WO2022177259A1 - 3차원 스캐너용 캘리브레이션 크래들 - Google Patents
3차원 스캐너용 캘리브레이션 크래들 Download PDFInfo
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- WO2022177259A1 WO2022177259A1 PCT/KR2022/002202 KR2022002202W WO2022177259A1 WO 2022177259 A1 WO2022177259 A1 WO 2022177259A1 KR 2022002202 W KR2022002202 W KR 2022002202W WO 2022177259 A1 WO2022177259 A1 WO 2022177259A1
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- case
- moving
- scanner
- calibration
- pattern plate
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0068—Confocal scanning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
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- A—HUMAN NECESSITIES
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- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
- A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2560/04—Constructional details of apparatus
- A61B2560/0456—Apparatus provided with a docking unit
Definitions
- the present invention relates to a calibration cradle for a three-dimensional scanner (CALIBRATION CRADLE FOR THREE DIMENSIONAL SCANNER), and more particularly, to improve the calibration accuracy of the three-dimensional scanner and to improve user convenience when performing calibration. It's about the cradle.
- An intraoral scanner is a type of 3D scanner that acquires a plurality of optical images of a target object through a series of scanning sequences and generates 3D model data of the target object by using them.
- the intraoral scanner refers to a device configured to acquire a series of optical images of a body part, particularly, structures in the oral cavity, such as teeth and gums, among these three-dimensional scanners.
- the intraoral scanner may be provided to replace a portion of the intraoral scanner (eg, a probe tip or tip case provided with a reflective member) for sanitary purposes.
- a portion of the intraoral scanner eg, a probe tip or tip case provided with a reflective member
- the intraoral scanner is generally provided with a calibration tool as a separate accessory.
- the calibration is performed by allowing all of the optical paths of the scanner including the probe tip (or tip case) provided to be replaced inside the receiving part formed in the calibration tool. Accordingly, since the reversal phenomenon occurs by the optical member provided inside the probe tip (or tip case), there is a problem in that the accuracy of calibration is reduced. In addition, there is a problem in that the accuracy of calibration is deteriorated even when foreign substances such as fogging or water are interposed in the optical member of the probe tip (or tip case).
- the present invention has been devised to solve the above technical problem, and in order to perform more accurate calibration of the 3D scanner, the 3D scanner can be inserted and seated in the calibration cradle with the tip case including the optical member removed. It aims to provide a cradle.
- another object of the present invention is to provide a calibration cradle for a 3D scanner that is provided such that a pattern plate is automatically moved when the 3D scanner is inserted and seated in order to perform more accurate calibration of the 3D scanner and improve user convenience. do it with
- the calibration cradle for a three-dimensional scanner includes a fixed case having an internal space, a pattern plate provided inside the fixed case, and provided to calibrate a three-dimensional scanner including a camera, the camera At least a part of the 3D scanner is inserted to face the pattern plate, and the 3D scanner moves at least one of a rotational movement and a vertical movement to move at least one of a moving case and the moving case and the pattern plate. It includes a moving driving unit that provides a driving force.
- the moving case is moved up and down by the moving driving unit, the pattern plate is disposed inclined to one side inside the fixed case, is rotated by the moving driving unit, and the moving case or the pattern plate is moved During the operation, the angle between the optical axis of the light irradiated from the 3D scanner to the pattern plate and the rotation axis of the pattern plate may be maintained.
- the moving driving unit includes a case moving unit that moves the moving case up and down and a pattern moving unit that rotates and moves the pattern plate, and when the case moving unit and the pattern moving unit stop, the camera for performing calibration is operation, and at least one of the case moving unit and the pattern moving unit may move.
- the moving case unit includes a case driving motor passing through a moving panel provided in a horizontal direction to be connected to the moving case inside the moving case, and at least one panel guide unit for guiding vertical movement of the moving panel. can do.
- At least one of a vertical moving sensing unit sensing the vertical movement of the moving case and a pattern rotation sensing unit sensing rotation of the pattern plate may be provided inside the fixed case.
- a seating portion on which at least a portion of the 3D scanner is mounted is provided on the upper surface of the moving case, and a mounting sensor for detecting seating of the 3D scanner may be provided on the moving case adjacent to the seating portion.
- the mounting sensor may be provided in the form of a tact switch in contact with the 3D scanner inserted through the seating part.
- the moving case may be rotated and moved up and down by the moving driving unit, and the pattern plate may be disposed and fixed to be inclined to one side inside the fixed case.
- the moving case rotates and moves up and down, the angle between the optical axis of the light irradiated from the 3D scanner to the pattern plate and the pattern plate may be maintained.
- the moving case is provided on the inside so as to be in contact with the inner circumferential surface of the fixed case
- the moving driving unit includes a case driving motor having a rotation shaft vertically extending toward the moving case and the outer circumferential surface of the moving case passing through the fixed case. and a guide member inserted into a spiral groove formed at the tip to guide the rotational movement of the moving case, wherein the spiral groove is along the outer circumferential surface of the moving case so that the moving case can rotate and vertically move It may be provided so as to surround it in a spiral shape.
- the moving driving unit may include a spur gear connected to the rotation shaft of the case driving motor to rotate interlockingly, and a spur internal tooth gear formed on an inner circumferential surface of the moving case and meshed with the spur gear.
- the spur internal gear is formed on the inner peripheral surface of the moving case, it may have a vertical height corresponding to the vertical height of the spiral groove.
- the moving driving unit may include a driving pulley provided at the front end of the rotation shaft of the case driving motor, a spur gear disposed parallel to the rotation shaft of the case driving motor, a driven pulley coaxially connected to the rotation shaft of the spur gear, and the driving pulley; and a connection belt wound around the driven pulley and rotated to mesh, and the driving pulley, the driven pulley, and the connection belt may be provided in a mutually geared meshing form.
