WO2007102667A1

WO2007102667A1 - Apparatus for three dimensional scanning

Info

Publication number: WO2007102667A1
Application number: PCT/KR2007/000995
Authority: WO
Inventors: Nam-Suck Jee
Original assignee: Posfit Inc.
Priority date: 2006-03-08
Filing date: 2007-02-27
Publication date: 2007-09-13
Also published as: KR20070092007A

Abstract

An apparatus for three dimensional scanning includes a base unit on which an object is set; a vertical moving unit for vertically moving on the base unit; a plurality of scanning units installed to the vertical moving units and arranged around the object for dividing the object into a plurality of circumferential areas and projecting and capturing optical pattern images; and a control unit for controlling a vertical movement of the vertical moving unit and scanning of the scanning units at each of vertical regional positions according to the vertical movement, wherein by control of the control unit, a plurality of the scanning units move vertically around the object, project optical pattern images to each of the circumferential areas of the object at each of the vertical regional positions according to the movement, and capture optical pattern images generated on a surface of each of the circumferential areas of the object to scan the object in three dimensions.

Description

APPARATUS FOR THREE DIMENSIONAL SCANNING

Technical Field

[1] The present invention relates to an apparatus for three dimensional scanning, and in particular, to an apparatus for three dimensional scanning which performs an up- and-down vertical scanning along the entire body extension and is capable of obtaining three-dimensional scans of a human body using an optical projector for projecting a near- infrared ray under ordinary light conditions. Background Art

[2] The human body has shoulders, head, arms and legs formed symmetrically with regard to the spine, and a balanced posture by bilateral symmetry of the human body serves as an important factor to functions of organization and organs of the human body.

[3] Meanwhile, when the human body is off balance due to obesity or lack of exercise, various diseases may come forth, affected by disorder of muscle development, abnormal body coordination, circulatory disorder or anomalies in the internal organs. Accordingly, demands for human body analysis are remarkably increasing, for example in an obesity clinic, a public health center, an orthopedic surgery or a spinal clinic.

[4] Generally, a method for measuring a human body includes a manual method in which a human body is directly measured with the naked eyes using a measuring instrument, and a 2D photographing method in which a subject person is taken a photograph using a digital camera and a photographed image material is analyzed by a computer.

[5] In order to measure a human body and analyze a body shape, the manual method measures physical factors, for example the height, length or girth of each part of the human body using a measuring instrument such as a gauge.

[6] The 2D photographing method is performed such that a subject person is located on a transparent grid system, two-dimensional images are converted into computer input signals using a digital camera connected to a computer in front of the person, and then each part of a human body is measured through a relative calibration of pixels and measured values of the converted two-dimensional images to measure physical factors and the two-dimensional images are watched with the naked eyes to analyze shape factors including a body shape.

[7] However, the above-mentioned manual method is performed such that a measurer directly measures the body of a subject person using a measuring instrument, and thus it requires much measuring time and has difficulty in measuring a thickness or a surface area of each part of the body, and analysis of the posture and body shape depends on measurer's watching with the naked eyes, resulting in varying the deviation of the measured values of the measured objects, and it is difficult to compare and verify according to a measuring cycle. And, the above-mentioned 2D photographing method is based on analysis of flat images, and thus it is possible to measure a straight distance between two arbitrary points in two dimensions, but it is not possible to measure a distance between two arbitrary points in three dimensions, thereby failing in three-dimensional measurement including the girth, thickness or surface area of each part of the human body.

[8] Various apparatuses have been suggested as to facilitate the above-mentioned measurement of a human body and analysis of a body shape, for example Korean Patent Publication No. 2001-97567 (titled 3D Scanner and 3D Image Apparatus using thereof) discloses a technique, in which a plurality of laser beam outputting devices and CCD photographing devices are suitably arranged to divide an appearance of a solid object into parts and take a photograph of the object, thereby conveniently scanning three-dimensional images of the solid object, Korean Patent Publication No. 2003-45279 (titled apparatus for measuring the three-dimensional shape of an object using a Moire equipment) discloses a technique for measuring a three-dimensional shape using a Moire pattern generator composed of a laser diode and a rotary multisided mirror, and Korean Utility Model Registration No. 183815 (titled pattern projector) discloses a technique for projecting a predetermined shape of pattern to a predetermined thing, for example the face of a person.

