of the present invention.
5 is a perspective view of a phase adjusting unit according to an embodiment of the present invention.
6 is a block diagram illustrating the structure of a scanning head according to an exemplary embodiment of the present invention.
7 is a block diagram of a scanning system according to an embodiment of the present invention.
8 is a flowchart of a scanning system according to an embodiment of the present invention.
FIG. 9 is a flowchart of a process of a scanning head according to an embodiment of the present invention.
10 is a top view of a tooth showing a tooth teaching position according to an embodiment of the present invention.
11 is a diagram illustrating a movement pattern of a scanning system according to an embodiment of the present invention.
12 is a view illustrating a process of measuring three teeth of a scanning head according to an embodiment of the present invention.
13 is a view showing four grid images according to an embodiment of the present invention.
14 is a view illustrating a process of scanning a tooth according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification.

FIG. 1 is a perspective view of an automatic scanning system according to an embodiment of the present invention, FIG. 2 is a side view of an automatic scanning system according to an embodiment of the present invention, and FIG. 3 is a perspective view of a scanning head according to an embodiment of the present invention. FIG. 4 is a view showing an optical path of a scanning head according to an embodiment of the present invention. FIG.

1 and 2, an automatic scanning system according to an embodiment includes a scanning head 200 for photographing a tooth in a three-dimensional image, a multi-axis robot unit 100 for automatically moving and rotating the scanning head 200 ).

The scanning head 200 includes a head main body 10 connected to the multiaxial robot unit 100, a laser diode 20 provided inside the head main body 10 on the lower side to irradiate laser light, a laser diode 20, A lens barrel 40 which extends in front of the head body 10 and serves as a passage through which the laser beam passes, A measuring nozzle 50 formed at an end of the tube 12 for irradiating light to teeth and a camera 60 for receiving a laser beam reflected from the measuring nozzle 50. [

A barrel 22 serving as a passage through which the laser beam passes is provided in front of the laser diode 20 and a plurality of magnets 22 for enlarging the laser beam irradiated from the laser diode 20 Lens 24 is provided. Here, as an example of the plurality of lenses 24, an aspherical lens and an objective lens may be applied.

A first reflecting mirror 28 for guiding the laser beam irradiated from the laser diode 20 to the phase adjusting unit 30 is provided at the bent portion of the barrel 22. [

5, the phase adjusting unit 30 includes a grating mask 52 for making the laser light irradiated from the laser diode 20 into a lattice pattern, and a lattice mask 52 for finely moving the lattice mask 52, And a voice coil motor 54 and an encoder 56 which form another four images.

The lattice masks 52 form stripes at regular intervals in the vertical direction, i.e., in the vertical direction, and form a grid pattern when the laser beam passes through. The grid mask 52 allows the grid pattern projected on the scan area to have a uniform brightness.

The voice coil 54 and the encoder 56 are used to precisely move the grating mask 52. The grating mask 52 is moved four times to obtain four images and four images are used to calculate the phase , And the shape of the tooth is calculated using this.

The lens barrel 40 is provided with a plurality of lenses 42 disposed behind the grating mask 52 and passing the grating mask 52 to make the laser light into parallel light having a lattice pattern. For example, a plurality of lenses may employ an achromatic Doublets lens that corrects chromatic aberration.

A second reflector 14 for guiding the laser beam having passed through the grating mask 52 to the barrel section 40 is provided on the inner surface of the upper side of the head body 10.

A third reflector 16 for guiding the laser light having passed through the barrel section 40 to the teeth through the measurement nozzle 50 and guiding the laser light reflected from the tooth to the camera 60 is provided at the end of the tube section 12 Respectively.

A prism 62 is provided inside the head main body 10 and the prism 62 refracts the light reflected from the tooth toward the camera 60. A fourth reflector 64 and a fifth reflector 66 are provided behind the prism 62 to guide the light refracted by the prism 62 to the camera 60.

A camera lens 68 provided in front of the camera 60 focuses the light refracted by the prism 62 so that the camera 60 can photograph the light.