- the moving driving unit may be operated by receiving power from a rechargeable battery provided in the fixed case, and the rechargeable battery may be charged wirelessly or by wire.
- the 3D scanner may include a light projector from which light is emitted, and the light emitted from the light projector may be directly irradiated onto the pattern plate without refraction.
- the initial position of the 3D scanner for performing calibration is, It may be set differently depending on the distance between the camera and the optical member of the removed tip case.
- the pattern plate is provided such that the pattern plate is relatively linearly reciprocally moved and/or rotated, thereby improving user convenience.
- FIG. 1 is a perspective view showing an example of a 3D scanner applied to a calibration cradle for a 3D scanner according to the present invention
- Figure 2 is an exploded perspective view of Figure 1
- FIG. 3 is a state diagram showing a calibration cradle for a three-dimensional scanner according to an embodiment of the present invention
- FIG. 4 is an exploded perspective view showing a state in which the three-dimensional scanner of FIG. 3 is separated;
- FIG. 5 is a cross-sectional view showing the effect of the calibration cradle for a three-dimensional scanner according to an embodiment of the present invention
- Figure 6 is a cut-away perspective view of Figure 3,
- FIG. 7 is a state diagram showing a calibration cradle for a three-dimensional scanner according to another embodiment of the present invention.
- FIG. 8 is an exploded perspective view showing a state in which the three-dimensional scanner of FIG. 7 is separated;
- FIG. 9 is a cutaway perspective view and a cross-sectional view to which an example of a moving driving unit is applied among the configuration of FIG. 7;
- FIG. 10 is a cutaway perspective view and a cross-sectional view to which another example of the moving driving unit is applied among the configuration of FIG. 7;
- FIG. 11 is a perspective view and a cross-sectional view illustrating an example of a linear reciprocating design of a calibration cradle for a three-dimensional scanner according to an embodiment of the present invention.
- pattern rotation detection unit 240 installation block
- FIG. 1 is a perspective view illustrating an example of a 3D scanner applied to a calibration cradle for a 3D scanner according to the present invention
- FIG. 2 is an exploded perspective view of FIG. 1 .
- the three-dimensional scanner 1 applied to the calibration cradle for a three-dimensional scanner according to an embodiment of the present invention is to be coupled to the main body case 10 and the main body case 10, as shown in FIGS. 1 and 2 . It may include a tip case 14 that can be used.
- a camera 20 may be disposed inside the body case 10 .
- the tip case 14 may be provided with an opening 16 that is opened so that an image is introduced into the inside in the form of light through one end.
- the opening 16 may be an inlet through which external light flows into the tip case 14 .
- the light incident through the opening 16 is transmitted through the camera 20 .
- the light transmitted through the camera 20 is imaged through imaging sensors 31b and 32b provided on imaging boards 31a and 32a to be described later.
- the camera 20 may include at least two or more transmissive lenses capable of focusing on an image.
- an example of the three-dimensional scanner 1 according to the present invention further includes imaging boards 31a and 32a having imaging sensors 31b and 32b for imaging the light transmitted through the camera 20, respectively. can do.
- a camera control board on which an electric component for controlling the operation of the camera 20 is mounted and an electric field for processing the scanned image It may further include a scanning control board on which the component is mounted.
- the body case 10 includes the aforementioned camera 20, imaging boards 31a and 32a, a camera control board (not shown) and a scanning control board (not shown), such as It serves to provide a predetermined space so that a plurality of electronic components are embedded.
- the main body case 10 is provided on the upper side of the lower case 12, the lower case 12 having a predetermined space in which the plurality of electrical components are built-in, and the lower case 12, as shown in FIG. It may include an upper case 13 detachably coupled to the lower case 12 to cover the components.
- the light incident into the body case 10 through the opening 16 means 'incident light', and the light emitted through the opening 16 inside the body case 10 is 'exit light', which will be described later. It means irradiation light irradiated from the light projector 70 .
- the internal structure of the tip case 14 may be formed as a light guide structure in which the incident light and the emitted light are easily irradiated to the inside and outside of the body case 10 .
- the opening 16 is formed to be opened in one direction orthogonal to the longitudinal direction of the tip case 14 , and an optical member 60 to be described later may be disposed in the opening 16 .
- connection block 18 may be further provided.
- the connection block 18 may serve to enable stable calibration by being inserted into and mounted in a calibration cradle 100 to be described later.
- an embodiment of the three-dimensional scanner 1 according to the present invention is disposed inside the body case 10 , and has an opening 16 formed at one end of the tip case 14 .
- the emitted light irradiated from the light projector 70 is refracted through the optical member 60 of the tip case 14 and emitted to the measurement target object, and at the same time, the output light reflected by the measurement target object is reflected in the tip case in the form of incident light.
- the image is processed by the imaging sensors 31b and 32b of the imaging boards 31a and 32a after being incident through the optical member 60 of 14 and passing through the camera 20 provided in the body case 10.
- the optical member 60 provided in the tip case 14 may be provided with any one of a prism or a mirror.
- FIG. 3 is a state diagram showing a calibration cradle for a 3D scanner according to an embodiment of the present invention
- FIG. 4 is an exploded perspective view showing a state in which the 3D scanner of FIG. 3 is separated
- FIG. 5 is an embodiment of the present invention
- FIG. 6 is a cutaway perspective view of FIG. 3 .
- An embodiment 100A of a calibration cradle for a 3D scanner according to the present invention relates to a calibration cradle for a 3D scanner described with reference to FIGS. 1 and 2 .
- the three-dimensional scanner 1, in which calibration is performed through the calibration cradle 100A in this embodiment is freely portable by the user, and the front end of the tip case 14 is inserted into the patient's oral cavity, so that the tip It is characterized in that scanning is performed through the optical member 60 provided inside the case 14 .
- the optical member 60 is a light emitted by the light projector 70 and reflected therefrom in order to easily scan the inside of the patient's narrow oral cavity. It is provided so that it can be easily scanned by refracting incident light in the form of reflected light.
