WO2022177261A1 - 3차원 스캐너용 캘리브레이션 크래들 및 그 제어 방법 - Google Patents
3차원 스캐너용 캘리브레이션 크래들 및 그 제어 방법 Download PDFInfo
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- WO2022177261A1 WO2022177261A1 PCT/KR2022/002206 KR2022002206W WO2022177261A1 WO 2022177261 A1 WO2022177261 A1 WO 2022177261A1 KR 2022002206 W KR2022002206 W KR 2022002206W WO 2022177261 A1 WO2022177261 A1 WO 2022177261A1
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- scanner
- calibration
- cradle
- pattern plate
- dimensional scanner
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Classifications
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- 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
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- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- 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
- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
- A61B2560/0228—Operational features of calibration, e.g. protocols for calibrating sensors using calibration standards
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- A—HUMAN NECESSITIES
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- A61B2560/04—Constructional details of apparatus
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Definitions
- the present invention relates to a calibration cradle for a three-dimensional scanner and a control method thereof (CALIBRATION CRADLE FOR THREE-DIMENSIONAL SCANNER AND CONTROL METHOD FOR THE SAME), and more particularly, to improve the calibration accuracy of the three-dimensional scanner, and to perform calibration A calibration cradle for a 3D scanner capable of improving user convenience and a method for controlling the same.
- a 3D scanner is a type of scanner that acquires a plurality of optical images of a target object and generates 3D model data of the target object by using them.
- a handheld 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 handheld scanner may be provided so that a part of the handheld scanner (eg, a probe tip or a tip case equipped with a reflection mirror) can be used interchangeably for sanitary purposes.
- a part of the handheld scanner eg, a probe tip or a tip case equipped with a reflection mirror
- an error correction operation ie, calibration
- the 3D scanner is generally provided with a calibration tool as a separate accessory.
- 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.
- An object of the present invention is to provide a cradle and a method for controlling the same.
- the present invention provides a calibration cradle for a 3D scanner and a method for controlling the same, which are 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 provide for a different purpose.
- a calibration cradle for a 3D scanner includes a cradle body into which at least a part of a 3D scanner including a camera is inserted, and the cradle body to face the camera in order to scan and calibrate the 3D scanner and a pattern moving part for automatically moving the pattern plate to at least one of axial rotation and axial movement when the pattern plate and the three-dimensional scanner are coupled to the cradle body, the axial direction of the three-dimensional scanner is the longitudinal direction of
- the axis may coincide with or parallel to the optical axis of the light irradiated from the 3D scanner to the pattern plate.
- the pattern moving unit simultaneously axially rotates and moves the pattern plate in the axial direction, and while the pattern plate moves, while the pattern plate moves, the pattern plate and the 3D scanner are irradiated to the pattern plate
- the angle between the optical axes of the beams can be maintained.
- a scanner insertion hole into which the 3D scanner is inserted is formed in the cradle body, and the scanner insertion hole may be set to a height at which the lower end of the horizontally inserted 3D scanner and the lower end of the cradle body are located on the same ground. have.
- a scanner insertion hole into which the 3D scanner is inserted is formed in the cradle body, and the size of the scanner insertion hole may have a size that blocks external light from being introduced into the cradle body when the 3D scanner is inserted.
- the pattern moving unit may be electrically operated by an internal power source charged wirelessly or wiredly.
- the cradle body may include at least one of a mounting sensor for detecting the insertion and seating of the 3D scanner and a scanning position detecting unit for detecting the position of the pattern plate.
- an illuminance sensor for sensing light is provided inside the cradle body, and the illuminance sensor may detect light emitted from the 3D scanner.
- the pattern moving unit is electrically operated, a driving motor having a rotating shaft, a fixed block fixed to the inside of the cradle body and having a moving guide hole opened in a horizontal direction, and the pattern plate are coupled, and a mounting block disposed in a moving guide hole in the block, wherein the axial direction may be an axial direction of the rotating shaft.
- the pattern moving unit may further include a transmission block disposed between the driving motor and the mounting block to transmit the rotational force of the driving motor to the mounting block, wherein the transmission block is axially coupled to a rotational shaft of the driving motor. It is provided at the coupling end and the coupling end, and may include a rotational wing end inserted into the rotational interference hole formed in the mounting block to cause rotational interference.