The camera 60 can be a CCD camera, and can acquire an image by photographing the reflected light passing through the prism 62. The obtained image is calculated in the control unit 60 in a three-dimensional shape, and the final three- And is displayed on the display unit 70.

FIG. 6 is a block diagram illustrating the structure of a scanning head according to an exemplary embodiment of the present invention, and FIG. 7 is a block diagram illustrating a control structure of a scanning system according to an exemplary embodiment of the present invention.

The scanning head 200 scans a three-dimensional image of a tooth according to a control signal applied from the control unit 90 and displays the scanned three-dimensional image on the display unit 70. The multiaxial robot unit 100 receives the three- And is operated in accordance with the control signal to move and rotate the scanning head 200.

Specifically, the control unit 90 includes a laser control unit 92 for controlling the laser diode, a camera control unit 94 for controlling the camera 60, a motor for controlling the voice coil motor 54 and the encoder 56, A control unit 96, and a robot control unit 98 for controlling the multi-axis robot unit 100.

The multi-axis robot unit 100 includes a fixed bracket 102 mounted on the main body of the apparatus, a first arm 104 rotatably connected to the fixed bracket 102 so as to be horizontally rotatable, A vertical arm 108 vertically connected to the end portion of the second arm 106 so as to be vertically rotatable and a vertical arm 108 vertically elevated and lowered together with the vertical arm 108, And a support member 110 connected to be horizontally rotatable and on which the scanning head 200 is installed.

The fixed bracket 102 and one end of the first arm 104 are connected to each other by a first hinge shaft 122 so as to make a uniaxial rotation? 1 in the horizontal direction, and the other end of the first arm 104 and the second One end of the arm 106 is connected to the second hinge shaft 124, and a two-axis rotation? 1 is made in the horizontal direction.

A vertical arm 108 is installed vertically on the upper surface of the other end of the second arm 106 and a third hinge shaft 126 is connected between the vertical arm 108 and the second arm 106, 3-axis rotation? 3 is performed.

The support member 110 is connected to the vertical arm 108 by a fourth hinge shaft 128 so that the support member is rotated in a four-axis manner in the horizontal direction.

The support member 110 moves upward and downward to adjust the height of the scanning head in the vertical direction on the vertical arm 108 as indicated by arrow D in FIG.

The support member 110 is formed such that the support plate 112 on which the scanning head 200 is installed is inclined at a predetermined angle so that the measurement nozzle 50 of the scanning head 200 can be inclined at an angle.

The lower surface of the head main body 10 of the scanning head 200 is fixed to the upper surface of the support plate 112 by the fastening member 130. Here, when the lower surface 10 of the head body is mounted on the upper surface of the supporting plate 112, the measuring nozzle 50 is positioned at a height of the upper surface of the supporting plate 112 by a distance H1.

The support member 110 includes a support plate 112 on which a rear surface of the support plate 112 on which the scanning head 200 is installed is bent upward and a fourth hinge shaft 128 is connected to the support plate, And the fourth hinge shaft 128 are spaced apart from each other by an interval H2.

When the fourth hinge shaft 128 is rotated, the support plate 112 is swiveled with the gap H2 as a radius. When the support plate 112 is pivotally moved, the scanning head 200 installed on the support plate 112 The three surfaces (top surface, rear surface) of the tooth 300 are measured sequentially by one motion while being swiveled.

A scanning method of a scanning system according to an embodiment configured as above will be described below.

8 is a flowchart illustrating a scanning method of a scanning system according to an embodiment of the present invention.

First, the position of the tooth 300 is detected (S10). That is, since the structure of the teeth differs from patient to patient, in order to measure the teeth, the position of the tooth is detected and the position value is input to the control unit 90. As shown in FIG. 9, three or four teeth 300 of the tooth position detection method are taught at teaching positions A, B, and C, respectively. That is, when the measuring nozzle 50 of the scanning head 200 is touched at three or four places of the tooth 300, the robot controller 98 detects the tooth position according to the teaching positions A, B, To understand the structure of the teeth.