[9] These techniques facilitate measurement of a human body and analysis of a body shape using an optical triangulation method which projects a laser beam to an object, in particular a human body and analyzes the reflected beam to obtain three-dimensional images, and a Moire method which makes three-dimensional shapes using an interference phenomenon that when a thing is placed on a grid having stripes of a regular interval such as wavy patterns, the stripes are seen as curved lines according to curves of the thing, and a detailed description is made below with reference to FIGs. 1 to 4.

[10] First, referring to FIG. 1, the optical triangulation method projects a laser beam 1 to an object 20 to be measured, obtains a laser light deformed and reflected according to curves of surfaces of the object using a CCD camera 12, and calculates three-dimensional coordinates of the object to be measured from a geometric relationship. Here, the optical triangulation method scans the object 20 to be measured while vertically moving using a machine driving system.

[11] Next, referring to FIG. 2, the Moire method is a scanning method that a plurality of pattern films 32 having horizontal and vertical stripes are sequentially rotated by a rotary wheel (not shown) which sequentially rotates as shown in FIG. 3, horizontal or vertical shades are generated on surfaces of the object to be measured by a plurality of pattern images projected by a lamp 31, as shown in FIG. 4, the shades 2 are bent along the shape of the object 20 to be measured to generate wavy contour patterns which contains shape information of the object, and the shape information is analyzed to obtain three-dimensional coordinates.

[12] Nevertheless, the conventional optical triangulation method even with high precision, is discredited on account of applying a technique used mainly in industrial- engineering field to measure a human body, and therefore creating an uneasy atmosphere for a subject person against being scanned by a laser beam. And, the Moire method is based on an analogue method in which the pattern films are sequentially projected to the subject person by operation of the rotary wheel, and thus a large measurement loss is caused by malfunction, for example warpage of the pattern films and scanning in a closed space formed of a darkroom causes a reflecting light of the subject person.

[13] Further, a measuring equipment using the above-mentioned optical triangulation method and Moire method requires high-priced equipment introduction costs in an economic aspect and expert skills in an equipment operation aspect, affects three- dimensional data according to light conditions in a scanning aspect, and has limitation in scanning the entire human body in a equipment utility aspect.

Disclosure of Invention

Technical Problem

[14] The present invention is designed to solve the above-mentioned problems, and therefore it is a purpose of the present invention to provide an apparatus for three dimensional scanning, which projects and captures a near-infrared ray pattern image of a digital method, not of an analogue method, without an image loss of a subject person, and enables three-dimensional scanning of the entire body of the subject person without limitation of an installation environment including light conditions. Technical Solution

[15] In order to achieve the above-mentioned purposes, a system for three dimensional scanning according to the present invention includes a base unit on which an object is set; a vertical moving unit for vertically moving on the base unit; a plurality of scanning units installed to the vertical moving unit and arranged around the object for dividing the object into a plurality of circumferential areas and projecting and capturing optical pattern images; and a control unit for controlling a vertical movement of the vertical moving unit and scanning of the scanning units at vertical regional positions according to the vertical movement, wherein by control of the control unit, a plurality of the scanning units vertically move around the object, project optical pattern images for each of circumferential areas of the object at each of the vertical regional positions according to the movement, and capture optical pattern images generated on a surface of each of the circumferential areas of the object to scan the object in three dimensions.

[16] Preferably, the object is a human body, and the base unit provides a fixing point so that the human body stands at the center of a plurality of the scanning units.

