WO2021172952A1

WO2021172952A1 - System for post-processing scan data and method for post-processing scan data

Info

Publication number: WO2021172952A1
Application number: PCT/KR2021/002489
Authority: WO
Inventors: 이동훈
Original assignee: 주식회사 메디트
Priority date: 2020-02-28
Filing date: 2021-02-26
Publication date: 2021-09-02

Abstract

A system for post-processing scan data according to the present invention comprises: a scanner for scanning an object; and a main processing unit that is formed to be physically spaced apart from the scanner and that performs at least one of an alignment process and a final three-dimensional data generation process on the basis of data acquired from the scanner, wherein the scanner comprises: a photographing unit that acquires a plurality of two-dimensional images; a storage unit that stores the two-dimensional images acquired from the photographing unit; a connection unit that determines whether the main processing unit is connected; and a communication unit that transmits the stored two-dimensional images to the main processing unit when the scanner is connected to the main processing unit, and wherein the main processing unit generates three-dimensional data on the basis of the transmitted two-dimensional images, and aligns at least two pieces of the three-dimensional data.

Description

Scan data post-processing system and scan data post-processing method

The present invention relates to a post-processing system of scan data and a post-processing method of scanned data, and more particularly, to raw data of an object obtained through a photographing unit of a scanner. The present invention relates to a post-processing system for scan data that is generated as 3D data through a processing unit built into a scanner, and a post-processing method for scan data.

3D scanning technology is used in various industrial fields such as reverse engineering, measurement, inspection, content creation, CAD/CAM, and the like.

The 3D scanning technology is used to obtain accurate dimensional information and shape information about the patient's affected part (including the internal components of the oral cavity, such as teeth and gums) for manufacturing a dental prosthesis. In the recent dental treatment industry, the use of an oral scanner that captures the inside of the patient's mouth by holding it in the hand of a therapist (usually a medical person who diagnoses, treats, and prescribes a medical prescription for a patient's condition) is increasing. .

The oral scanner is generally powered through a wire and transmits the captured information to a PC connected to the oral scanner by wire. The PC that received the information photographed by the oral scanner generated three-dimensional data using the processing device of the PC and displayed it on the screen.

However, when the oral scanner connected to the PC by wire is used by the therapist, there are behavioral restrictions on the operation of performing 3D scanning. That is, in an environment that is not connected to a PC, there is a possibility that the processing of data scanned by power or the inside of the oral cavity may be limited.

The present invention acquires raw data from a scanner, stores the raw data first in a storage unit formed inside the scanner, and then transmits the raw data to the main processing unit when the scanner is connected to a main processing unit physically separated from the scanner An object of the present invention is to provide a post-processing system for scan data and a post-processing method for scan data that perform an alignment process between raw data and a process of generating final 3D data.

In addition, the present invention obtains raw data from a scanner, performs pre-processing in a sub-processing unit built into the scanner, and transmits at least one of raw data and pre-processing data to a main processing unit to generate final 3D data An object of the present invention is to provide a post-processing system for scan data and a post-processing method for scan data.

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 following description.

The post-processing system for scan data according to the present invention comprises at least one of an alignment process and a final three-dimensional data generation process based on a scanner for scanning an object, and a scanner that is physically spaced apart from the scanner and obtained from the scanner. and a main processing unit that performs a connection unit, and a communication unit for transmitting the stored two-dimensional image to the main processing unit when the scanner is connected to the main processing unit, wherein the main processing unit receives three-dimensional data based on the transmitted two-dimensional image and aligning at least two or more of the three-dimensional data.

In addition, the scanner may further include a sub-processing unit that transmits a control signal to the photographing unit.

In addition, the photographing unit includes a projector for irradiating light toward the object, and a camera for receiving light reflected from the object, wherein the sub-processing unit transmits a light output signal to the projector, and the camera transmits the light The two-dimensional image may be acquired according to the output signal.

In addition, the scanner further includes an identification unit for dividing the plurality of obtained two-dimensional images into a first two-dimensional image and a second two-dimensional image, the main processing unit, based on the first two-dimensional image The first 3D data may be generated, and the second 3D data may be generated based on the second 2D image.

Also, the main processing unit may generate group data when the alignment fails and align at least two or more of the group data.

A system for post-processing scan data according to another embodiment of the present invention includes a scanner for scanning an object, and an alignment process and a final three-dimensional data generation process based on data acquired from the scanner and physically spaced apart from the scanner and a main processing unit that performs at least one of the scanner, wherein the scanner is generated by a photographing unit that acquires a plurality of two-dimensional images, a sub-processing unit that performs processing based on the two-dimensional image, and the sub-processing unit A storage unit for storing the pre-processing data, a connection unit for determining whether the main processing unit is connected, and a transmission unit for transmitting the pre-processing data to the main processing unit when the scanner is connected to the main processing unit, The main processing unit generates final 3D data based on the received preprocessing data.