Here, the tooth teaching positions A, B and C can be set to both the molar portions A and C of the teeth and the front teeth B positioned at the foremost position, You can set the location.

Since the tooth has a certain pattern, the structure of the tooth is inputted to the robot control unit 98, and the robot control unit 98 adjusts the pattern to be large or small according to the cheating position, 200 can be moved while maintaining a constant gap with the teeth.

The robot control unit 98 receives the tooth teaching position and can measure the same height at all times in accordance with the teaching height of the multiaxial robot unit 100. The multiaxial robot unit 100 measures the tooth shape uniformly with all the teeth irrespective of the shape and size of the teeth And the measurement accuracy can be improved.

After the detection of the structure of the teeth is completed, the robot control unit 98 operates the multi-axis robot unit 100 to move the scanning head 200 (S20)

That is, the first arm 104 is horizontally rotated about the first hinge axis 122 to perform the uniaxial rotation? 1, and the second arm 106 is rotated about the second hinge axis 124 in the horizontal direction 3 axis rotation? 3 by rotating the vertical arm 108 vertically about the third hinge axis 126 and elevating the support member 110 in the vertical direction to perform scanning Adjusting the measurement height of the head () moves the scanning head in four degrees of freedom. Then, the scanning head 200 is moved in a pattern as shown in FIG.

Accordingly, the scanning head 200 can move freely according to the shape of the teeth.

When the scanning head 200 is positioned on one tooth 300, the scanning head 200 is pivotally moved to sequentially measure the three surfaces of the tooth, that is, the top surface, the front surface, and the back surface in one operation (S30).

That is, when the support member 110 is rotated about the fourth hinge axis 128, the scanning head 200 mounted on the support member 112 is rotated in the direction of the arrow P as shown in FIG. 11, The front surface of the tooth 300, the top surface of the tooth, and the back surface of the tooth are sequentially measured.

After the three-sided measurement of one tooth is completed, the multi-axis robot unit 100 is operated to move the measuring nozzle 50 of the scanning head 200 to the next tooth arranged next to the scanning tooth 200 (S40)

Then, the three faces of all the teeth are measured by repeating the process of measuring three faces of the next tooth (S50).

12 is a flowchart illustrating a method of scanning a scanning head according to an embodiment of the present invention.

As described above, when the multi-axis robot unit 100 is operated and the scanning head 200 is moved and rotated so that the measuring nozzle 50 is positioned at the tooth position, the teeth 300 And displays a three-dimensional image of the tooth 300 on the display unit 70.

Specifically, the laser diode 20 is operated according to a signal applied from the laser control unit 92, and laser light is irradiated from the laser diode 20. (S100)

The laser light irradiated from the laser diode 20 expands while passing through the lens 24 and passes through the grating mask 52 of the phase adjusting unit 50 by the first reflector 28, (S200).

That is, the motor control unit 96 controls the voice coil motor 54 to finely move the position of the grating mask 52 to move the phase of the laser light, and the encoder 56 adjusts the rotation angle of the voice coil motor 54 And transmits it to the motor control unit 96.

The light is reflected by the second reflector 14 and passes through the plurality of lenses 42 to be collimated light and is reflected by the third reflector 34 and is projected onto the tooth 300 through the measurement nozzle 50 (S300)

The light reflected from the surface of the teeth 300 is reflected by the third reflector 16 and then transmitted to the camera 60 by the prism 62. The camera 60 is reflected by the prism 62 And acquires a grid pattern image (S400).

Then, the control unit 90 synthesizes the images photographed by the camera 60 and the grid pattern images which have no stored changes. When two pattern images having the same wavelength are combined, inter-pattern interference phenomenon occurs, so that the difference in brightness of light becomes worse than that of the original pattern, and another pattern having a constant interval is generated. This pattern is called a moire pattern.

The height information of the object to be measured can be obtained by the moire pattern, and the three-dimensional data can be obtained.

