KR102496181B1 - Automatic Center Alignment System and Automatic Center Alignment Method - Google Patents

Abstract

In the automatic center alignment system and method according to the present invention, the center of measurement of an object disposed on the tray of the scan unit is detected through a camera formed on one side, and the center of measurement is formed at the same height as the center of the screen of the display unit. can do. By adjusting the measurement center and the screen center to be formed at the same height, the scan unit can rotate the object based on the measurement center, and a stable 3D model can be obtained.

Description

Automatic Center Alignment System and Automatic Center Alignment Method

The present invention relates to an automatic centering system and an automatic centering method.

Compared to the prior art, interest in personal health management has increased, and among them, great attention has been paid to the management of teeth directly related to human masticatory movement. Accordingly, the industry related to dental treatment continues to develop, and patients can more easily check and treat the condition of their teeth than in the past. It is possible to continue to lead a life similar to when real teeth existed.

On the other hand, in order to check the arrangement of the patient's teeth, conventionally, an impression taking was performed using a material such as alginate, and a plaster model was manufactured using a mold obtained through the impression taking. Recently, 3D scanning of a gypsum model or the inside of a patient's actual oral cavity is being performed and converted into digital data, and various research and development are being conducted to provide optimal prosthetic treatment products to patients in terms of data utilization.

KR 10-2057207 B1

Meanwhile, in order to stably scan an object in 3D scanning, the location of the object should not deviate excessively from the scan point. Preferably, the object should be placed so that it can be tilted around a specific point, so that the largest number of areas can be scanned at one time. To achieve this goal, an automatic centering system and method are provided.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the technical problem as described above, the automatic centering system according to the present invention is capable of rotating in the first rotational direction and the second rotational direction in the scan unit including a housing having an inner space while rotating in the first direction. The object can be moved through a moving unit capable of parallel movement, and this movement is performed by the movement controller of the controller, the image acquisition unit that acquires image data to detect the center of measurement, and the acquired image data to analyze the center of measurement. We present a means for detecting and matching it to the center of the screen.

In addition, the automatic center alignment method according to the present invention proposes a means for arranging an object, detecting the top of the object, detecting the center of measurement of the object from the top value, and automatically matching the center of the screen with the center of measurement as a result. do.

By using the automatic center alignment system and the automatic center alignment method according to the present invention, by matching the center of measurement of an object with the center of the screen of the display, even if the object is rotated or tilted, the center of measurement of the object is placed at the center of the camera, so scanning is performed at a constant position. This is possible, and has the advantage of being able to scan the largest area at once.

In addition, a difference image of the object is acquired through the camera, and the top of the object is automatically obtained, and the center of measurement is automatically adjusted to coincide with the center of the screen, thereby improving accuracy compared to the user's arbitrary manipulation, and thus scanning. There is an advantage of improving the reliability of the data obtained.

1 is a perspective view schematically showing a scan unit, which is one component of an automatic center alignment system according to the present invention.
2 is a schematic diagram of an object to be measured in the automatic center alignment system according to the present invention.
3 is a schematic configuration diagram of an automatic centering system according to the present invention.
4 to 6 are diagrams for explaining a process of obtaining a measurement center while an object disposed on a tray is displayed on a display unit while moving.
7 is a schematic flowchart of the automatic center alignment method according to the present invention.
8 is a flowchart showing in detail the step of detecting the uppermost end of an object in the automatic centering method according to the present invention.
9 is a flowchart showing in detail the step of detecting the center of measurement of an object in the automatic center alignment method according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

1 is a perspective view schematically showing a scan unit, which is a component of an automatic center alignment system according to the present invention, FIG. 2 is a schematic diagram of an object to be measured in the automatic center alignment system according to the present invention, and FIG. It is a schematic diagram of the configuration of the automatic center alignment system.

1 to 3, the automatic center alignment system according to the present invention includes a scanning unit 100 including a housing 110 having an inner space 120 for scanning an object 900, and a scanning unit It may include a control unit 200 for obtaining the measurement center C of the object 900 by controlling the operation of 100 .