- the rotation interference hole formed in the mounting block may be formed in a shape that interferes with the rotational direction of the rotating blade end and does not interfere in the horizontal direction of the rotation blade end.
- the rotation interference hole may be formed such that a depth formed in the horizontal direction from the tip of the rotation blade end is at least greater than or equal to a distance that the mounting block can move in the horizontal direction.
- the transmission block may receive the rotational driving force of the driving motor through a transmission belt wound around a driving belt pulley provided on the rotational shaft of the driving motor and a driven belt pulley disposed parallel to the rotational shaft of the driving motor.
- the pattern moving unit may further include a moving block provided to be interlocked with the mounting block and configured to move the mounting block by at least one of a rotational movement and a linear movement by interference with the fixed block.
- the moving block moves inside the moving guide hole, the outer peripheral surface of the moving block or the inner peripheral surface of the fixed block may be formed with a rotation guide groove in which the guide member is engaged.
- 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 to the pattern plate without passing through another configuration.
- the camera may operate at least once.
- the initial position of the pattern plate for performing calibration is different depending on the distance between the camera and the optical member in the tip case can be set to
- An embodiment of the method for controlling a calibration cradle for a 3D scanner of the present invention includes a scanner sensing step of detecting insertion of a 3D scanner into a cradle body, and a light sensing step of detecting light irradiated by the operation of the 3D scanner and a calibration performing step of performing calibration by operating a pattern plate that moves linearly while rotating in the interior of the cradle body based on an optical axis when light is sensed by the light sensing step, wherein the cradle during the calibration performing step
- the position information of the pattern plate is provided to the control unit through the scanning position sensing unit provided inside the main body.
- the pattern plate when light is sensed by the light sensing step after the 3D scanner is inserted, the pattern plate may be restored to an initial position for performing the calibration.
- the pattern plate is automatically provided to linearly reciprocate and/or rotate, thereby improving user convenience.
- the calibration is completed using the data of multiple points obtained through a single process from the initial position to the completion position for the calibration of the pattern plate provided inside the cradle body, and the calibration is performed. It has the effect of greatly shortening the turnaround time.
- 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 use state diagram of an embodiment of a calibration cradle for a three-dimensional scanner according to the present invention
- FIG. 4 is a perspective view in one direction and another direction of a calibration cradle for a 3D scanner according to the present invention in a state in which the 3D scanner is disassembled in the configuration of FIG. 3;
- FIG. 5 and 6 are exploded perspective views of FIG. 4 .
- FIG. 7 is a perspective view showing the inside of the cradle body is removed from the configuration of FIG. 3;
- FIG. 8 is a perspective view showing a pattern moving part in the configuration of FIG. 5;
- FIG. 9 is an exploded perspective view showing the pattern moving part of FIG. 8;
- FIG. 10 is a cross-sectional view showing the movement of the pattern plate before and after the operation of the calibration cradle for a three-dimensional scanner according to the present invention
- FIG. 11 is a cross-sectional view showing the state before and after the operation of the pattern moving part of FIG. 8,
- FIG. 12 is a cut-away perspective view of FIG. 11;
- FIG. 13 is a cross-sectional view showing a calibration cradle for a three-dimensional scanner according to another embodiment of the present invention.
- FIG. 14 is a cut-away perspective view of FIG. 13;
- FIG. 15 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.
- calibration cradle 110 cradle body
- scanning position detection unit 180 motor PCB
- center block 225 rotary bearing
- fixing block 235 guide member
- pattern plate 260 moving 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 output light, which will be described later by a light projector ( 70) means the irradiation light irradiated from the
- 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 the cradle body, which will 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 of an embodiment of a calibration cradle for a 3D scanner according to the present invention
- FIG. 4 is a one-way and It is a perspective view in the other direction
- FIGS. 5 and 6 are exploded perspective views of FIG. 4
- FIG. 7 is a projected perspective view showing an internal state in which the cradle body is removed during the configuration of FIG. 3 .
- An embodiment of the calibration cradle 100 for a 3D scanner according to the present invention relates to the calibration cradle 100 of the 3D scanner 1 described with reference to FIGS. 1 and 2 .
- the above-described three-dimensional scanner 1 has been described as an example of an intraoral scanner capable of scanning the patient's oral cavity, the three-dimensional scanner 1, in which calibration is performed through the calibration cradle 100 in this embodiment, is necessarily It is not necessary to be an oral scanner, and all known handheld scanners can be applied.