- a foreign material such as oral moisture of a patient is attached to the optical member 60 during oral scanning of a patient using the three-dimensional scanner 1
- accurate calibration may not be performed. Therefore, in one embodiment 100A of the calibration cradle for a three-dimensional scanner according to the present invention, in order to minimize the negative influence of the optical member 60, the tip case 14 including the optical member 60 is separated. A dedicated cradle (100A) for only the three-dimensional scanner (1) of the state is provided.
- An embodiment 100A of the calibration cradle for a three-dimensional scanner according to the present invention is coupled to the upper portion of the fixed case 110 and the fixed case 110 having an internal space, as shown in FIGS. 3 to 6 , However, it includes a moving case 120 that is provided to rotate relative to the fixed case 110 or move in the vertical direction, and forms a dark room between the fixed case 110 and the fixed case 110 .
- a seating portion 130 into which the fitting portion is inserted may be provided.
- the seating unit 130 is provided to communicate the internal space and the external space formed by the moving case 120 , and the three-dimensional scanner 1 shakes vertically on the upper part of the moving case 120 during the calibration process. It plays a role of stably mounted without this. Therefore, the seating portion 130 is preferably formed in a shape in which the connection block 18 provided at the lower end of the three-dimensional scanner 1 is firmly fitted.
- connection block 18 may be exposed to protrude a predetermined length to the lower end of the main body case 10 when the tip case 14 is removed.
- the seating portion 130 is formed in a shape that can accommodate the connection block 18 protruding to the lower end of the body case 10 .
- an insertion setting protrusion for setting an insertion position of the connection block 18 may be formed to protrude from the seating portion 130 .
- the insertion setting protrusion is formed to protrude in the form of a rib on the inside of the seating part 130 , and may be formed to protrude in any shape, but the connection block 18 of the three-dimensional scanner 1 is connected to the seating part 130 . ), it is also possible to be formed in a structure that can prevent it from flowing in the inserted and seated state.
- an insertion setting groove (not shown) of a shape matching the insertion setting protrusion formed in the seating part 130 is to be formed.
- the insertion setting groove may be formed below the front end of the lower case 12 of the main body case 10 of the 3D scanner 1 .
- the three-dimensional scanner 1 may be coupled with an insertion setting groove formed at the lower end of the main body case 10 and an insertion setting protrusion formed on the seating part 130 while being formed with each other. Therefore, the user performing the calibration identifies the position of the insertion setting groove provided in the 3D scanner 1 and the insertion setting protrusion formed in the calibration cradle 100A of this embodiment, and connecting the 3D scanner 1 to the correct position.
- the block 18 can be inserted and seated, and the three-dimensional scanner 1 can be vertically supported so that the optical axis is stably maintained during the calibration process. Maintaining the optical axis through stable vertical maintenance of the 3D scanner 1 may improve the reliability of calibration.
- the moving case 120 or the pattern plate 250 is moved up and down, the above-described optical axis is maintained. More specifically, the optical axis of the light irradiated from the three-dimensional scanner 1 to the pattern plate 250 while the moving case 120 or the pattern plate 250 to be described later moves, and the pattern plate 250 or the pattern plate 250 ) between the axes of rotation can be maintained.
- the seating part 130 in which the 3D scanner 1 is inserted and seated is located at a location spaced apart from the center of the moving case 120 according to the position of the moving driving unit 205 or the moving method of the moving case 120 to be described later. can be
- a mounting sensor (refer to reference numeral 140 in FIG. 6 ) for detecting the insertion and seating of the 3D scanner 1 may be further provided inside the moving case 120 adjacent to the seating unit 130 .
- the mounting sensor 140 is provided in the form of a tact switch, and when the connection block 18 of the 3D scanner 1 inserted through the seating part 130 comes into contact, the electrical signal can be switched. have. To this end, it is preferable that the mounting sensor 140 is installed in a portion adjacent to the seating part 130 among the inside of the moving case 120 .
- the operation of the calibration cradle 100A for the three-dimensional scanner according to an embodiment of the present invention is prepared (stand-by), When a predetermined time elapses in the ready state, calibration may be performed automatically.
- an illuminance sensor for detecting a predetermined light may be further provided inside the fixed case 110 or the moving case 120 .
- the illuminance sensor detects when a predetermined light is irradiated from the light projector 70 by operating the 3D scanner 1 into an inner space forming a dark room, and determines a time when the moving driving unit 205 to be described later can be operated. criteria can be presented.
- a vertical moving sensing unit (refer to reference numeral 200 in FIG. 6 ) for detecting the vertical movement of the moving case 120 , and a pattern plate 250 . ) may be provided with at least one of a pattern rotation detection unit (refer to reference numeral 213 in FIG. 6 ) for detecting the rotation.
- a case in which the pattern rotation detection unit is not provided may be a case in which the pattern driving motor 210 is provided as a stepping motor. That is, since the step motor is provided to rotate by a set amount according to a pulse, a separate pattern rotation detecting unit is not required.
- the camera 20 of the 3D scanner 1 may operate.
- the stop process after rotation of the 3D scanner 1 is performed several times (eg, a total of 9 times) until the range of the completion position including the initial position of the calibration is performed, and the operation of the camera 20 for performing the calibration Also, it may be performed the same number of times.
- the moving up and down sensing unit is provided in the inner space of the fixed case 110 in a fixed state and detects the relative distance of the moving case 120 to the fixed case 110 that is moved up and down by the operation of the case driving motor 160 . perform the role
- the pattern rotation detection unit is provided in the inner space of the fixed case 110 in a fixed state and serves to detect the rotation of the pattern plate 250 axially rotated by the operation of the pattern driving motor 210 .
- the vertical movement detection unit and the pattern rotation detection unit may include any one of a photo sensor unit and a hall sensor unit.