The automatic center alignment system according to the present invention may largely include a scan unit 100, a control unit 200, and a display unit 300. The scan unit 100 may be depressed inward to form an inner space 120 in which an object of a certain volume or less may be accommodated, and the object 900 may be seated in this inner space. A detailed configuration of the scanning unit 100 will be described later.

Meanwhile, the controller 200 includes a movement controller 210 that controls the operation of the scan unit 100 and acquires image data of the scanned object 900 disposed in the internal space 120 of the scan unit 100. An image acquisition unit 220 may be included. The movement control unit 210 may control the scanning unit 100 to tilt, rotate, or translate the object 900 in one direction in order to effectively scan the object 900 . The image acquisition unit 220 may generate image data by receiving the light reflected from the surface of the object 900 by the scanning unit 100 by the scanning unit 100 . Various analyzes of the object 900 are possible through the generated image data, and the image data (scan result) input to the image acquisition unit 220 is automatically centered according to the present invention through the display unit 300, which is an output unit. It can be visually displayed to the user of the system.

Meanwhile, based on the image data obtained by the image acquisition unit 220 , analysis of the image data may be performed by the image analysis unit 230 included in the control unit 200 . The image analyzer 230 may perform an operation on the obtained image data, and during this operation, a process of detecting the measurement center C of the object 900 may be included. According to the analysis result of the image analyzer 230, the movement control unit 210 may control the operation of the scan unit 100 by receiving feedback.

Referring to FIG. 1 , the configuration of the scanning unit 100 will be described in more detail. The scan unit 100 may include at least one inner surface formed to be depressed in the inner direction of the housing 110 . More specifically, the scan unit 100 includes a first inner surface 121 recessed in the inner direction of the housing 110 and a second inner surface 122 recessed in the inner direction of the housing 110. can include The first inner surface 121 and the second inner surface 122 may form a wall so as to enter the inner direction from the outer surface of the housing 110, and the first inner surface 121 and the second inner surface 122 can come into contact with each other. Meanwhile, the third inner surface 123 contacting one end of the first inner surface 121 and one end of the second inner surface 122 may form a bottom surface, and although not shown on the drawing, the first inner surface A fourth inner surface (not shown) contacting the other end of 121 and the other end of second inner surface 122 forms a ceiling surface, and the first inner surface 121, the second inner surface 122, The inner space 120 may be created by the three inner surfaces 123 and the fourth inner surface.

In addition, unlike shown in FIG. 1, while the first inner surface 121 and the second inner surface 122 are in contact, a fifth inner surface (not shown) in contact with the second inner surface 122 is formed. The first inner surface 121, the second inner surface 122, and the fifth inner surface are mutually related to the third inner surface 123 forming the bottom surface and the fourth inner surface forming the ceiling surface. An inner space 120 may be created by contacting. In this way, due to the formation of the additional inner surface, the inner space can be formed to have various spatial volumes, and can be formed in various shapes by comprehensively considering the range to be scanned and the size of the object 900.

In addition, in some cases, the first inner surface 121 is formed in the form of a pole, and the third inner surface 123 forms a bottom surface at one end of the first inner surface 121, and the first inner surface 121 forms a bottom surface. It is also possible to apply a structure in which a fourth inner surface (not shown) forms a ceiling surface at the other end of the inner surface 121 to the scan unit 100 . However, when the scan unit 100 is formed in this structure, the optical unit 140 to be described later may be formed on the first inner surface 121 or the fourth inner surface, which is the ceiling surface.