Also, the sub-processing unit may perform alignment based on the pre-processing data.

In addition, the scanner may further include a feedback unit for generating feedback when the alignment fails.

By using the scan data post-processing system and scan data post-processing method according to the present invention, the scanner generates raw data and/or pre-processing data and stores it in a storage unit, aligning process, and final 3D data generation The process and the like are performed in the main processing unit formed spaced apart from the outside of the scanner, so that scanning is possible even when not connected to the main processing unit in real time, thereby providing a free scanning environment to the user.

In addition, since the scanner includes the identification unit and forms the raw data (two-dimensional images) divided by the identification unit into one 3D data, there is an advantage in that the reliability of the 3D data is improved.

In addition, since the scanner acquires raw data and performs a simple processing process, and the main processing unit performs alignment between 3D data, there is an advantage in improving the scanning speed.

In addition, since the part that has failed to be aligned is visually displayed to the user through the alignment error display unit, the user can accurately identify the part that requires additional scanning, and has the advantage of rapidly improving data reliability through additional scanning of the part. have.

1 is a schematic perspective view of a scanner, which is a configuration of a system for post-processing scan data according to the present invention.

2 is a conceptual diagram of a scanner, which is a configuration of a system for post-processing scan data according to the present invention.

3 is a communication conceptual diagram of a system for post-processing scan data according to the present invention.

4 is a schematic flowchart of a method for post-processing scan data according to the present invention.

5 is a schematic flowchart of a method for post-processing scan data according to the present invention.

6 is a schematic flowchart of a method for post-processing scan data according to the present invention.

Advantages and features of the present invention, and methods for achieving them, will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic perspective view of a scanner that is a component of a system for post-processing scan data according to the present invention, and FIG. 2 is a conceptual diagram of a scanner that is a component of a system for post-processing scan data according to the present invention.

1 and 2, in the post-processing system of scan data according to the present invention, an opening is formed at one end so that it is possible to enter or withdraw the inside of the oral cavity and the appearance of the interior of the oral cavity (object) is incident in the form of light. It may include a scanner 1 including a case 10 . The case 10 of the scanner 1 may include a tip case 14 and a body case 11, wherein the tip case 14 is in direct contact with the inside of the oral cavity in order to scan the inside of the patient's oral cavity. part, and the main body case 11 is a photographing unit 20, a storage unit 30, a sub-processing unit 40, an identification unit 50, a connection unit 60, a communication unit 70, a power supply unit ( 80), and the feedback unit 90 may be built-in. Each part that may be formed inside the body case 11 will be described later.

A process in which the scanner 1 acquires raw data will be described together with explanations of each part of the scanner 1 . Every object exhibits its shape, shape, and color by refracting or reflecting the light it shines on. In the case of a human, the light refracted or reflected by the object is received by the eye, and the received light is focused on the retina, so that the object can be visually recognized.

On the other hand, in the optical device, the photographing unit 20 serves as a human eye. The photographing unit 20 is formed to be disposed inside the main body case 11 of the scanner 1 . More specifically, the light incident through the opening of the tip case 14 is received by at least one camera (21). The camera 21 may be one single camera, or two or more multi-cameras. In order to obtain reliable three-dimensional three-dimensional data, the camera 21 of the photographing unit 20 may be composed of two or more multi-cameras and disposed inside the body case 11 .

The scanner 1 sends the light received through the camera 21 to the imaging sensor 23 formed on the imaging board electrically connected to the camera 21 to generate raw data. For example, the raw data may be a two-dimensional image. That is, the imaging sensor 23 converts the light received by the camera 21 into digital image data. The imaging sensor 23 may be a known CCD sensor, a CMOD sensor, or the like, but is not necessarily limited thereto, and any sensor that converts light into digital image data may be used.

Meanwhile, the photographing unit 20 may include a projector 22 . The projector 22 irradiates light toward the inside of the oral cavity when the user uses the scanner 1 to photograph the inside of the oral cavity. Illustratively, the projector 22 may irradiate the light generated by the projector 22 into the oral cavity through the opening formed in the tip case 14 . The light generated by the projector 22 may have various forms. For example, the light generated by the projector 22 may be light having a wavelength in the visible ray region. In addition, in order to convert the photographed raw data (two-dimensional image) into three-dimensional data, the light irradiated into the oral cavity from the projector 22 may be structured light.