- the photo sensor unit when the upper and lower moving sensing unit is the photo sensor unit, as shown in FIG. 6 , the photo sensor unit includes the photo sensor 200 fixed to the bottom surface of the fixed case 110 and the inside of the moving case 120 . It may include a detection lead (not shown) provided on the lower surface of the moving panel 150 provided in the horizontal direction.
- the photo sensor unit is fixed to one side of the pattern plate 250 in the fixed case 110 , and the photo sensor 213 , similar to the photo sensor in 3D. It may include a configuration and a detection lead (not shown) provided to move in association with the pattern plate 250 and to be illustrated as it is employed as a pattern rotation detection unit as it is illustrated.
- the detection lead may be fixed to a portion of the outer peripheral surface of the installation block 240 on which the pattern plate 250 is installed inclinedly and rotated in conjunction with the pattern plate 250 .
- the hall sensor unit 200 when the upper and lower moving sensing unit 200 is a hall sensor unit, although not shown in the drawing, the hall sensor unit includes a hall sensor fixed to the bottom surface of the fixed case 110 and a moving panel 150 of the moving case 120 . ) may include a detection magnet provided on the lower surface of the moving case 120 and linearly moved in association with the moving case 120 .
- the pattern rotation detection unit is a hall sensor unit, although not shown in the drawing, the hall sensor unit is provided on the outer circumferential surface of the installation block 240 in which the hall sensor fixed to the fixed case 110 and the pattern plate 250 are installed. It may include at least one detection magnet.
- the fixed case 110 and the moving case 120 may be combined with each other to form a predetermined dark room in which external light does not enter during the calibration process.
- the moving case 120 in a state in which the three-dimensional scanner 1 is inserted and seated is rotated relative to the fixed case 110 or moved in the vertical direction to be described later with a pattern plate 250 and three-dimensional. By changing the relative distance between the scanners 1, it is possible to perform calibration with more accurate reliability.
- an irradiation path of the emitted light and the incident light irradiated from the light projector 70 of the three-dimensional scanner 1 is provided.
- the irradiation path may be provided in the form of a dark room so as not to be influenced by external light. That is, when the three-dimensional scanner 1 is inserted and seated in the seating unit 130 , the internal space formed by the fixed case 110 and the moving case 120 forms a dark room with no light at all, and a three-dimensional (3D) scanner is performed to perform calibration.
- the light projector 70 of the scanner 1 When the light projector 70 of the scanner 1 is operated, only the incident light in the form of emitted light irradiated from the light projector 70 and reflected light reflected from the pattern plate 250 exists therein. At this time, the light emitted from the light projector 70 is a bar with the tip case 14 including the optical member 60 removed from the three-dimensional scanner 1, and is directed to a pattern plate 250 to be described later without refraction. can be directly investigated.
- FIGS. 3 to 6 An embodiment 100A of the calibration cradle for a three-dimensional scanner according to the present invention, as shown in FIGS. 3 to 6 , the moving case 120 is linearly moved in the vertical direction with respect to the fixed case 110, By changing the relative distance between the dimension scanner 1 and the pattern plate 250 to be described later and at the same time rotating the pattern plate 250 to be described later arranged to have a predetermined inclination, one pattern plate 250 This is an embodiment implemented so that calibration is performed more quickly using
- FIGS. 7 to 10 another embodiment 100B of the calibration cradle for a three-dimensional scanner according to the present invention referenced in FIGS. 7 to 10 is a moving case while fixing the pattern plate 250 to the inside of the fixed case 110 .
- 120 is an embodiment implemented to perform calibration while simultaneously moving relative rotation and vertical direction with respect to the fixed case 110 . This will be described in more detail later.
- an embodiment 100A of the calibration cradle for a three-dimensional scanner according to the present invention is provided in the fixed case 110, as shown in FIGS. 3 to 6, the three-dimensional scanner (1)
- It may further include a moving driving unit 205 to provide.
- the moving driving unit 205 may serve to provide a driving force to move at least one of the moving case 120 and the pattern plate 250 .
- a predetermined pattern (not marked) is printed or can be provided.
- Such a pattern plate 250 may be disposed to be inclined on the upper surface of the installation block 240 in which the upper surface portion is inclined at a predetermined angle.
- the inclination angle of the pattern plate 250 may be set to be 40 degrees or more and less than 50 degrees based on the vertical direction in which the optical axis is formed.
- each pattern formed on the pattern plate 250 has the same depth information (or height information) on the same surface when the pattern plate 250 is provided at right angles (ie, 90 degrees) with respect to the vertical direction of the optical axis.
- the calibration effect is increased by arranging the pattern plate 250 inclined at a predetermined angle with respect to the vertical direction of the optical axis.
- the moving driving unit 205 includes, as shown in FIG. 6 , a case moving unit 205A for moving the moving case 120 up and down, and a pattern moving unit 205B for rotating the pattern plate 250 . may include.
- the case moving unit 205A may include a case driving motor 160 , and at least one of the shaft bearing unit 151 and the panel guide unit 170 .
- the case driving motor 160 is provided in a horizontal direction to be connected to the moving case 120 inside the moving case 120 , and the moving panel 150 is provided in the horizontal direction.
- a rotating shaft 161 may be provided to vertically penetrate through the .
- the shaft bearing part 151 is interposed so that the rotating shaft of the case driving motor 160 passes through the through part of the moving panel 150 , and a spiral groove formed on the outer peripheral surface of the rotating shaft 161 of the case driving motor 160 . (not shown) may be fitted.
- the panel guide unit 170 is disposed to vertically penetrate the moving panel 150 , and may guide the vertical movement of the moving panel 150 .
- the moving panel 150 provided in the moving case 120 except for the optical paths of the emitted light and the incident light of the three-dimensional scanner 1 described above, the fixed case 120 and the inner space forming the horizontal It may be provided to completely partition in the direction.