[17] According to the present invention, the vertical moving unit includes a pair of transfer guides vertically extending from the base unit by a predetermined length, the transfer guides facing each other with the object in the center; a ball screw installed in each of the transfer guides; a motor operated by control of the control unit to rotate the ball screws; a slider installed to the transfer guides and the ball screw and vertically moving along the transfer guides by rotation of the ball screw; and a horizontal bar fixed to the slider for supporting the scanning units at both ends thereof.

[18] According to the present invention, a plurality of the scanning units are fixed at both ends of the horizontal bar and arranged around the object, and a horizontal angle between the horizontal bar and a viewline of the scanning unit directed toward the object is 17°.

[19] Preferably, each of the scanning units has an optical projector and a sensor camera.

[20] Furthermore, a horizontal angle is 23° and a vertical angle is 22° between a viewline of the optical projector and a viewline of the sensor camera.

[21] According to the present invention, the optical projector includes a light emitting lamp; an optical pattern image generating device for converting light of the light emitting lamp into optical pattern images; and a lens for adjusting a projection path of the optical pattern image.

[22] Here, the light emitting lamp is a lamp emitting a near- infrared ray, the near- infrared ray is in 750nm to 1200nm.

[23] Preferably, the optical pattern image generating device is a DMD (Digital Mi- cromirror Device).

[24] According to the present invention, the sensor camera is a CCD (Charge Coupled

Device) camera, and the sensor camera has an infrared filter.

[25] Preferably, the scanning units corresponding to the circumferential areas of the object at the vertical regional positions project and capture twenty four frames of optical pattern images. Brief Description of the Drawings

[26] Preferred embodiments of the present invention will be more fully described in the following detailed description, taken accompanying drawings. However, it should be understood that the description proposed herein is just a preferable example for the purpose of illustrations only, not intended to limit the scope of the invention. In the drawings: [27] FIG. 1 is a view illustrating conventional laser scanning using an optical tri- angulation method.

[28] FIG. 2 is a view illustrating conventional optical scanning using a Moire method.

[29] FIG. 3 is a view illustrating conventional pattern films in the Moire method.

[30] FIG. 4 is a view illustrating a step for projecting the pattern films of FIG. 3 to an object to be measured. [31] FIG. 5 is a block diagram illustrating arrangement of a system for three dimensional scanning in accordance with a preferred embodiment of the present invention. [32] FIG. 6 is a perspective view illustrating an apparatus for three dimensional scanning in accordance with a preferred embodiment of the present invention. [33] FIGs. 7 and 8 are side views illustrating the apparatus for three dimensional scanning in accordance with a preferred embodiment of the present invention. [34] FIG. 9 is a plan view illustrating the apparatus for three dimensional scanning in accordance with a preferred embodiment of the present invention. [35] FIGs. 10 and 11 are views illustrating angles of an optical projector and a sensor camera in accordance with a preferred embodiment of the present invention. [36] FIG. 12 is a schematic view illustrating a configuration of the optical projector in accordance with a preferred embodiment of the present invention. [37] FIG. 13 is a perspective view illustrating a basic structure of an optical pattern image generating device in accordance with a preferred embodiment of the present invention. [38] FIG. 14 is a view illustrating the principles of the optical pattern image generating device in accordance with a preferred embodiment of the present invention. [39] FIGs. 15 to 17 are views illustrating a step for projecting optical pattern images to a human body in accordance with a preferred embodiment of the present invention. [40] FIGs. 18 and 19 are views illustrating a scanning unit for projecting and capturing optical pattern images in accordance with a preferred embodiment of the present invention.

Best Mode for Carrying Out the Invention [41] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to the description, it should be understood that the terms used in the specification and the appended claims should not be construed as limited to general and dictionary meanings, but interpreted based on the meanings and concepts corresponding to technical aspects of the present invention on the basis of the principle that the inventor is allowed to define terms appropriately for the best explanation. Therefore, the description proposed herein is just a preferable example for the purpose of illustrations only, not intended to limit the scope of the invention, so it should be understood that other equivalents and modifications could be made thereto without departing from the spirit and scope of the invention.