According to the above description, the photographing unit 20 has been described as including a camera 21 , a projector 22 , and an imaging sensor 23 . However, the photographing unit 20 is not limited to including only the described components. Illustratively, the photographing unit 20 includes an optical device (eg, a lens) for acquiring three-dimensional data using a triangulation method or a confocal method, a motor for driving the optical device, It may include a projector 22 for irradiating light to the inside of the oral cavity (object), and an imaging sensor 23 for generating a two-dimensional image from the light reflected from the inside of the oral cavity.

Detailed components of the scanner 1 will be described in more detail with reference to FIGS. 1 to 3 . The raw data (eg, a two-dimensional image) acquired by the photographing unit 20 may be stored in the storage unit 30 formed inside the scanner 1 . Since the scanner 1 has its own storage unit 30 , raw data and/or preprocessing data may be stored in the storage unit 30 . The stored data may be connected to the main processing unit 2 in a wired/wireless manner and then transmitted. A process in which data is transmitted to the main processing unit 2 will be described later.

The raw data obtained by the photographing unit 20 is transmitted to the sub-processing unit 40 . In this case, the sub-processing unit 40 may perform various tasks. The sub-processing unit 40 may serve to generate pre-processing data from raw data that is a two-dimensional image. In this case, the preprocessing data may include raw data divided according to a predetermined criterion, 3D data generated based on a plurality of raw data, or a first alignment (local alignment) of the generated 3D data. performed data, and the like. Also, the sub-processing unit 40 may control the storage unit 30 to store the raw data obtained by the photographing unit 20 . Also, the sub-processing unit 40 may control the projector 22 of the photographing unit 20 to irradiate a specific type of light to the object. Also, the sub-processing unit 40 may control the identification unit 50 to be described later to identify the obtained raw data according to a predetermined criterion based on the operation of the photographing unit 20 . In addition, the sub-processing unit 40 transmits to the storage unit 30 through the communication unit 70 based on the result of determining whether the connection unit 60 to be described later is connected to the scanner 1 and the main processing unit 2 . The stored raw data and/or pre-processing data may be controlled to be transmitted to the main processing unit 2 .

Hereinafter, detailed operations of the sub-processing unit 40 will be described in detail by dividing them according to embodiments. First, a detailed operation of the sub-processing unit 40 in the scan data post-processing system according to the first embodiment will be described, and then the sub-processing unit 40 in the scan data post-processing system according to the second embodiment The detailed operation of Meanwhile, in the second embodiment, when explaining the detailed operation of the sub-processing unit 40, if the operation overlaps with the detailed operation of the sub-processing unit 40 in the first embodiment, the content is briefly mentioned or omitted.

Hereinafter, the operation of the sub-processing unit 40 in the first embodiment will be described.

The sub-processing unit 40 may control the photographing unit 20 . The sub-processing unit 40 may control the projector 22 of the photographing unit 20 to irradiate a specific type of light to the object, and the light may be structured light. The sub-processing unit 40 may transmit a light output signal to the projector 22 to control the plurality of patterns to be continuously irradiated. Illustratively, the sub-processing unit 40 may include the projector 22 using the first pattern P1 , the second pattern P2 , the third pattern P3 , the fourth pattern P4 , and the fifth pattern P5 . , the sixth pattern P6 , the seventh pattern P7 , the eighth pattern P8 , the ninth pattern P9 , and the tenth pattern P10 may be sequentially and continuously output. Although not illustrated, the first to tenth patterns P1, P2, P3, P4, P5, P6, P7, P8, P9, and P10 may have different patterns. The imaging sensor 23 is a row of the object on which the first to tenth patterns (P1, P2, P3, P4, P5, P6, P7, P8, P9, P10) are projected in accordance with the pattern irradiated according to the light output signal. Data (two-dimensional images) can be acquired.

Also, the sub-processing unit 40 may control the storage unit 30 to store the raw data obtained by the photographing unit 20 . The photographing unit 20 stores the raw data of the object in the storage unit 30 , and thereafter, when the scanner 1 is electrically connected to the main processing unit 2 , the raw data stored in the storage unit 30 is may be transmitted to the main processing unit 2 . Illustratively, the storage unit 30 may be formed in the form of a chip, but is not limited thereto. Also, if necessary, the storage unit 30 may be formed to allow capacity expansion by inserting an external memory device. As such, the storage unit 30 is formed inside the scanner 1 , so that the raw data acquired through the photographing unit 20 is stored even if the scanner 1 is not always connected to a device such as the main processing unit 2 . It can be stored, and there is an advantage that the scanner 1 can be used even when the main processing unit 2 does not exist or is physically separated from each other.