A moving unit 130 capable of holding the object 900 and moving the object 900 may be formed in the inner space 120 of the scanning unit 100 . The moving unit 130 may include a fixed base 131 fixed to at least one inner surface and a first rotating unit 132 rotating about a point on the fixed base 131 as a central axis. More specifically, the fixing base 131 may be fixed to the first inner surface 121 . The first rotation unit 132 may rotate in a first rotational direction M1 based on an imaginary central axis parallel to the normal direction of the first inner surface 121, and at this time, the first rotational direction M1 is It may mean a rotation direction with the x-axis as the central axis. On the other hand, the first rotation direction M1 is expressed in a clockwise direction when viewed from the direction in which the x-axis comes out, but is not limited thereto, and for effective scanning of the object 900, the first rotation direction M1 is centered on the x-axis. It can rotate clockwise or counterclockwise. The first rotating part 132 may be formed parallel to the first inner surface 121 .

On the other hand, the moving part 130 is formed to protrude from the first rotating part 132, one end thereof is connected to the first rotating part 132 and may include a beam portion 133 moving in parallel in the first direction. there is. The beam unit 133 is coupled to the first rotation unit 132 and is formed in a direction protruding from the first rotation unit 132 and may be formed in a shape similar to a cantilever beam. Since the beam unit 133 and the first rotation unit 132 are connected, the beam unit 133 also rotates together with the first rotation unit 132 by the rotation of the first rotation unit 132 in the first rotation direction M1. It can rotate in direction M1. On the other hand, when the beam unit 133 defines a protruding direction relative to the first inner portion 121 as the longitudinal direction (x-axis direction on the map), and defines a direction perpendicular to the longitudinal direction as the thickness direction (Z-axis direction on the map). , The beam unit 133 may move in parallel in the first direction (z-axis direction), which is the thickness direction. In this case, the first direction may include both a positive z-axis direction and a negative z-axis direction.

On the other hand, the beam unit 133 may be extended or shortened in the longitudinal direction (that is, the longitudinal direction is a second direction orthogonal to the first direction, and more specifically may mean an x-axis direction). The lengthwise extension or shortening of the beam unit 133 may be performed by extending or shortening the portion of the fixed base 131 connected to the beam unit 133 in the x-axis direction, or the beam unit 133 may have a length of its own. It can be extended or shortened. According to the extension or shortening of the beam unit 133 in the longitudinal direction, the second rotation unit 134 and the tray 135, which will be described later, can move in parallel in the positive x-axis direction or in the negative x-axis direction, so that the tray 135 The measurement center (C) of the object 900 seated on the image may be precisely adjusted.

In addition, at the end of the beam unit 133, a second rotation unit 134 protruding on one surface of the end of the beam unit 133 and capable of rotating in a second rotational direction with respect to the first direction as a central axis may be formed. . The second rotational direction M2 in which the second rotation unit 134 rotates may rotate counterclockwise when viewed from the direction in which the first direction (z-axis direction) comes out, but is not limited thereto, and counterclockwise if necessary. It can rotate clockwise or clockwise. Control of this rotation may be performed by the movement controller 210 of the controller 200 described above. The second rotating part 134 may be formed in a cylindrical shape to stably support the object 900 .

A tray 135 coupled to one surface of the second rotation unit 134 and rotating along with rotation of the second rotation unit 134 in the second rotation direction M2 may be formed on one surface of the second rotation unit 134. The tray 135 may be formed in a dish or disk shape, and may be formed to have a larger diameter than the diameter of the second rotating part 134 in order to stably support the object 900 . As will be described later, the lowermost end 910 of the object 900 may be seated on the upper surface of the tray 135 .

On the other hand, the inner space 120 of the housing 110 accommodates the light irradiation unit 141 for radiating light to the second inner surface 122 to scan the object 900 and the light reflected from the object 900. An optical unit 140 including at least one camera 142a or 142b to be formed may be formed. More specifically, the optical unit 140 may include a light irradiation unit 141 that is a portion that emits light and at least one camera (142a, 142b) that is a portion that receives light. The light irradiator 141 may radiate a specific type of light toward the object 900, and the wavelength of the radiated light may be formed within various wavelength ranges. (900) can be reached. Also, due to the characteristics of the 3D scanner, the light emitter 141 may emit structured light having a specific pattern in order to obtain stereoscopic information of the object 900 .