[42] An apparatus and a system for three dimensional scanning according to the present invention enable three-dimensional scanning for obtaining a physical data and a shape data of an object, in particular, a human body. Here, the physical data is a body measurement data including height, width, length, thickness, area, girth, inclination and central line of each part of the human body. And, although the present invention is described based on a human body, it is obvious that the present invention may be applied to various objects including things and animals.

[43] FIG. 5 is a block diagram illustrating arrangement of a system for three dimensional scanning in accordance with a preferred embodiment of the present invention, and the system consists of an apparatus for three dimensional scanning and a host computer.

[44] Referring to FIG. 5, the apparatus 100 for three dimensional scanning includes a control unit 110, a communication interface 120, a vertical moving unit 130, and a plurality of scanning units 140, and the host computer 200 includes an input unit 210, an output unit 220, a database 230, a communication interface 240, a BUS 250 and a central processing unit (CPU) 260.

[45] In the apparatus 100 for three dimensional scanning, the control unit 110 is used in controlling the vertical moving unit 130 and the scanning unit 140 based on data transmitted from the host computer 200. At this time, the communication interface 120 is used in exchanging data between the apparatus 100 for three dimensional scanning and the host computer 200, and a plurality of the scanning units 140 are installed to the vertical moving unit 130 and arranged around a standing human body, and are used in projecting and capturing optical pattern images while vertically moving around the human body. At this time, the scanning units 140 transmit the captured images to the host computer 200 by control of the control unit 110.

[46] In the host computer 200, the input unit 210 is used in inputting a personal information of a subject person for human body scanning and a scanning order, the output unit 220 is used in displaying a body scanning result of the subject person, the database 230 is used in storing a plurality of capture image data 231 transmitted from the apparatus 100 for three dimensional scanning, a plurality of three-dimensional calculated data 232 that a plurality of the capture image data 231 are calculated into three-dimensional coordinates, three-dimensional shape data 233 that a plurality of the three-dimensional calculated data 232 are expressed as a three-dimensional human body, and a program 234 for controlling three-dimensional scanning, the communication interface 240 is used in exchanging data between the host computer 200 and the apparatus 100 for three dimensional scanning, and the central processing unit 260 is used in controlling the input unit 210, the output unit 220 and the database 230 that are connected to the BUS 250 based on the program 234 stored in the database 230 for controlling three-dimensional scanning.

[47] The above-mentioned apparatus for three dimensional scanning is described in detail below with reference to FIGs. 6 to 9.

[48] Referring to drawings, the apparatus 100 for three dimensional scanning includes a base unit 150 on which a human body is set, vertical moving units 130 and 130' vertically moving to the base unit 150, a plurality of scanning units 140a to 14Od installed to the vertical moving units 130 and 130' and arranged around the human body, and a control unit 110 for controlling the vertical moving units 130 and 130' and a plurality of the scanning units 140a to 14Od.

[49] The base unit 150 has a footmark providing a fixing point 151 so that the human body stands in the center of a plurality of the scanning units 140a to 14Od. At this time, the fixing point 151 shows the subject person locations of the heels and inner portions of feet to improve reproduction of repeated measurement of body scanning of the subject person.

[50] The vertical moving units 130 and 130' extend from the base unit 150 with a predetermined length, for example with the length corresponding to the height of the subject person, and have a pair of transfer guides 131 and 131', the transfer guides being installed facing each other with the standing human body in the center, ball screws 132 and 132' each installed in the transfer guides 131 and 131', a motor 133 for rotating the ball screws 132 and 132' by control of the control unit 110, sliders 134 and 134' installed to the transfer guides 131 and 131' and the ball screws 132 and 132' to vertically move along the transfer guides 131 and 131' by rotation of the ball screws 132 and 132', and horizontal bars 135 and 135' fixed to the sliders 134 and 134' for supporting a plurality of the scanning units 140a to 14Od at both ends thereof.