In addition, the scanner 1 may further include an identification unit 50 for dividing the plurality of 2D images acquired by the photographing unit 20 into a first 2D image and a second 2D image, and sub-processing The unit 40 may control the identification unit 50 to classify the plurality of 2D images into a first 2D image and a second 2D image. In this case, the plurality of two-dimensional images acquired by the photographing unit 20 may be divided into at least two or more groups of two-dimensional images, for example, a third two-dimensional image, a fourth two-dimensional image, and the like are additionally divided. could be

An operation of the identification unit 50 will be described in more detail. The first 2D image may mean a set of 2D images for generating the first 3D data when the main processing unit 2 generates 3D data. Similarly, the second 2D image may mean a set of 2D images for generating the second 3D data when the main processing unit 2 generates 3D data. That is, one 3D data is generated based on a plurality of consecutively acquired 2D images. In this case, the plurality of two-dimensional images may be P1 pattern images to P10 pattern images obtained by irradiating different patterns (eg, first to tenth patterns). In more detail, the identification unit 50 identifies and classifies a total of 10 pattern images from the P1 pattern image to the P10 pattern image projected at a specific point in time as the first two-dimensional image, and is projected at the next point in time at the specific point in time. A total of 10 pattern images from the P1 pattern image to the P10 pattern image may be identified and distinguished as the second two-dimensional image.

The main processing unit 2 may be connected to the scanner 1 and then generate 3D data based on a large amount of 2D images transmitted from the scanner 1 . If the two-dimensional image is not identified and distinguished, a problem arises in that three-dimensional data is generated based on an incorrect set of two-dimensional images. Illustratively, if the two-dimensional image is not identified, nine pattern images from the P2 pattern image to the P10 pattern image projected at a specific point in time and one pattern image of the P1 pattern image projected at the next point in time at a specific point in time are one of 3D data can be created. In this case, the generated three-dimensional data may have an inaccurate shape, and there is a risk of lowering the reliability of the three-dimensional data. Accordingly, the process of classifying the two-dimensional image so that the different pattern images form one set by the identification unit 50 has an advantage of improving the reliability of the three-dimensional data.

The identification unit 50 may perform the identification process by assigning an index to all the two-dimensional images acquired by the photographing unit 20, but may also perform the identification process using other methods. Illustratively, the two-dimensional image identification process by the identification unit 50 is at least one of the first obtained two-dimensional image and the last obtained two-dimensional image (eg, a P1 pattern image, or a P10 pattern image, or The P1 pattern image and the P10 pattern image) may be assigned an index, and it may be performed by checking whether a total of 10 two-dimensional images are acquired between them. That is, 'identification' may mean to distinguish a two-dimensional image used to generate each three-dimensional data, and in addition to the above-described methods, any one of various known methods is used to distinguish a two-dimensional image. may be used.

In addition, the sub-processing unit 40 determines whether the connection unit 60 is connected to the scanner 1 and the main processing unit 2, based on the result of determining whether the row stored in the storage unit 30 through the communication unit 70 is Data and/or preprocessing data may be controlled to be transmitted to the main processing unit 2 . The connection unit 60 determines whether the scanner 1 and the main processing unit 2 are connected after the scan by the photographing unit 20 is finished. For example, whether the scanner 1 and the main processing unit 2 are connected may be determined based on whether they can interact electrically and communicatively. The communication unit 70 may transmit the raw data and/or preprocessing data stored in the storage unit 30 to the outside according to the control signal of the subprocessing unit 40 . As the wireless communication method used by the communication unit 70 , various communication technologies such as Wi-fi, ZigBee, Bluetooth, LoRa, etc. which are typically used in the wireless communication field may be used. However, it is not necessarily limited to the communication technology mentioned in the present invention, and data stored in the storage unit 30 is transmitted to the main processing unit 2 by a wired connection between the scanner 1 and the main processing unit 2 . may be

Data transmitted from the communication unit 70 included in the scanner 1 is received by the main processing unit 2 formed outside the scanner 1 . The main processing unit 2 may complete a process that has not been completed in the sub-processing unit 40 of the scanner 1 . In this case, the uncompleted process is a process of generating 3D data from a set of raw data (2D images) in the subprocessing unit 40, or performing a first alignment (local alignment) between these 3D data. It may be a process of performing the first alignment (local alignment), or it may be an operation of performing an overall additional alignment (global alignment or second alignment) between data on which the first alignment (local alignment) has been previously performed. In this case, the alignment process may be described as a concept including at least one of a first alignment and a second alignment. The alignment process may use an Iterative Closest Point (ICP) algorithm. For example, a common region of the first 3D data and the second 3D data may be derived and combined.

In addition, the main processing unit 2 performs an aligning process (first aligning step and second aligning step) on the 3D image data already generated through the scanner 1 , so as to set a group of data as a whole. ) can be created. That is, the aligned 3D data may constitute a data set constituting an upper jaw, a data set constituting a mandible, and a data set constituting an occlusion, respectively.