- the above-described optical path is positioned on the optical axis for performing calibration, and for this purpose, the optical path hole 159 may be formed to penetrate vertically in the moving panel 150 .
- the at least one panel guide unit 170 may be a guide rod having a lower end fixed to the fixed case 110 side and an upper end penetrating through the moving panel 150 to be exposed upward.
- a guide bush 153 is interposed between the panel guide unit 170 and the penetrating portion of the moving panel 150 to minimize frictional force during vertical movement of the moving panel 150 .
- each of the stopping nuts 180 may be fixed to the upper end of the panel guide unit 170 .
- the stopping nut 180 may serve to limit the upper movement distance of the moving panel 150 .
- the rotating shaft 161 of the case driving motor 160 is not shown in detail in the drawings, but may be provided as a screw rod in which a spiral groove is formed to extend vertically in a certain portion.
- a bearing ball (not shown) of the shaft bearing part 151 fixed to the through part of the moving panel 150 is meshed with the case driving motor 160 .
- the moving panel 150 may be linearly moved upwards or downwards according to the rotational direction of the rotating shaft 161 of the .
- the moving pattern 205B is fixed to the lower portion of the fixed case 110 , and the pattern plate 250 is installed at an angle to the lower portion of the installation block 240 , the rotation shaft 211 .
- the vertically fixed pattern driving motor 210 may be included. That is, the pattern plate 250 is inclined to one side via the installation block 240 located inside the fixed case 110 , and the pattern driving of the pattern moving unit 205B among the moving driving unit 205 is configured.
- the motor 210 may rotate about the vertical axis.
- a rechargeable battery for supplying power to the moving driving unit 205 may be further provided in the inner space of the fixed case 110 , and the rechargeable battery may be charged with power in a wired or wireless manner.
- the case moving unit 205A of the moving driving unit 205 is configured.
- the case driving motor 160 is rotated in one direction, the moving panel 150 is linearly moved downward by the interaction between the rotating shaft 161 of the case driving motor 160 and the shaft bearing part 151 3
- the moving case 120 in which the dimension scanner 1 is inserted and seated is interlocked and moved downward.
- the pattern plate 250 may be moved by one rotation in an operation in which the rotation shaft 211 of the pattern driving motor 210 of the pattern moving part is rotated in one direction by 360 degrees,
- the moving case 120 may be linearly moved downward by “d1”.
- the case driving motor 160 rotating shaft 161 is continuously rotated in one direction during the configuration of the case moving part, and the pattern driving motor 210 is operated in the configuration of the pattern moving part.
- the rotating shaft 211 is rotated 360 degrees in one direction, the moving case 120 may be linearly moved downward by “d2” again.
- the camera 20 of the 3D scanner 1 may be operated to perform calibration during a stop process of the case moving unit 205A and the moving pattern moving unit 205B among the moving driving units 205 .
- the stopping process of the case moving unit 205A and the pattern moving unit 205B may be repeatedly performed several times (eg, a total of 9 times) to the completion position including the initial position of the calibration, and the camera 20 and the pattern plate ( 250), more calibration data can be obtained by changing the relative distance and the relative rotation angle.
- the relative distance (light) between the three-dimensional scanner 1 and the pattern plate 250 according to the case moving part and the pattern moving part. It may be possible to perform calibration based on various data while continuously changing the path distance) and the pattern depth difference of the pattern plate 250 .
- the moving driving unit 205 be provided separately into the case moving unit 205A and the pattern moving unit 205B, and like the calibration cradle 100B for a 3D scanner according to another embodiment of the present invention to be described later, While the pattern plate 250 is fixed inside the fixed case 110 , the same calibration effect can be achieved by driving only the moving case 120 to rotate relative to the fixed case 110 and move in the vertical direction.
- FIG. 7 is a state diagram showing a calibration cradle for a 3D scanner according to another embodiment of the present invention
- FIG. 8 is an exploded perspective view showing a state in which the 3D scanner of FIG. 7 is separated
- FIG. 9 is a configuration of FIG. A cutaway perspective view and a cross-sectional view to which an example of a moving drive unit is applied
- FIG. 10 is a cut-away perspective view and a cross-sectional view to which another example of the moving drive unit among the configuration of FIG. 7 is applied.
- the calibration cradle 100B for a 3D scanner may be rotated by the moving driving unit 205 and moved in the vertical direction as shown in FIGS. 7 to 10 .
- the moving case 120 may be provided to be in contact with the inner circumferential surface of the fixed case 110 as shown in FIGS. 7 to 10 .
- the outer circumferential surface of the moving case 120 does not necessarily have to be provided so as to be in contact with the inner circumferential surface of the fixed case 110, and it is also possible that the inner circumferential surface of the moving case 120 is provided so as to be in contact with the outer circumferential surface of the fixed case 110. would take it for granted
- the moving case 120 is provided to be rotated relative to the fixed case 110 to which the pattern plate 250 is fixed by the moving driving unit 205 and to be moved in the vertical direction at the same time. At this time, it is preferable that the seating part 130 and the pattern plate 250 into which the three-dimensional scanner 1 is inserted and seated so as not to change the optical axis are positioned at the center of rotation of the moving case 120 .
- the moving driving unit 205 includes a case driving motor 160 having a rotating shaft 161 vertically extending toward the moving case 120 and a rotating shaft 161 of the case driving motor 160, as shown in FIG. 9 . It may include a spur gear 163 provided at the front end and rotated interlockingly, and a spur internal tooth gear 123 integrally formed on the inner circumferential surface of the moving case 120 and meshed with the spur gear 163 .
- the case driving motor 160 is not necessarily provided inside the fixed case 110 , and as shown in FIG. 9 , the motor case 160C formed to protrude downward of the fixed case 110 . It is provided inside, and it is also possible that the rotating shaft 161 is disposed to be exposed to the inside of the fixed case 110 .