[51] A plurality of the scanning units 140a to 14Od are formed at both ends of the horizontal bars 135 and 135', and while moving vertically around the standing human body, project optical pattern images to each circumferential areas of the human body at preset vertical regional positions and capture optical pattern images generated on a surface of each of the circumferential areas of the human body. At this time, it is preferred that the preset vertical regional positions are generated by vertically dividing the standing human body into a plurality of equal lengths, for example, preferably five equal lengths. And, it is preferred that a plurality of the scanning units 140a to 14Od project and capture twenty four frames of optical pattern images to and from the object for each of the circumferential areas and the vertical regional positions, but the present invention is not limited in this regard. Further, a plurality of the scanning units 140a to 14Od transmit the captured images to the host computer by control of the control unit.

[52] In exemplary embodiments of the present invention, it is preferred that the horizontal bars 135 and 135' vertically move with regard to the human body in succession, but the present invention is not limited in this regard. For example, when a plurality of the scanning units 140a to 14Od project and capture the height of the human body into parts, the scanning units 140a to 14Od may discontinuously vertically move, for example repeatedly move to and stop at the set regions. And, the ball screws 132 and 132' are used in vertically moving a plurality of the scanning units 140a to 14Od, but the present invention is not limited in this regard. For example, a wire method may be used. Further, although this exemplary embodiment shows a plurality of the scanning units 140a to 14Od installed to the vertical moving units 130 and 130' are arranged in four directions around the human body, but the present invention is not limited in this regard. For example, the scanning units may be arranged in both directions or in all directions around the human body by modifying the structure of the vertical moving units.

[53] A plurality of the scanning units each has an optical projector for projecting the optical pattern images to the human body, and a sensor camera for receiving and capturing optical pattern images reflected on the surfaces of the human body by projection of the optical projector. At this time, each of the scanning units having the optical projector and the sensor camera has an optimum angle for projecting and receiving a sufficient amount of light to/from the human body, and its detailed description is described below with reference to FIGs. 9 to 11.

[54] Referring to drawings, a plurality of the scanning units 140a to 14Od each is formed at both ends of the horizontal bars 135 and 135' at a horizontal angle of 17° with the horizontal bars 135 and 135' so as to be directed toward the human body. At this time, a horizontal angle (α) is 23° and a vertical angle (β) is 22° between viewlines of optical projectors 141a to 141d and viewlines of sensor cameras 142a to 142d of a plurality of the scanning units 140a to 14Od, respectively.

[55] In exemplary embodiments of the present invention, it is preferred that a distance between the human body and each of the scanning units 140a to 14Od for an optimum angle is about 79cm, and a distance between the scanning units formed at both ends of each of the horizontal bars 135 and 135' is about 90cm, but the present invention is not limited in this regard. That is, the optimum angle, the distance between the human body and each of the scanning units 140a to 14Od, and the distance between the scanning units formed at both ends of each of the horizontal bars 135 and 135' are based on measurement data optimized by an experiment that the scanning units project and receive the optical pattern images to/from the human body, but it is obvious that they may be changed according to characteristic and size of an equipment.

[56] The above-mentioned optical projector and sensor camera of the scanning units are described below with reference to FIGs. 12 to 19.

[57] First of all, describing the optical projector with reference to FIGs. 12 to 17, as shown in FIG. 12, the optical projector includes an optical pattern image generating device 70 for converting light of a light emitting lamp 60 into optical pattern images 90 and a lens 80 for adjusting a projection path of the optical pattern images 90. At this time, the optical projector is a DLP (Digital Lighting Processing) projector.

[58] The light emitting lamp 60 emits light to the optical pattern image generating device

70. Here, a light source of the light is a near-infrared ray satisfying the range of 750nm to 1200nm. At this time, it is obvious that a subject person is scanned without a mental rejection sense in such a situation that the person can not recognize a near-infrared ray.