However, since the height of a perfect object can not be obtained with only one pattern, in order to increase the accuracy, the grid pattern is moved about 3 times to obtain four different images to calculate the height value.

That is, when the grating mask 52 is first disposed at the first position, the first pattern image 80 as shown in Fig. 13 is obtained, and the voice coil motor 54 is driven to move the grating mask 52 2, the second pattern image 82 moved by? / 2 is obtained. When the voice coil motor 54 is driven to move the grid mask 52 to the third position, The pattern image 84 is acquired and the voice coil motor 54 is driven to acquire the fourth pattern image 86 shifted by 3? / 2 when the grating mask 52 is moved to the fourth position.

FIG. 14 is a view illustrating a process of obtaining a three-dimensional image by the intraoral oral automatic scanning system according to an embodiment of the present invention.

The three-dimensional shape calculation using the four images thus obtained is performed by 1) pattern transparency, 2) phase wraping, 3) unwrapped phase, 4) phase-to- height conversion.

1) Pattern projection

The following equation (1) is an expression representing the intensity of light in the first pattern image 90, the second pattern image 92, the third pattern image 94, and the fourth pattern image 96.

I ₁ = a (x, y) + b (x, y) cos [

? ₂ = a (x, y) + b (x, y) cos [? (X, y) +? / 2]

_{3 3} = a (x, y) + b (x, y) cos [

_{Ⅰ 4 = a (x, y} ) + b (x, y) cos [Φ (x, y) + 3Π / 2] .......... formula (1)

Here, I _n = intensity function of light of the n-th pattern image, a = average intensity of light, b =

The phase angle Φ (x, y) can be obtained and the height of the measured object can be calculated by adding the intensity of the light obtained through the four pattern images by the above equation (1) into the following equation (2).

Φ (x, y) = tan -1 [Ⅰ 4 (x, y) -Ⅰ 2 (x, y) / Ⅰ 1 (x, y) -Ⅰ 3 (x, y)] ....... (2)

2) Phase wraping

The phase angle obtained by Eq. (2) is periodically repeated at a magnitude of 0 to 2π.

The phase wrapping diagram shown in Fig. 14 is a pattern image in which a calculated fringe pattern is projected on a plane.

3) Phase unwrapping

In the wrapped phase, the phase unwrapping is carried out because the value of 0 ~ 2π is repeated periodically. In other words, phase unwrapping plays a role of converting the previous phase value to 2π + Φ when the value of the previous phase exceeds 2π and goes to the next phase Φ when the continuous wrapped phase is repeatedly given. After phase unwrapping, the phase is continuously represented from 0 to 2πn + Φ without repetition. In this case, the solved phase value is proportional to the height of the object.

4) Phase-to-height conversion

The phase difference is calculated by calculating the phase map of the object to be measured and the pre-stored reference plane phase map difference for each pixel, and the phase difference is proportional to the Z-direction height value of the object to be measured. The y value is also calculated.

Through this process, a three-dimensional image is obtained, and the three-dimensional image is displayed on the display unit 68.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the embodiments set forth herein. Various changes and modifications may be made by those skilled in the art.

10: head body 12:
14: second reflector 20: laser diode
24: lens 28: first reflector
30: phase adjusting unit 42: lens
50: Measuring nozzle 52: Grating mask
54: Voice coil motor 56: Encoder
60: camera 62: prism
100: multi-axis robot unit 102: mounting bracket
104; First arm 106: Second arm
108: vertical arm 110: support member
112: support plate 114: mounting plate
122: first hinge shaft 124: second hinge shaft
126: third hinge axis 128: fourth hinge axis
200: scanning head 300: tooth

Claims (13)