- the 3D scanner 1 may perform scanning through an optical member (refer to reference numeral 60 of FIG. 2 ) provided in the tip case ( 14 of FIG. 2 ). More specifically, in the three-dimensional scanner 1 according to an example, the optical member 60 may be provided in the tip case 14 to be inserted into the oral cavity of the patient. This is to facilitate scanning inside the patient's narrow oral cavity. However, when 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.
- the tip case 14 including the optical member 60 from the three-dimensional scanner 1 In a state in which the 3D scanner 1 is separated, calibration of the 3D scanner 1 may be performed.
- the front end of the 3D scanner 1 with the tip case 14 removed is inserted into the scanner insertion hole.
- the pattern moving unit 200 automatically moves the pattern plate 255 to at least one of axial rotational movement and axial movement within the cradle body 110 .
- the pattern moving unit 200 automatically moves the pattern plate 255 to at least one of axial rotational movement and axial movement within the cradle body 110 .
- the pattern plate 255 may be disposed to face the camera 20 provided inside the 3D scanner 1 when the 3D scanner 1 is inserted into the cradle body 110 .
- the axial direction in which the pattern plate 255 is moved may be defined as a longitudinal direction of the 3D scanner 1 to be described later.
- the cradle body 110 may have a flat lower surface to be more stably supported and seated on a desk or table on which calibration is performed.
- the area of the lower surface of the cradle body 110 may be formed to be relatively larger than the area of the upper surface, but is not limited thereto.
- the upper surface and the lower surface of the cradle body 110 may be formed to have a rounded edge as a whole.
- the interior of the cradle body 110, the irradiation path of the emitted light and the incident light irradiated from the light projector (refer to reference numeral 70 in FIG. 2) of the three-dimensional scanner 1 is provided, in particular, the irradiation of the emitted light and the incident light
- the path may be provided in the form of a dark room so as not to be affected by external light. That is, when the front end of the 3D scanner 1 is inserted and seated in the scanner insertion hole 111, the inside of the cradle body 110 forms a dark room, and the light projector 70 of the 3D scanner 1 is used to perform calibration.
- the size of the scanner insertion hole 111 preferably has a size that is blocked so that external light is not introduced into the cradle body 110 when the 3D scanner 1 is inserted.
- the cradle body 110 constitutes its lower surface, but includes a main printed circuit board 150 that shields the inside of the cradle body 110 in a dark room form as described above. can do.
- main printed circuit board 150 On the main printed circuit board 150 , components such as a scanning position detecting unit and a mounting sensor 190 to be described later may be mounted and arranged, and a power supply line (not shown) for supplying external power may be printed.
- a power supply line (not shown) for supplying external power may be printed.
- the lower surface of the cradle body 110 does not necessarily have to be provided in the same PCB form as the above-described main printed circuit board 150, and provided in various other forms as long as power supply to each component 170 and 190 is possible. It is also possible to be
- the main printed circuit board 150 includes a control unit (not shown) for controlling the operation of the driving motor 210 among the configuration of the pattern moving unit 200 to be described later in the form of a MICOM. can be mounted with a control unit (not shown) for controlling the operation of the driving motor 210 among the configuration of the pattern moving unit 200 to be described later in the form of a MICOM. can be mounted with a control unit (not shown) for controlling the operation of the driving motor 210 among the configuration of the pattern moving unit 200 to be described later in the form of a MICOM. can be mounted with
- a motor PCB 180 for controlling the operation of the driving motor 210 and supplying power among the configuration of the moving pattern 200 to be described later is provided. It may be provided in the form of a PCB.
- An external power connector 185 capable of supplying external power through a wired connection and an internal power connector 181 for power connection with a display PCB 160 to be described later may be mounted on the motor PCB 180 .
- a display PCB 160 for displaying the operating state of the calibration cradle 100 according to an embodiment of the present invention may be further provided inside the cradle body 110 . .
- the display PCB 160 is disposed so as to be in close contact with the inner upper surface of the cradle body 110, and a power on/off indicator 163a and an operation status indicator 163b are provided on the upper surface of the display PCB 160 in the form of an LED.
- the display PCB 160 may have an internal power connector 181 provided on one side of the motor PCB 180 and a power supply connector 161 for wired connection to one side of the edge of the display PCB 160 as described above.