[59] The optical pattern image generating device 70 is a DMD (Digital Micromirror

Display) device for displaying the optical pattern images 90 formed in the shape of horizontal and vertical grids.

[60] The lens 90 diverges the optical pattern images 90 formed in the shape of horizontal and vertical grids generated by the optical pattern image generating device 70 on surfaces of the human body at a predetermined angle, and may selectively use an infrared filter according to characteristic of the light emitting lamp 60. That is, in the case that a light source of the light emitting lamp 60 includes a near- infrared ray and a visible ray, an infrared filter may be mounted in the lens 80 to transmit only a near- infrared ray.

[61] Specifically describing the above-mentioned optical pattern image generating device 70, i.e. a DMD device, the DMD device includes a plurality of unit pixels 71 , and as shown in FIG. 13, each of the unit pixels 71 has a reflecting mirror 71a for reflecting a light source of the light emitting lamp 60, a driving unit 71b having a yoke for driving the reflecting mirror 71a, and a control circuit unit 71c for controlling the driving unit 71b. Here, the reflecting mirror 71a is connected to the yoke of the driving unit 71b, and in the case that the yoke moves horizontally at +10° or -10°, the reflecting mirror 71a cooperates with the yoke at the time of movement of the yoke to reflect the light source of the light emitting lamp 60 at a predetermined angle. The control circuit unit 71c transmits a digital bit stream image code, i.e. a combination of 0 and 1 to the driving unit 71b. At this time, the code may be transmitted several thousand times per second.

[62] The control circuit units included in the above-mentioned optical pattern image generating device 70 each controls the reflecting mirror of the unit pixel to generate desired optical pattern images, and as shown in FIG. 14, when the light emitting lamp 60 emits a near- infrared ray to the optical pattern image generating device 70, reflecting mirrors 72, 73 and 74 of each of the unit pixels included in the optical pattern image generating device 70 are inclined at a predetermined angle according to control signals of the control circuit unit, and the projected near-infrared ray generates optical pattern images 72', 73' and 74' of predetermined shapes according to an angle of each of the reflecting mirrors 72, 73 and 74. At this time, light emitted to the reflecting mirror 73 inclined at a different angle among the reflecting mirrors 72, 73 and 74 makes shades on the human body.

[63] As such, the optical pattern image generating device 70 controls a plurality of the unit pixels 71 to generate various optical pattern images, and as shown in FIGs. 15 to 17, the optical pattern image generating device 70 projects optical pattern images of a plurality of frames changing from a larger width to a smaller width to the human body. At this time, the optical pattern images are near-infrared rays, and thus it is obvious that the optical pattern images may be projected in a space under light conditions of an open nature as well as in a closed darkroom.

[64] Next, the sensor camera for receiving the reflected rays of the optical pattern images projected to the human body by the optical projector is described below with reference to FIGs. 18 and 19.

[65] Referring to drawings, the sensor camera 142a is a CCD camera using a CCD

(Charge Coupled Device) and MOS (Metal Oxide Semiconductor) type image sensor. At this time, the sensor camera 142a is installed horizontally to the above-mentioned horizontal bar. Meanwhile, as viewed at a side, the optical projector 141a projecting the optical pattern images is inclined at an angle of 22 ° upwards or downwards in a vertical direction.

[66] The angle is sufficient for the sensor camera 142a to receive the optical pattern images projected by the optical projector 141a. Here, the sensor camera 142a has an infrared filter mounted to the lens (not shown), and the infrared filter allows the apparatus for three dimensional scanning to measure under natural light conditions. That is, the infrared filter makes the sensor camera receive the reflected rays of a near- infrared ray area. And, the sensor camera 142a captures various patterns of optical pattern images projected to the human body by the optical projector 141a, and transmits the captured images to the host computer by control of the control unit.