Meanwhile, according to the present embodiment, when the main processing unit 2 receives only raw data, which is two-dimensional image data, through the communication unit 70 of the scanner 1, the main processing unit 2 receives the received two-dimensional image data. is converted into 3D data, a first alignment (local alignment) between 3D image data, and a group of data sets of 3D data generated through the first alignment (for example, the maxilla The second alignment (global alignment) of the data set forming the mandible, the data set forming the mandible, and the data set forming the occlusion) may be sequentially performed. On the other hand, a plurality of 2D images are combined with each other to form one 3D data shot. Alignment is performed between these 3D data shots (that is, the newly acquired 3D data shot is aligned with the previous 3D data shot). ) is called first alignment (local alignment). Also, the overall alignment of all 3D data shots on which the first alignment has been performed is referred to as a second alignment (global alignment).

Meanwhile, the main processing unit 2 may be a cloud-type processor. Since the sub-processing unit 40 must select an appropriate processor according to the size and standard of the scanner 1 , the amount and speed of data that can be processed by the sub-processing unit 40 may be limited. Accordingly, for example, the sub-processing unit 40 controls the identification unit 50 to classify raw data according to a predetermined criterion, and generates 3D data, a first alignment operation, and an additional alignment operation. Data merging through (second alignment) may be performed in the cloud-type main processing unit 2 . At this time, the main processing unit 2 may be formed to be physically spaced apart from the scanner 1 , and receive data through the communication unit 70 of the scanner 1 to receive the final three-dimensional data (the entire interior of the merged oral cavity). 3D model) can be created. Since the main processing unit 2 is formed in a cloud form, there is an advantage that high-speed operation of data from a device (scanner) with relatively low performance is possible through cloud computing.

In the post-processing system of scan data according to the present invention, the scanner 1 may be operated wirelessly. When the scanner 1 is operated wirelessly, the restrictions placed on the user (or the therapist) when using the scanner 1 are minimized. In order to implement a wireless environment, the scanner 1 may be independently powered. Therefore, the scanner 1 used in the post-processing system of scan data according to the present invention includes a photographing unit 20 , a storage unit 30 , a sub-processing unit 40 , an identification unit 50 , a connection unit 60 , and a communication unit. 70 , and a power supply unit 80 for supplying power to drive the feedback unit 90 may be further included. Various types of power may be used as the power supply unit 80 , but a battery for supplying DC power may be used to stably supply power to each part constituting the scanner 1 . At this time, the battery may be in the form of a standardized AA, AAA, 9V battery, etc., or a lithium-ion type rechargeable battery designed in consideration of the standard of the scanner 1 .

Hereinafter, the operation of the sub-processing unit 40 in the second embodiment will be described in detail.

In the second embodiment, the sub-processing unit 40 may control to store the raw data obtained by the photographing unit 20 in the storage unit 30 . In addition, the sub-processing unit 40 divides the obtained raw data according to a predetermined criterion, 3D data generated based on the raw data, and preprocessing data including a first alignment of the generated 3D data. It can also be controlled to be stored in the storage unit 30 . Thereafter, the preprocessing data stored in the storage unit 30 may be transmitted to the main processing unit 2 when the scanner 1 is electrically connected to the main processing unit 2 .

The sub-processing unit 40 may generate preprocessing data. For example, the sub-processing unit 40 may classify the plurality of raw data according to the operation of the identification unit 50 . As another example, the sub-processing unit 40 may generate 3D data from a plurality of raw data (2D images). As another example, the sub-processing unit 40 may first align (locally align) the 3D data generated from the raw data to generate concatenated and aligned data. At this time, in the first alignment process, a common area of the first 3D data and the second 3D data is derived and combined, and a common area of the second 3D data and the third 3D data is derived and combined. It may mean a sequential connection and alignment process. The first alignment process may use an Interactive Closest Point (ICP) algorithm. The preprocessing data generated by the sub-processing unit 40 may be transmitted to the main processing unit 2 .

Meanwhile, data transmitted from the communication unit 70 included in the scanner 1 is received by the main processing unit 2 formed physically separated from the scanner 1 . The main processing unit 2 may complete a process that has not been completed in the sub-processing unit 40 of the scanner 1 . In this case, the uncompleted process may be an alignment process, wherein the alignment process is an overall additional alignment (global alignment, second alignment) between preprocessing data for which the first alignment (local alignment) has already been performed. ) may be a task to be performed. Illustratively, in the second alignment process, all 3D data generated by the sub-processing unit 40 such as first 3D data, second 3D data, and third 3D data and on which the first alignment process is performed can be connected as a whole. As described above, the alignment process may use an ICP (Interactive Closest Point) algorithm.