The at least one camera 142a or 142b may receive light reflected from the surface of the object 900 and generate image data through an imaging sensor connected to the camera 142a or 142b. Meanwhile, the imaging sensor may be the above-described image acquisition unit 220, and the image acquisition unit 220 may be, for example, a device that converts light into digital data, such as a CMOS image sensor. Meanwhile, the image acquisition unit 220 may acquire at least two pieces of image data, and may acquire an appropriate number of image data by comprehensively considering creation of a highly reliable digital model and reduction of a required scan time.

Referring to FIG. 2 , an exemplary diagram of an object 900 is shown. At this time, the object 900 to be scanned through the scan unit 100 may be a plaster model representing the inside of the patient's oral cavity, or a prosthetic treatment object to be placed in the patient's oral cavity ( For example, an abutment), or an articulator for acquiring occlusal information of a patient. The object 900 has a certain height (h), and the height (h) of the object 900 may be defined by a difference in distance between the uppermost end 920 and the lowermost end 910 formed at each end of the object 900. there is. However, the type of object 900 is exemplary, and any object having a size that can be accommodated in the inner space 120 is possible.

Meanwhile, a center end 930 may be formed at an intermediate point (h/2 point) between the uppermost end 920 and the lowermost end 910 . The central end 930 is formed at a position corresponding to half of the height h of the object 900, and one point of the central end 930 may be the measurement center C. The measurement center C corresponds to the center of the object 900, which corresponds to the center in shape, and is a different concept from the center of mass of the object. Therefore, as exemplarily shown in FIG. 2 , when the object 900 has a shape in which two truncated cones are symmetrical to each other, the measurement center C exists inside the object 900, but the 'L' shape of the object In this case, the measurement center C may be formed outside the object.

4 to 6 are diagrams for explaining a process of obtaining a measurement center while an object disposed on a tray is displayed on a display unit while moving. 4 to 6, in the automatic center alignment system according to the present invention, the image analyzer 230 detects the center of measurement (C) of the object 900 and feeds back to the movement control unit 210 to measure the center of the screen. A process of aligning the center C will be described in detail.

The image acquisition unit 220 may obtain image data at different locations by moving the object 900 to obtain image data. Acquiring image data by moving the object 900 in this way is to detect the uppermost end 920 of the object 900 in the image analyzer 230 using image data acquired at different locations.

Referring to FIG. 4 , the object 900 having the lowermost end 910 seated on the tray 135 and the object 900 measured through the cameras 142a and 142b are displayed on the screen of the display unit 300. shown at the same time. Preferably, the top end 920 of the object 900 may be displayed on the screen as the top end 920D of the image object of the display unit 300, and the cameras 142a and 142b may move the object 900 in a direction parallel to the ground. ) can be scanned. On the other hand, when the tray 135 is capable of parallel movement in the first direction and the height when positioned at the lowest part is defined as Z = 0, the height of the tray 135 at any point is Z1, the object 900 The height of the top end 920 of can be defined as Z2. At this time, the height of the tray 135 and the height of the top end 920 of the object 900 may have a mm unit.

Meanwhile, height measurement on the display unit 300 may be different from a method of measuring the actual height of the object 900 . For example, the height of the display unit 300 may be measured downward with respect to the top of the display unit 300, and accordingly, the measured image height of the top 920D of the image object may be Y1. The image height corresponding to the lowermost end 910 of the object 900 may be Y2, but it is not displayed on the screen of the display unit 300 together. The image height may have a pixel unit, and 10 pixels may be converted into 1 mm.

Referring to FIG. 5 , scanning is performed by moving the tray 135 to a height of Z1+d to obtain image data of the object 900 at different locations. The object 900 seated on the tray 135 also moves in the first direction by d, and the object 900 scanned for the moved position is displayed on the display unit 300 as well. The top end 920D of the image object is displayed as the changed top end 920D' at the new height. The image analyzer 230 may identify the top end 920 of the object 900 through a difference image of the top ends 920D and 920D' of the image object. In this case, the interval d may be 5 mm or more to easily identify the difference between the top ends 920D and 920D' of the image object, and may be 50 pixels or more on the display unit 300 .