- the spur gear 163 must continuously transmit the rotational force of the case driving motor 160 while meshing with the spur internal tooth gear 123 , and the moving case 120 is vertically moving with respect to the fixed case 110 . Since the meshing should not be separated, at least the vertical height of the spur internal tooth gear 123 is preferably formed to correspond to the vertical height of the spiral groove 125 formed on the outer peripheral surface of the moving case 120 to be described later.
- the moving driving unit 205 is a guide member ( 175) may be included.
- the spiral groove 125 may be provided to surround the moving case 120 in a spiral shape along the outer circumferential surface of the moving case 120 so that the moving case 120 can rotate and vertically move at the same time.
- the spiral groove 125 is formed on the outer peripheral surface of the moving case 120, the moving case 120 may be grooved in a spiral shape having a predetermined pitch interval to be made at least 3 rotations or more.
- the guide member 175 may be provided with one or more, for example, may be a guide bolt.
- a pair is provided to be spaced apart at regular intervals (for example, 180 degrees apart) based on the center of the fixed case 110, and the inner end thereof is provided in a spiral shape. It may be inserted into the spiral groove 125 side.
- the tip of the guide member 175 is inserted into the spiral groove 125 formed on the outer circumferential surface of the moving case 120 , so the moving The case 120 is rotated along the spiral groove 125 while rotating the 3D scanner 1, and the 3D scanner 1 is moved upward or downward by the entire pitch distance of the spiral groove 125.
- the relative distance between the and the pattern plate 250 may be changed in a linear direction.
- the pattern plate 250 is inclined with respect to the upper surface of the installation block 240 fixed inside the fixed case 110, the three-dimensional scanner 1 and the pattern according to the rotation of the moving case 120.
- the plate 250 may form various imaging plane angles.
- the rotational speed and the vertical moving speed of the moving case 120 are based on the gear ratio between the spur gear 163 and the spur internal gear 123, assuming that the case driving motor 160 rotates at the same rotational speed. can be determined by This is because the spur gear 163 is provided to be directly connected to the rotation shaft 161 of the case driving motor 160 .
- the spur gear 163 may be directly connected to the rotation shaft 161 of the case driving motor 160 . That is, the spur gear 163 may be disposed parallel to the rotation shaft 161 of the case driving motor 160 , and may transmit the driving force of the case driving motor 160 to the spur gear 163 in a belt driving manner.
- the moving driving unit 205 includes a driving pulley 165 provided at the front end of the rotation shaft (not shown) of the case driving motor 160 , and the case driving motor 160 .
- a spur gear 163 disposed parallel to the rotational shaft, a driven pulley 169 coaxially connected to the rotational shaft of the spur gear 163, and a connecting belt wound around the driving pulley 165 and the driven pulley 169 to rotate meshing ( 167) may be included.
- the rotational speed and the vertical moving speed of the moving case 120 are primarily between the driving pulley 165 and the driven pulley 169, assuming that the case driving motor 160 rotates at the same rotational speed.
- the radius ratio and secondarily may be determined by a combination of the gear ratio between the spur gear 163 and the spur internal tooth gear 123 .
- the moving driving unit 205 referenced in FIG. 10 can obtain a further reduction ratio by the radius ratio between the driving pulley 165 and the driven pulley 169 compared to the moving driving unit 205 referenced in FIG. 9 , adjustment of the reduction ratio This could be easier.
- the driving pulley 165 , the driven pulley 169 , and the connecting belt 167 may be provided in the form of mutual gear meshing. That is, predetermined gear teeth are formed on the outer peripheral surfaces of the driving pulley 165 and the driven pulley 169 , and the inner peripheral surfaces of the connection belt 167 are meshed with the gear teeth formed on the outer peripheral surfaces of the driving pulley 165 and the driven pulley 169 . Possible inner peripheral gear teeth can be formed.
- the calibration cradle 100B for a 3D scanner is a moving case 120 and is rotated and vertically moved at the same time. Since it has a structure, as shown in FIG. 9 , the vertical moving sensing unit and the pattern rotation sensing unit may be integrally installed as one sensor unit. In this case, the sensor unit may be applied as either a photo sensor or a Hall sensor.
- the photo sensor unit to which the photo sensor is applied is fixed to the fixed case 110 , the photo sensor 200 fixed to the lower portion of one side of the rotating radius of the moving case 120 , and the moving case 120 to interact with the photo sensor 200 . ) may be provided to include at least one detection lead 200a provided on the rotation radius.
- the three-dimensional scanner 1 and the pattern plate 250 through the relative distance and rotation angle value of the moving case 120 with respect to the fixed case 110 measured between the photo sensor 200 and the detection lead 200a.
- the relative distance and rotation angle values can be calculated.
- the case driving motor 160 may be provided as a stepping motor as described above.
- the sensor unit integratedly installed to perform the functions of the vertical moving sensing unit and the pattern rotation sensing unit Only the relative distance or initial position between the three-dimensional scanner 1 and the pattern plate 250 is measured, and the rotation angle value may be measurable from a preset pulse value of the case driving motor 160 provided as a step motor.
- the camera 20 of the 3D scanner 1 may operate.
- the stop process after rotation of the 3D scanner 1 is performed several times (eg, a total of 9 times) until the range of the completion position including the initial position of the calibration is performed, and the operation of the camera 20 for performing the calibration Also, it may be performed the same number of times.
- FIG. 11 is a perspective view and a cross-sectional view illustrating an example of a linear reciprocating design of a calibration cradle for a three-dimensional scanner according to an embodiment of the present invention.
- the calibration cradle 100B is illustrated in FIG. 11 , the calibration cradle 100A may also be applied.
- the three-dimensional scanner 1 in which calibration is performed using a calibration cradle for a three-dimensional scanner according to an embodiment of the present invention is, as described above, of the body case 10 with the tip case 14 removed. Calibration is performed after at least a portion is inserted into the moving case 120 .