When the main processing unit 2 receives the raw data and the preprocessing data, which are two-dimensional images, through the communication unit 70 of the scanner 1, the main processing unit 2 performs the sub-processing unit ( 40), it is possible to generate the final 3D data by performing the process that was not completed. In this case, the process that is not completed in the sub-processing unit 40 may be a second alignment (global alignment) process for connecting the preprocessing data as a whole.

Hereinafter, a case in which an alignment failure occurs in which alignment between 3D data becomes impossible while an alignment process is performed will be described. The alignment process (eg, the first alignment process) aligns between the first 3D data and the second 3D data, and then aligns between the second 3D data and the third 3D data. proceeds sequentially. In this case, when the alignment process between the second 3D data and the third 3D data fails, conventionally, the scan is not performed until the alignment process is successful. However, in the post-processing system for scan data according to the present invention, the sub-processing unit 40 according to the first embodiment does not perform an alignment process, and the scanner 1 is connected to the main processing unit 2 before being connected to the main processing unit 2 . In this case, the alignment process may not be performed, and in this case, the alignment failure cannot be confirmed. Therefore, in the stage in which the scan is performed by the photographing unit 20, raw data is continuously acquired regardless of whether the alignment fails, and then group data is generated when the main processing unit 2 determines the alignment failure. can

Exemplarily, if the alignment process between the second 3D data and the third 3D data fails, one 3D data group (first 3D data group) combined by the alignment of the first 3D data and the second 3D data group data), and a new 3D data group (second group data) may be generated again from the third 3D data. Thereafter, when a common area is generated between the group data, an additional alignment process between the group data is performed based on the common area to generate one 3D model. In this way, according to the present invention, when the scanner 1 performs a scan, the scanning process can be continuously performed regardless of whether the alignment is successful or not, and when the alignment is not performed based on the obtained raw data There is an advantage in that the scan speed is dramatically improved.

Meanwhile, in the second embodiment, while the first alignment between the respective 3D data is performed in the sub-processing unit 40, the first alignment between the 3D data (pre-processing data) becomes impossible. When a printing failure occurs, the sub-processing unit 40 may transmit an error signal. Exemplarily, if the sub-processing unit 40 determines that alignment failure between the three-dimensional data is aligned, the sub-processing unit 40 transmits an error signal to the feedback unit 90 . In this case, the feedback unit 90 may be an actuator that notifies the user of the alignment failure tactilely. The feedback unit 90 receiving the error signal may notify the user of the alignment failure by using at least one of various vibration patterns such as one-time vibration, vibration of a certain period, or continuous vibration. Even if the scanner 1 is not connected to the main processing unit 2 , the user can detect whether or not the alignment has failed at the site performing the scan, and can perform the scanning process more closely.

In addition, when the scanner 1 is communicatively connected to the main processing unit 2 , the sub-processing unit 40 sends an error signal to the main processing unit 2 so that the user can display the alignment error display unit 3 . It allows you to visually check the point of occurrence of the alignment error. Accordingly, the user can detect the alignment failure through the feedback unit 90 when the scanner 1 is not connected with the main processing unit 2 , and the scanner 1 is connected with the main processing unit 2 . In this case, an alignment failure may be detected through the feedback unit 90 and the alignment error display unit 3 .

As a method of notifying the user of the alignment failure, various methods such as an audible method through an alarm of a separately provided alarm sound generator (not shown) and a combination with the above-described methods may be used.

Hereinafter, a post-processing method of scan data will be described.

4 to 6 are schematic flowcharts of a method for post-processing scan data according to the present invention.

1 to 6 , in the method for post-processing scan data using the post-processing system for scan data according to the present invention, light incident from the opening of the scanner is received by the camera 21 of the photographing unit 20 . The step S2 and the received light may include a raw data (two-dimensional image) acquisition step S3 of acquiring raw data by the imaging sensor 23 of the photographing unit 20 . In the scanning step (S2), the patient's affected part (meaning teeth, gums, etc.) is photographed by inserting (retracting) the scanner 1 into the oral cavity so that the opening of the scanner 1 faces the interior of the oral cavity. Light refracted or reflected from the patient's affected part is incident through the opening and is received by the camera 21 , and the imaging sensor 23 analyzes the light received by the camera 21 to generate a two-dimensional image. At this time, a plurality of data generated as a two-dimensional image by photographing an affected part of the patient may be collected to generate one three-dimensional data. According to the present invention, raw data corresponding to an image shot required for forming at least one 3D data may be stored in a storage medium (storing step). Meanwhile, the storage medium may be interpreted as having the same meaning as the storage unit 30 as described above.