Referring to FIG. 6 , the top end 920D of the image object corresponding to the top end 920 of the object 900 analyzed by the image analyzer 230 is displayed on the display unit 300 . Meanwhile, the image analyzer 230 may detect the measurement center C of the object 900 based on the top end 920 of the object 900 . This converts the height of the top end 920D of the image object into an actual height, detects the measurement center from the height relationship between the tray 135 and the top end 920, and converts the Z value of the measurement center to the display unit 300. It may be converted into a Y value, which is a coordinate value.

Meanwhile, the measurement center C displayed on the screen of the display unit 300 may have a pixel height of Y3. Since the image of the display unit 300 is displayed from Y0 to Yf, the center of the screen of the display unit 300 may correspond to Yc=(Yf+Y0)/2. Accordingly, the image analyzer 230 feeds back to the movement control unit 210 to move the moving unit 130 of the scanning unit 100 so that the tray 135 makes the measurement center C the same as the screen center Yc. can be made to match. More specifically, the central end 930D of the image object including the measurement center C may coincide with the coordinates of the screen center Yc. Accordingly, the center of measurement (C) of the object 900 can be aligned with the center of the screen (Yc), and by performing this alignment, many areas of the object 900 can be scanned during the scanning process, and the object ( 900), there is an advantage in that image data can be stably obtained even when scanning is performed by rotating the image.

However, although the process of matching the measurement center C to the screen center Yc has been described with reference to FIGS. 4 to 6, all processes in which the measurement center C moves to match the screen center Yc must be performed. It does not need to be displayed on the display unit 300, and the above description may correspond to one embodiment. Therefore, after the control of the movement controller 210 is completed so that the measurement center C coincides with the screen center Yc, the aligned image of the object 900 may be displayed. Alternatively, the display unit 300 may operate only when all scanning of the object 900 by the scanning unit 100 is completed and the 3D model of the object 900 is displayed. In this case, a 3D model of the object 900 may be a scan result.

Hereinafter, the automatic center alignment method according to the present invention will be described in detail. In describing the automatic centering method according to the present invention, the contents described in the above-described automatic centering system may be simply mentioned or omitted.

7 is a schematic flowchart of an automatic center alignment method according to the present invention, FIG. 8 is a flowchart showing in detail the step of detecting the top of an object in the automatic center alignment method according to the present invention, and FIG. 9 is a flowchart of the present invention. This is a flowchart showing in detail the step of detecting the measurement center of the object in the automatic center alignment method according to.

Referring to FIG. 7 , the automatic center alignment method according to the present invention includes an object arranging step (S110) of arranging an object 900 on a tray 135 formed in an inner space 120 of a scan unit, and the arranged object ( 900), the uppermost stage detection step (S120) of detecting the uppermost stage 920, and the center of measurement (C) of the object 900 based on the uppermost stage 920 of the object 900 detected in the uppermost detection stage (S120). A measurement center detection step (S130) of detecting may be included.

In the object arrangement step ( S110 ), the user may arrange the object 900 to be scanned so as to be seated on the tray 135 formed in the inner space 120 of the scan unit 100 . At this time, the tray 135 may be included in the moving unit 130 in which the first rotation unit 132, the beam unit 133, and the second rotation unit 134 are continuously connected and coupled as described above, and the tray ( 135), the object 900 seated on the object 900 may rotate and move in parallel in the first rotational direction M1, the second rotational direction M2, and the first direction (z direction) as described above with reference to FIG. 2 .

The step of detecting the uppermost end of the object 900 ( S120 ) will be described in more detail with reference to FIG. 8 . The object 900 disposed on the tray 135 may be scanned through the cameras 142a and 142b formed on one side of the scanning unit 100, and at this time, the object 900 may be scanned by at least two objects at different locations. It may be scanned to acquire image data (image acquisition steps S121 and S122). Obtaining at least two image data at different locations in this way is to detect the top end 920 of the object 900 using a difference image, and in the image analysis unit 230 of the controller 200 described above, at least The uppermost stage 920 of the object 900 may be identified using a difference image between the two image data (identifying the uppermost stage, S123).