- the tip case 14 may be manufactured in various specifications of various lengths, and in this case, it is preferable to set the initial position of the 3D scanner 1 differently for performing calibration.
- the distance between the camera 20 and the optical member 60 in the tip case 14 is defined as “A”, and the optical member 60 and the measurement target object are defined as “A”.
- the distance between them can be defined as "B”.
- the scan error distance C may be set based on the distance B between the optical member 60 and the measurement target object.
- the distance D between the camera 20 and the pattern plate 250 is, the camera 20 and the optical member 60 ), preferably set within a range of values obtained by adding half (C/2) of the scan error distance to the distance (B) between the optical member 60 and the measurement target in a state including the distance (A) between the .
- the distance D between the camera 20 and the pattern plate 250 may be a minimum distance equal to the distance A between the camera 20 and the optical member 60, and the camera 20 and the optical
- the maximum distance may be the sum of the distance A between the members 60, the distance B between the optical member 60 and the measurement target, and half (C/2) of the scan error distance. Accordingly, when performing calibration, the initial position and the final position of the 3D scanner 1 may be set in consideration of the minimum distance and the maximum distance. In addition, the vertical movement area of the 3D scanner 1 for performing calibration may be between the initial position and the final position.
- the initial position of the three-dimensional scanner 1 for performing calibration is different depending on the distance A between the camera 20 and the optical member 60 of the tip case 14 provided with various specifications. You need to set
- the first tip case 14 is applied as the calibration cradle of the present invention.
- Both the 3D scanner 1 to be applied and the 3D scanner 1 to which the second tip case 14 is to be applied may be calibrated.
- the distance between the pattern plate 250 and the camera 20 is greater than when the second tip case 14 is applied.
- the initial position of the 3D scanner 1 may be set to be closer.
- the distance between the pattern plate 250 and the camera 20 is greater than when the first tip case 14 is applied.
- the initial position of the three-dimensional scanner 1 may be set to be further away.
- the present invention provides a calibration cradle for a 3D scanner, which is provided to automatically move a pattern plate when the 3D scanner is inserted and seated in order to perform more accurate calibration of the 3D scanner and improve user convenience.
Abstract
Description
Claims (16)
- 내부 공간이 형성된 고정 케이스;상기 고정 케이스의 내부에 구비되고, 카메라를 포함하는 3차원 스캐너를 보정하기 위하여 마련된 패턴 플레이트;상기 카메라가 상기 패턴 플레이트를 향하도록 상기 3차원 스캐너의 적어도 일부가 삽입되고, 상기 3차원 스캐너가 회전 이동 및 상하 이동 중 적어도 하나로 이동할 수 있도록 움직이는 무빙 케이스; 및상기 무빙 케이스 및 상기 패턴 플레이트 중 적어도 하나가 이동하도록 구동력을 제공하는 무빙 구동부; 를 포함하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 무빙 케이스는, 상기 무빙 구동부에 의하여 상하 이동되고,상기 패턴 플레이트는, 상기 고정 케이스의 내부에 일측으로 경사지게 배치되며, 상기 무빙 구동부에 의하여 회전 이동되고,상기 무빙 케이스 또는 상기 패턴 플레이트가 이동하는 동안, 상기 3차원 스캐너에서 상기 패턴 플레이트로 조사되는 광의 광축과 상기 패턴 플레이트의 회전축 사이의 각도는 유지되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 무빙 구동부는,상기 무빙 케이스를 상하 이동시키는 케이스 무빙부; 및상기 패턴 플레이트를 회전 이동시키는 패턴 무빙부; 를 포함하고,상기 케이스 무빙부 및 상기 패턴 무빙부가 정지하면, 캘리브레이션 수행을 위한 상기 카메라가 작동하고, 상기 케이스 무빙부 및 상기 패턴 무빙부 중 적어도 하나가 이동하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 3에 있어서,상기 케이스 무빙부는,상기 무빙 케이스의 내부에 상기 무빙 케이스와 연결되도록 수평 방향으로 구비된 무빙 패널을 관통하는 케이스 구동 모터; 및상기 무빙 패널의 상하 이동을 가이드하는 적어도 하나의 패널 가이드부; 를 포함하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 고정 케이스의 내부에는,상기 무빙 케이스의 상하 이동을 감지하는 상하 무빙 감지부; 및상기 패턴 플레이트의 회전을 감지하는 패턴 회전 감지부; 중 적어도 하나가 구비된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 무빙 케이스의 상면부에는 상기 3차원 스캐너의 적어도 일부가 안착되는 안착부가 구비되고,상기 안착부에 인접하는 상기 무빙 케이스에는 상기 3차원 스캐너의 안착을 감지하는 마운팅 센서가 구비된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 6에 있어서,상기 마운팅 센서는, 상기 안착부를 통하여 삽입되는 상기 3차원 스캐너에 접촉되는 택트 스위치 형태로 구비된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 무빙 케이스는, 상기 무빙 구동부에 의하여 회전 이동 및 상하 이동되고,상기 패턴 플레이트는, 상기 고정 케이스의 내부에 일측으로 경사지게 고정되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 8에 있어서,상기 무빙 케이스가 회전 이동 및 상하 이동하는 동안, 상기 3차원 스캐너에서 