Meanwhile, in the storage step, when the raw data required to form at least one 3D data is stored, the scan ends, and the raw data stored in the storage medium may be transmitted to the main processing unit 2 formed outside the scanner (transmission step) ). In this case, the data transmitted to the main processing unit 2 may be raw data and data obtained by dividing the raw data according to a predetermined criterion. Also, the data transmitted to the main processing unit 2 may be 3D data generated based on the raw data. In addition, the data transmitted to the main processing unit 2 may be data that has been first aligned (locally aligned) by the sub-processing unit 40 . Alternatively, when the main processing unit 2 performs both the first alignment and the second alignment, only raw data stored in the storage medium may be transmitted to the main processing unit 2 .

On the other hand, in order to illuminate the inside of the oral cavity by applying a sufficient amount of light when the photographing unit takes a picture of the inside of the oral cavity (the patient's affected part), the light from the projector 22 formed inside the scanner 1 so as to be disposed on one side of the photographing unit 20 A light irradiation step (S1) for generating may be further included. The light generated in the light irradiation step S1 may preferably be light having a wavelength in the visible ray region. In addition, the light generated from the projector 22 may have a form of structured light for converting a 2D image into 3D data. When raw data (two-dimensional image) is obtained by irradiating light having the form of structured light into the oral cavity, three-dimensional data may be generated from depth information of the obtained raw data.

In the post-processing method of scan data according to the present invention, from the raw data obtained in the above-described process, the sub-processing unit 40 may generate 3D data, and a first alignment between 3D data (local alignment) It may include a preprocessing step (S4) to perform. In this case, the 3D data may be a shot of the 3D data before being generated in the form of one whole 3D volume data set. That is, it may mean shots of three-dimensional data before forming a data set as one mandibular data, one maxillary data, or one occlusal data. Meanwhile, the raw data and the 3D data obtained according to the above-described process, and the first alignment performance data between shots of the 3D data may be stored in the storage unit 30 formed inside the scanner 1 .

The three-dimensional image data generated in the pre-processing step S4 may then be transmitted to the main processing unit 2 through the communication unit 70 formed in the scanner 1 to be second aligned (global alignment) ( S5). In this case, the transmitted data may be at least one of raw data, 3D data generated by the subprocessing unit 40 , or data on which first alignment is performed on shots of 3D data. Raw data, 3D data, or data on which the first alignment is performed are stored in the storage unit 30 formed inside the scanner 1 , and loaded by the sub-processing unit 40 to communicate with the communication unit 70 . through the main processing unit 2 . Various methods may be used for data transmission, but wireless communication methods such as Wifi, ZigBee, Bluetooth, and LoRa, which are known as wireless communication methods, may be used. In this way, data is transmitted using the wireless communication method, and since it is possible to use the scanner 1 substantially wirelessly, there is an advantage in that the user's degree of freedom in using the scanner 1 increases.

Meanwhile, the main processing unit 2 may be a hardware computer server, but may be a cloud-type processor. When cloud computing is used, high-speed operation using the cloud system is possible even in a device with relatively low performance, which is efficient, and there is an economic advantage because it is not necessary to equip the scanner 1 with an expensive processor.

The three-dimensional data transmitted to the main processing unit 2 is fully aligned with respect to the overlapping parts, a main processing step is performed (S6). By performing the alignment process, each 3D data may be performed up to the second alignment. More specifically, the 3D data on which the first alignment process is performed may be formed as a set of maxillary volume data, mandibular volume data, and occlusal volume data, respectively, and the data on which the second alignment process is performed is the patient's It can be the final three-dimensional data representing the entire oral cavity.

On the other hand, when the pre-processing step S4 is not performed in the sub-processing unit 40 and only raw data is obtained from the scanner 1 and only the raw data is transmitted to the main processing unit 2, the main processing step ( S6) may form 3D data from a plurality of raw data, and first align and second align the 3D data to generate final 3D data.

Meanwhile, referring to FIG. 5 , when the first alignment and the second alignment processes are performed in the main processing unit 2 , it is determined whether an alignment failure occurs in the main processing step S6 ( S7 ). If an alignment failure occurs in the main processing step S6, the main processing unit 2 transmits an error signal indicating the alignment failure to the alignment error display unit 3 (S71).

In this case, the alignment failure means a state in which alignment is impossible due to a low data density in the process of aligning 3D data to be connected to each other. When the first alignment or the second alignment becomes impossible, the entire dental data in the oral cavity desired by the user cannot be obtained. Therefore, it is necessary to provide feedback to the user of the fact that an alignment failure has occurred during the first alignment step or the second alignment step.