- the light of the indicator light irradiated from the power on/off indicator 163a and the operation status indicator 163b is transmitted to the outside.
- a power on/off display hole 113a and an operation state display hole 113b may be formed.
- the operating status indicator 163b mounted on the display PCB 160 is externally provided through the operating status indication hole 113b via the light guide 165 made of a transparent material as shown in FIG. 7 . can be investigated with
- the scanner insertion hole 111 formed at one end in the longitudinal direction of the cradle body 110 is provided at the front end of the 3D scanner 1 with the tip case 14 removed, as shown in FIGS. 4 and 6 .
- the connected block 18 may be formed in a shape that can be inserted and seated.
- the connection block 18 may be exposed to protrude a predetermined length from the front end of the main body case 10 when the tip case 14 of the 3D scanner 1 is removed.
- the scanner insertion hole 111 may be formed in a shape that can accommodate the connection block 18 protruding from the front end of the main body case 10 .
- an insertion setting protrusion for setting an insertion position of the connection block 18 may be formed to protrude from the scanner insertion hole 111 .
- the insertion setting protrusion is formed to protrude in the form of a rib inside the scanner insertion hole 111 , and may have any shape, and the connecting block 18 of the 3D scanner 1 is inserted and seated in the scanner insertion hole 111 . It is also possible to be formed in a structure that can prevent it from flowing in a state of being
- an insertion setting groove (not shown) of a shape matching the insertion setting protrusion formed in the scanner insertion hole 111 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 three-dimensional scanner 1, but is not necessarily limited thereto.
- the three-dimensional scanner 1 may be coupled with an insertion setting groove formed in the front end of the main body case 10 and an insertion setting protrusion formed in the scanner insertion hole while mating 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 100 of this embodiment, and connects the 3D scanner 1 to the correct position. Blocks 18 may be combined.
- the cradle body 110 of the calibration cradle 100 may be horizontally disposed on the upper surface of a desk or table provided for performing calibration, and the scanner of the horizontally disposed cradle body 110 .
- the 3D scanner 1 When the 3D scanner 1 is moved and inserted through the insertion hole 111 in the horizontal direction, the bottom surface of the 3D scanner 1 is supported on the upper surface of the desk or table, and the horizontal state can be maintained.
- the scanner insertion hole 111 has the lower end of the 3D scanner 1 and the lower end of the cradle body 110 on the same ground
- 3 The dimension scanner 1 and the cradle body 110 may be set to a height capable of maintaining a horizontal state.
- the three-dimensional scanner 1 stably maintains the optical axis during the calibration process. It can be supported horizontally. Maintaining the optical axis through stable horizontal maintenance of the 3D scanner 1 improves the reliability of calibration.
- a mounting sensor 190 for detecting the insertion and seating of the 3D scanner 1 may be provided inside the cradle body 110.
- the mounting sensor 190 may switch an electrical signal when the connection block 18 of the 3D scanner 1 inserted through the scanner insertion hole 111 comes into contact with each other. To this end, the mounting sensor 190 is preferably installed in a portion of the cradle body 110 adjacent to the scanner insertion hole 111 .
- the mounting sensor 190 according to an example may be provided in the form of a tact switch, but is not necessarily limited thereto.
- the control unit prepares (stand-by) the operation of the calibration cradle 100 and powers on/off the display PCB 160 .
- the indicator light 163a By operating the indicator light 163a, it is possible to indicate that the stable insertion and seating of the 3D scanner 1 to the outside is completed.
- an illuminance sensor 169 for detecting a predetermined light may be further provided inside the cradle body 110 .
- the illuminance sensor 169 may detect when the 3D scanner 1 operates and a predetermined light (eg, 'exit light') is irradiated from the light projector 70 into the inner space of the cradle body 110 .
- a predetermined light eg, 'exit light'
- the illuminance sensor 169 may notify the control unit when the driving motor 210 can be operated during the configuration of the pattern moving unit 200 to be described later by sensing light.
- the illuminance sensor 169 may be mounted on the lower surface of the display PCB 160 to more accurately measure the light in the inner space of the cradle body 110 , but is not limited thereto.
- a scanning position detecting unit for detecting the position of the pattern plate 255 may be further provided inside the cradle body 110 .