상기 패턴 플레이트로 조사되는 광의 광축과 상기 패턴 플레이트 사이의 각도는 유지되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 무빙 케이스는 상기 고정 케이스의 내주면에 접하도록 내측에 구비되고,상기 무빙 구동부는,상기 무빙 케이스를 향하여 수직 연장된 회전축을 가지는 케이스 구동 모터; 및상기 고정 케이스를 관통하여 상기 무빙 케이스의 외주면에 형성된 나선 홈에 선단부가 삽입되어 상기 무빙 케이스의 회전 이동을 가이드하는 가이드 부재; 를 포함하고,상기 나선 홈은, 상기 무빙 케이스가 회전 이동과 상하 이동을 동시에 할 수 있도록 상기 무빙 케이스의 외주면을 따라 나선 형태로 둘러싸도록 구비되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 10에 있어서,상기 무빙 구동부는,상기 케이스 구동 모터의 회전축에 연결되어 연동 회전되는 스퍼 기어; 및상기 무빙 케이스의 내주면에 형성되고, 상기 스퍼 기어와 치합되는 스퍼 내치 기어; 를 포함하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 11에 있어서,상기 스퍼 내치 기어는, 상기 무빙 케이스의 내주면에 형성되되, 상기 나선 홈의 상하 높이에 대응되는 상하 높이를 가지는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 10에 있어서,상기 무빙 구동부는,상기 케이스 구동 모터의 회전축 선단에 구비된 구동 풀리;상기 케이스 구동 모터의 회전축과 평행되게 배치된 스퍼 기어;상기 스퍼 기어의 회전축과 동축으로 연결된 종동 풀리; 및상기 구동 풀리와 상기 종동 풀리에 감겨 치합 회전되는 연결 벨트; 를 포함하고,상기 구동 풀리와 상기 종동 풀리 및 상기 연결 벨트는, 상호 기어 치합되는 형태로 구비된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 무빙 구동부는,상기 고정 케이스에 구비된 충전형 배터리로부터 전원을 공급받아 작동되고,상기 충전형 배터리는, 무선 또는 유선으로 충전 가능한, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 3차원 스캐너는 광이 출사되는 광 프로젝터를 포함하고,상기 광 프로젝터로부터 출사된 광은 굴절없이 상기 패턴 플레이트로 직접 조사되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 15에 있어서,상기 무빙 케이스에 상기 3차원 스캐너가 삽입될 때, 상기 광을 굴절시키는 광학 부재가 포함된 팁 케이스가 제거된 상태로 삽입될 경우,캘리브레이션 수행을 위한 상기 3차원 스캐너의 초기 위치는, 상기 카메라와 상기 제거된 팁 케이스의 상기 광학 부재 사이의 거리에 따라 상이하게 설정되는, 3차원 스캐너용 캘리브레이션 크래들.
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CN202280014590.6A CN116887743A (zh) | 2021-02-16 | 2022-02-15 | 用于三维扫描仪的校准支架 |
US18/276,989 US20240115138A1 (en) | 2021-02-16 | 2022-02-15 | Calibration cradle for three-dimensional scanner |
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KR1020210020463A KR102576494B1 (ko) | 2021-02-16 | 2021-02-16 | 3차원 스캐너용 캘리브레이션 크래들 |
KR10-2021-0020463 | 2021-02-16 |
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PCT/KR2022/002202 WO2022177259A1 (ko) | 2021-02-16 | 2022-02-15 | 3차원 스캐너용 캘리브레이션 크래들 |
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US (1) | US20240115138A1 (ko) |
KR (1) | KR102576494B1 (ko) |
CN (1) | CN116887743A (ko) |
WO (1) | WO2022177259A1 (ko) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20020028133A (ko) * | 2000-10-07 | 2002-04-16 | 권하자 | 치아 컴퓨터 모델링용 삼차원 스캐너 시스템 |
US20060102833A1 (en) * | 2004-11-12 | 2006-05-18 | Sirona Dental Systems Gmbh | Scanning device for carrying out a 3D scan of a dental model, sliding panel therefore, and method therefor |
KR20150082438A (ko) * | 2012-11-02 | 2015-07-15 | 시로나 덴탈 시스템스 게엠베하 | 치과용 카메라를 교정하기 위한 교정 장치 및 방법 |
US20160191901A1 (en) * | 2014-12-24 | 2016-06-30 | 3M Innovative Properties Company | 3d image capture apparatus with cover window fiducials for calibration |
KR101941001B1 (ko) * | 2017-05-17 | 2019-01-22 | 주식회사 바텍 | 구강 스캐너용 캘리브레이션 크래들 및 이를 포함하는 구강 스캐너 시스템 |
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KR102129383B1 (ko) * | 2019-06-24 | 2020-07-02 | 주식회사 메디트 | 구강 스캐너용 캘리브레이션 크래들 |
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2021
- 2021-02-16 KR KR1020210020463A patent/KR102576494B1/ko active IP Right Grant
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2022
- 2022-02-15 CN CN202280014590.6A patent/CN116887743A/zh active Pending
- 2022-02-15 US US18/276,989 patent/US20240115138A1/en active Pending
- 2022-02-15 WO PCT/KR2022/002202 patent/WO2022177259A1/ko active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20020028133A (ko) * | 2000-10-07 | 2002-04-16 | 권하자 | 치아 컴퓨터 모델링용 삼차원 스캐너 시스템 |
US20060102833A1 (en) * | 2004-11-12 | 2006-05-18 | Sirona Dental Systems Gmbh | Scanning device for carrying out a 3D scan of a dental model, sliding panel therefore, and method therefor |
KR20150082438A (ko) * | 2012-11-02 | 2015-07-15 | 시로나 덴탈 시스템스 게엠베하 | 치과용 카메라를 교정하기 위한 교정 장치 및 방법 |
US20160191901A1 (en) * | 2014-12-24 | 2016-06-30 | 3M Innovative Properties Company | 3d image capture apparatus with cover window fiducials for calibration |
KR101941001B1 (ko) * | 2017-05-17 | 2019-01-22 | 주식회사 바텍 | 구강 스캐너용 캘리브레이션 크래들 및 이를 포함하는 구강 스캐너 시스템 |
Also Published As
Publication number | Publication date |
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CN116887743A (zh) | 2023-10-13 |
KR20220116952A (ko) | 2022-08-23 |
KR102576494B1 (ko) | 2023-09-08 |
US20240115138A1 (en) | 2024-04-11 |
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