[67] Several hundreds frames of captured images obtained by body scanning of the above-mentioned apparatus for three dimensional scanning are stored in the database of the host computer, and each of the captured images is merged to three-dimensional shape by a three-dimensional scanning program of the host computer, and is analyzed and displayed.

[68] As such, exemplary embodiments of the present invention have been described in detail with reference to the accompanying drawings. However, it should be understood that the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description. Industrial Applicability

[69] As described above, according to the present invention, a plurality of scanning units arranged around the human body project and capture a near-infrared ray while vertically reciprocating, thereby scanning the entire human body in three dimensions without an image loss of a subject person in a space under ordinary light conditions, instead of a closed darkroom.

[70] And, the apparatus of the present invention projects pattern images of a digital method, not of a conventional analogue method, to a subject person, thereby obtaining data with high precision.

[71] Further, the apparatus of the present invention uses an optical projector lower in price than a conventional apparatus for three dimensional scanning, thereby supplying an equipment for three dimensional scanning to the general public at a competitive price.

Claims

[1] An apparatus for three dimensional scanning, comprising: a base unit on which an object is set; a vertical moving unit for vertically moving on the base unit; a plurality of scanning units installed to the vertical moving unit and arranged around the object for dividing the object into a plurality of circumferential areas and projecting and capturing optical pattern images; and a control unit for controlling a vertical movement of the vertical moving unit and scanning of the scanning units at each of vertical regional positions according to the vertical movement, wherein, by control of the control unit, a plurality of the scanning units move vertically around the object, project optical pattern images to each of the circumferential areas of the object at each of the vertical regional positions according to the movement, and capture optical pattern images generated on a surface of each of the circumferential areas of the object to scan the object in three dimensions.

[2] The apparatus for three dimensional scanning according to claim 1, wherein the object is a human body, and the base unit provides a fixing point so that the human body stands at the center of a plurality of the scanning units.

[3] The apparatus for three dimensional scanning according to claim 1, wherein the vertical moving unit includes: a pair of transfer guides extending vertically from the base unit by a predetermined length, the transfer guides facing each other with the object in the center; a ball screw installed in each of the transfer guides; a motor operated by control of the control unit to rotate the ball screw; a slider installed to the transfer guides and the ball screw and vertically moving along the transfer guides by rotation of the ball screw; and a horizontal bar fixed to the slider for supporting the scanning units at both ends thereof.

[4] The apparatus for three dimensional scanning according to any one of claims 1 to

3, wherein a plurality of the scanning units are fixed at both ends of the horizontal bar and arranged around the object, and a horizontal angle between the horizontal bar and a viewline of the scanning unit directed toward the object is 17°.

[5] The apparatus for three dimensional scanning according to claim 4, wherein each of the scanning units has an optical projector and a sensor camera.

[6] The apparatus for three dimensional scanning according to claim 5, wherein a horizontal angle is 23° and a vertical angle is 22° between a viewline of the optical projector and a viewline of the sensor camera. [7] The apparatus for three dimensional scanning according to claim 6, wherein the optical projector includes: a light emitting lamp; an optical pattern image generating device for converting light of the light emitting lamp into optical pattern images; and a lens for adjusting a projection path of the optical pattern images. [8] The apparatus for three dimensional scanning according to claim 7, wherein the light emitting lamp emits a near-infrared ray. [9] The apparatus for three dimensional scanning according to claim 8, wherein the near-infrared ray is in a range of 750nm to 1200nm. [10] The apparatus for three dimensional scanning according to claim 7, wherein the optical pattern image generating device is a DMD (Digital Mi- cromirror Device). [11] The apparatus for three dimensional scanning according to claim 5, wherein the sensor camera is a CCD (Charge Coupled Device) camera. [12] The apparatus for three dimensional scanning according to claim 11, wherein the sensor camera has an infrared filter for blocking a visible ray. [13] The apparatus for three dimensional scanning according to claim 12, wherein the scanning units corresponding to the circumferential areas of the object project and capture twenty four frames of optical pattern images at each of the vertical regional positions.