Meanwhile, the image acquisition steps (S121 and S122) include the first image acquisition step (S121) of acquiring first image data by scanning the object 900 at a first location, and the object 900 at a second location different from the first location. A second image acquisition step ( S122 ) of acquiring second image data by scanning at two locations may be included.

The reason why the first position of the object 900 in the first image acquisition step (S121) and the second position of the object 900 in the second image acquisition step (S122) should be different from each other is because the object 900 moves. This is to detect the top end 920 of the object 900 by acquiring a difference image according to . More specifically, the first position and the second position may have the same horizontal and vertical positions while having a height interval d. The height distance d between the first position and the second position is preferably set to the extent that the top end 920 can be detected by recognizing the positional difference of the object 900, and the height distance d can be set to 5 mm or more.

In order to detect the difference image to identify the top end 920 of the object 900, at least two image data are required. If necessary, in addition to the first image acquisition step ( S121 ) and the second image acquisition step ( S122 ), an Nth image acquisition step for acquiring a total of N image data may be included.

Referring to FIG. 9 , when the top end 920 of the object 900 is detected from the difference image, in the measurement center detection step (S130), the object 900 is measured based on the height of the top end and the height of the tray 135 Detect center (C). The method of detecting the center of measurement (C) includes an object Y value acquisition step (S131) of acquiring the Y value of the top end (920) of the object 900 in the top detection step (S120), and the Y value of the top end of the tray (135). The tray Y value acquisition step (S132) for obtaining , and the measurement center for setting the median value of the Y values obtained in the object Y value acquisition step (S131) and the tray Y value acquisition step (S132) as the measurement center (C). An identification step (S133) may be included.

When the object 900 is scanned from the scan unit 100 and displayed on the display unit 300, the height of the display unit 300 is displayed as a Y value from the top, and the Y value is expressed in units of pixels. Therefore, if the uppermost end of the display unit 300 is set to Y0, which is the reference Y value, and the lowermost end of the display unit 300 is set to Yf, a height equal to the number of pixels formed between Y0 and Yf can be displayed. Meanwhile, the center of the screen of the display unit 300 is the midpoint between the top and bottom of the display unit 300, and the Y coordinate of the midpoint may be Yc=(Yf+Y0)/2. The height of the tray 135 is measured along the positive z-axis direction, and the measurement center (C) can be identified by converting this into the same Y coordinate as the display height of the display unit 300 . At this time, the actual height of the tray 135 may be expressed in units of mm, and 1 mm may be converted to correspond to 10 pixels in order to be converted into Y coordinates.

Meanwhile, in the automatic center alignment method according to the present invention, the measurement center C of the object 900 detected in the measurement center detection step (S130) and the display unit 300 displaying the scanned image of the object 900 A center matching step (S140) of matching the screen centers may be further included. When the object 900 is scanned, the maximum area can be stably scanned by matching the center of the screen of the display unit 300 with the measurement center C of the object 900 . The concept of matching the centers in the center matching step (S140) is to adjust the scan angles of the cameras 142a and 142b that capture the object 900 in order to move the screen displayed on the display unit 300, or to There may be various methods, such as moving the placed tray 135, but the tray 135 on which the object 900 is placed is moved in the first direction (in more detail) while maintaining a constant scanning angle of the cameras 142a and 142b. is preferably moved in the z-axis direction) to move and coincide with the center of the screen.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: scan unit 110: housing
120: inner space 121: first inner surface
122: second inner surface 123: third inner surface
130: moving part 131: fixed base
132: first rotating part 133: beam part
134: second rotating part 135: tray
140: optical unit 141: light irradiation unit
142a, 142b: camera
200: control unit 210: movement control unit
220: image acquisition unit 230: image analysis unit
300: display unit
900: object 910: bottom
920: top end 930: center end
C: Center of measurement d: Spacing