In the post-processing method of scan data according to the present invention, the alignment error display unit 3 that receives an error signal from the main processing unit 2 and is electrically connected to the main processing unit 2 is provided to the main processing unit 2 . An error signal notifying the alignment failure may be transmitted by the user interface, and a point where the alignment failure occurred may be displayed on the user interface of the display screen. The user may then improve the reliability of data by performing additional scans only on the point where the alignment failure occurred on the display screen. When the alignment failure is resolved, the main processing unit 2 may determine that sufficient data necessary for the alignment process has been collected, and may continuously perform the alignment process (S8).

Also, when the first alignment process is performed in the sub-processing unit 40 , the scanner 1 itself may notify the user of the alignment failure. Referring to FIG. 6 , it is determined whether an alignment failure occurs in the preprocessing step S4 (S41). If an alignment failure occurs in the preprocessing step S4, the sub-processing unit 40 transmits an error signal indicating the alignment failure to the above-described feedback unit 90 (S42).

In the post-processing method of scan data according to the present invention, the feedback unit 90 receiving the error signal from the sub-processing unit 40 may generate vibrations at the point in time when the alignment failure occurs. The user can easily check the fact that an alignment failure has occurred at the point in time when the vibration is sensed, and the reliability of data can be improved by performing additional scans on the part scanned at the time point. When the alignment failure is resolved, the sub-processing unit 40 may determine that sufficient data necessary for the alignment process has been collected, and may continuously perform the alignment process (S43).

Meanwhile, when an alignment failure occurs in the alignment process, data before the alignment failure occurs may be grouped to form group data, and data after the alignment failure may be grouped to form new group data. The process of generating group data when the alignment fails is the same as described above.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

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

[Explanation of code]

1: Scanner 10: Case

20: photographing unit 21: camera

22: projector 23: imaging sensor

30: storage unit 40: sub-processing unit

50: identification unit 60: connection unit

70: communication unit 80: power supply unit

90: feedback unit

2: Main processing unit 3: Alignment error display unit

S1: Light irradiation step S2: Scanning step

S3: Raw data acquisition step S4: Pre-processing step

S41: alignment error determination step S42: feedback step

S43: Repeat step

S5: data transfer step S6: main processing step

S7: alignment error determination step S71: feedback step

S8: Repeat step

The present invention relates to a scan including a scanner for scanning an object, and a main processing unit that is physically spaced apart from the scanner and performs at least one of an alignment process and a final 3D data generation process based on data obtained from the scanner A data post-processing system is provided.

Claims

a scanner that scans the object; and

A main processing unit that is formed to be physically spaced apart from the scanner and performs at least one of an alignment process and a final three-dimensional data generation process based on data obtained from the scanner;

The scanner is

a photographing unit for acquiring a plurality of two-dimensional images;

a storage unit for storing the two-dimensional image obtained from the photographing unit;

a connection unit for determining whether the main processing unit is connected; and

When the scanner is connected to the main processing unit, the communication unit for transmitting the stored two-dimensional image to the main processing unit; includes,

The main processing unit generates 3D data based on the transmitted 2D image, and aligns at least two or more of the 3D data.
The method according to claim 1,

The scanner is

The post-processing system of scan data further comprising; a sub-processing unit for transmitting a control signal to the photographing unit.
3. The method according to claim 2,

The photographing unit,

a projector irradiating light toward the object; and

Including; a camera for receiving the light reflected from the object;

The sub-processing unit transmits an optical output signal to the projector,

and the camera acquires the two-dimensional image according to the optical output signal.
The method according to claim 1,

The scanner is

Further comprising; an identification unit for dividing the obtained plurality of two-dimensional images into a first two-dimensional image and a second two-dimensional image,

The main processing unit is

The post-processing system of scan data, characterized in that generating first 3D data based on the first 2D image and generating second 3D data based on the second 2D image.
The method according to claim 1,

The main processing unit is

A post-processing system for scan data, characterized in that generating group data when alignment fails, and aligning at least two or more of the group data.
a scanner that scans the object; and

A main processing unit that is formed physically spaced apart from the scanner and performs at least one of an alignment process and a final three-dimensional data generation process based on data acquired from the scanner;

The scanner is

a photographing unit for acquiring a plurality of two-dimensional images;

a sub-processing unit performing processing based on the two-dimensional image;

a storage unit for storing the preprocessing data generated by the subprocessing unit;

a connection unit for determining whether the main processing unit is connected;

a transmission unit for transmitting the pre-processing data to the main processing unit when the scanner is connected to the main processing unit;

and the main processing unit generates final 3D data based on the received preprocessing data.
7. The method of claim 6,

The sub-processing unit,

A post-processing system for scan data, characterized in that alignment is performed based on the pre-processing data.
8. The method of claim 7,

The scanner is

The post-processing system of scan data further comprising; a feedback unit that generates feedback when the alignment fails.