A scanning head for measuring a three-dimensional shape of a tooth; And
And a multi-axis robot unit that moves and rotates the scanning head to allow the scanning head to automatically measure teeth,
The multi-axis robot unit includes:
A first arm connected to the main body of the apparatus to be horizontally rotatable,
A second arm connected to the first arm so as to be horizontally rotatable,
A vertical arm rotatably connected to the second arm in a vertical direction,
And a support member mounted on the vertical arm so as to be vertically movable and connected to the vertical arm so as to be horizontally rotatable,
The scanning head includes:
A head body;
A laser diode provided inside the head body and irradiating a laser beam;
A measurement nozzle disposed in front of the head main body and irradiating laser light onto teeth;
A camera for photographing light reflected from the tooth;
A lattice mask for converting light emitted from the laser diode into a lattice pattern; And
And a voice coil motor for moving the grid mask. delete The method according to claim 1,
Wherein the voice coil motor moves the grating mask step by step to form four pattern images shifted by 0,? / 2,?, 3? / 2. The method according to claim 1,
Wherein the voice coil motor further includes an encoder to detect a rotation angle of the motor and to apply the signal to the motor control unit. The method according to claim 1,
The multiaxial robot unit has a first bracket fixed to a main body of the apparatus and a first arm connected to the first bracket via a first hinge shaft so as to be rotated by a single axis. The first bracket is disposed between the other end of the first arm and one end of the second arm. And the second arm is connected to the other arm by the third hinge axis so that the three-axis rotation? 3 is performed in the vertical direction, To a set position,
Wherein the support arm is vertically elevated and lowered on one side of the vertical arm to adjust the height of the scanning head. The method according to claim 1,
Wherein the supporting member includes a mounting plate vertically arranged to be connected to the vertical arm, and a support plate connected to the lower surface of the mounting plate and to which the scanning head is mounted,
Wherein the mounting plate is connected to a vertical arm by a fourth hinge shaft so as to be rotatable in a horizontal direction and the axial center of the fourth hinge shaft is spaced apart from the supporting plate by a distance H2, And the space (H2) is swiveled with a radius. The method according to claim 6,
Wherein the support plate is formed as an inclined surface that is inclined downward in a forward direction at a portion connected to the mounting plate. Detecting at least three positions of the teeth to detect a position of the teeth;
Moving the scanning head to the teeth when the tooth structure is grasped by teaching the teeth;
Sequentially scanning the three surfaces (upper surface, rear surface, front surface) of the teeth by pivoting the scanning head;
Moving the scanning head to a next tooth; And
And sequentially scanning the three sides (top, back, front) of the teeth by pivoting the scanning head when the scanning head is positioned on the next tooth,
The method for measuring a tooth of the scanning head includes:
Making laser light into a light in the form of a lattice pattern;
Irradiating the object to be measured in the oral cavity with the laser light;
Taking a laser beam reflected from the object to be measured;
Moving the grating mask to obtain four pattern images having different phases; And
Calculating a three-dimensional image from the four pattern images, and displaying the three-dimensional image on a display unit. 9. The method of claim 8,
Wherein the tooth position detection step is performed when at least three teeth of the teeth are taught, the tooth structure is input to the robot control unit, and the robot control unit controls the multi-axis robot unit according to the cheating position to determine the movement pattern of the scanning head. My automatic scanning method. 9. The method of claim 8,
Wherein the step of sequentially measuring the three surfaces of the teeth includes rotating the supporting member on which the scanning head is mounted on the vertical rod about the fourth hinge axis so that the scanning head rotates in a semicircle while rotating the front surface of the tooth, And the back side is measured sequentially. delete 9. The method of claim 8,
The obtaining of the four pattern images may include arranging a grating mask at a first position to obtain a first pattern image, moving the grating mask to a second position to obtain a second pattern image shifted by pi / 2 , Moving the grating mask to a third position to obtain a third pattern image shifted by?, And moving the grating mask to a fourth position to obtain a fourth pattern image shifted by 3? / 2. My automatic scanning method. 9. The method of claim 8,
The step of calculating the three-dimensional image includes the steps of: calculating phases of four pattern images having different phases to complete a phase map;
Transforming the calculated phase so that it progresses continuously from 0 to 2? N +? Without repeating;
Comparing the phase map with a previously stored reference phase map to calculate a phase difference; And
And acquiring a three-dimensional stereoscopic image by calculating measurement coordinates (x, y, z).

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