Claims (16)

a scan unit including a housing having an inner space for scanning an object; and
A control unit configured to obtain a center of measurement of the object by controlling an operation of the scanning unit;
The control unit,
a movement controller controlling an operation of the scan unit;
an image acquiring unit acquiring image data of the object disposed in the inner space; and
and an image analyzer configured to detect a measurement center, which is a point of a central end formed at a midpoint between an uppermost end of the object and a lowermost end of the object, based on the image data obtained from the image acquisition unit. . According to claim 1,
The scan unit,
The self-centering system of claim 1 , wherein the housing forms the inner space by the at least one inner surface, including at least one inner surface recessed in an inner direction of the housing. According to claim 2,
In the inner space of the housing,
A movement unit through which the movement of the object is performed is formed by the movement control unit,
The moving part,
a first rotational part rotating in a first rotational direction about a central axis at a point on the fixed base formed on the at least one inner surface;
A beam unit protruding from one end of the rotation unit, one end connected to the rotation unit, and moving in parallel in a first direction or a second direction orthogonal to the first direction;
a second rotation unit protruding from an end of the beam unit and rotating in a second rotation direction based on a central axis parallel to the first direction; and
and a tray on which the object is seated on one surface and the other surface is coupled to the second rotating part and rotates in the second rotational direction together with the second rotating part. According to claim 3,
In the inner space of the housing,
An optical unit comprising a light emitter for irradiating light toward the object from the at least one inner surface to scan the object, and at least one camera for receiving light reflected from the object. According to claim 4,
The at least one inner surface,
A first inner surface recessed in the inner direction of the housing; and
A second inner surface recessed in the inner direction of the housing and in contact with the first inner surface; By including the first inner surface and the second inner surface, the housing forms the inner space,
The moving part is formed to be coupled on the first inner surface, and the optical part is formed on the second inner surface. According to claim 1,
The image acquisition unit acquires at least two image data through at least one camera configured to scan the object in the inner space of the housing. According to claim 6,
The image acquisition unit acquires the image data at different locations by moving the object to acquire the image data. According to claim 6,
The image analyzer detects the uppermost end of the object from the at least two image data acquired by the image acquirer. According to claim 8,
The image analyzer detects the center of measurement of the object based on the uppermost end of the object, and provides feedback to move the object disposed in the inner space of the scan unit by the operation of the movement control unit. . According to claim 9,
Further comprising a display unit that visually displays the scan result of the object,
The movement control unit matches the center of measurement of the object with the center of the screen of the display unit. an object arranging step of arranging the object on a tray formed in an inner space of the scan unit;
an uppermost stage detection step of detecting the uppermost stage of the disposed object;
a measurement center detection step of detecting a measurement center of the object based on the top end of the object detected in the top end detection step; and
and a center matching step of matching the measurement center of the object detected in the measurement center detection step with the center of a screen of a display unit displaying a scanned image of the object. According to claim 11,
The uppermost detection step,
An image acquisition step of acquiring at least two image data; and
and an uppermost stage identification step of identifying the uppermost stage of the object from the at least two image data obtained in the image acquisition step. According to claim 12,
The image acquisition step,
a first image acquisition step of obtaining first image data by scanning the object at a first location; and
and obtaining second image data by scanning the object at a second position different from the first position. According to claim 12,
The automatic center alignment method of claim 1 , wherein the uppermost identifying step identifies the uppermost end of the object using a difference image of the at least two image data. According to claim 11,
In the measurement center detection step,
an object Y value acquisition step of acquiring the topmost Y value of the object acquired in the topmost detection step;
a tray Y value acquisition step of obtaining a Y value of the uppermost tray on which the object is disposed; and
and a measurement center identification step of setting, as the measurement center, an intermediate value of the Y values acquired in the object Y value obtaining step and the tray Y value obtaining step. According to claim 15,
The center alignment step may include moving the measurement center of the object to the screen center by adjusting the position of the tray to match the Y value of the screen center and the Y value of the measurement center.

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