- the scanning position detection unit may provide information so that the control unit can calculate a distance value and a rotation angle value required when performing calibration by detecting the position of the mounting block 250 to which the pattern plate 255 is coupled. Also, the scanning position detecting unit may check whether the pattern moving unit 200 is restored to an initial position at the time of performing the calibration.
- the scanning position detecting unit for performing such a function may include, for example, a photo sensor unit and a hall sensor unit, but is not limited thereto.
- the scanning position detecting unit is a photo sensor unit
- the photo sensor unit includes a photo sensor 170 fixed to the bottom surface of the cradle body 110 and a pattern plate 255 are coupled to each other. It may include a detection lead 175 coupled to the mounting block 250 or the moving block 260 to rotate and move linearly.
- the detection lead 175 is coupled to a tip edge portion of the mounting block 250 or the moving block 260 in the configuration of the moving pattern 200 to be described later, so that the mounting block 250 and the moving block 260 are axial. When rotating and/or moving in an axial straight line, they can move together in tandem.
- the detection lead 175 is moved and inserted between the photosensors 170 , the photosensor 170 may detect the detection lead 175 , and the mounting block 250 to which the detection lead 175 is coupled and the moving
- the position of the block 260 may be detected, and the position of the pattern plate 255 coupled to the mounting block 250 may be detected.
- the controller may calculate a separation distance and a rotation angle value between the pattern moving unit 200 or the pattern plate 255 and the photo sensor 170 through the information obtained from the photo sensor unit.
- the scanning position detecting unit is a hall sensor unit, although not shown in the drawing, the hall sensor unit rotates and interlocks with a hall sensor (not shown) fixed to the cradle body 110 and the pattern plate 255 . It may include a detection magnet (not shown) that moves linearly.
- the detection magnet is a configuration that interacts with the Hall sensor through magnetism.
- the detection magnet is provided at the tip edge of the mounting block 250 or the moving block 260 in the configuration of the moving pattern 200 to be described later, so that the mounting block 250 and the moving block 260 rotate and/or In the case of linear movement in the axial direction, they can move together in conjunction.
- the Hall sensor may detect the position of the detection magnet and detect the position of the pattern plate 255 coupled to the mounting block 250 .
- the control unit is configured to relatively measure the separation distance and rotation angle value between the pattern moving unit 200 or the pattern plate 255 and the hall sensor through information obtained from the hall sensor unit.
- the scanning position detection unit detects the pattern moving unit 200 By checking the position (more specifically, the current position and rotation angle state of the pattern plate 255 ), it is possible to present a reference value for restoring the initial position to the initial position when not in the initial calibration position.
- the pattern moving part 200 may be provided to move in the horizontal direction.
- the 'horizontal direction' is defined to mean a direction parallel to the upper surface of the table on which the cradle body 110 is mounted, and the length direction of the cradle body 110 and the length of the 3D scanner 1 . It can be interpreted as meaning including direction.
- the pattern moving unit 200 is axially rotated and reciprocated with respect to the horizontal direction (ie, the longitudinal direction of the cradle body 110 ) in which the pattern plate 255 is inserted and seated at the front end of the 3D scanner 1 .
- the pattern moving unit 2200 moves the pattern plate 255 in the axial rotational movement and in the axial direction at the same time, and while the pattern plate 255 moves, the pattern plate 255 and the three-dimensional scanner 1 are patterned from the pattern plate 255 .
- the angle between the optical axes of the light irradiated to the plate 255 may be maintained.
- the pattern moving unit 200 is electrically powered by external power supplied via the above-described main printed circuit board 150 or an internal power source not shown but provided in the form of a rechargeable battery inside the cradle body 110 . can work with When the internal power source of the cradle body 110 is provided as a rechargeable battery, the rechargeable battery may be charged with power in a wired or wireless manner. A detailed description of the pattern moving unit 200 will be described later with reference to FIGS. 8 and 9 .
- the pattern plate 255 is printed or provided with a predetermined pattern 255 ′ for calibration, and is moved in conjunction with the rotation or linear movement of the pattern moving unit 200 while performing calibration. equipped to perform.
- Such a pattern plate 255 may be inclinedly disposed on the front surface of the mounting block 250 to be described later, as shown in FIG. 6 . To this end, the front surface of the mounting block 250 may be inclined to have a predetermined inclination angle.
- the inclination angle of the pattern plate 255 may be set to be 40 degrees or more and less than 50 degrees based on the horizontal direction (the longitudinal direction of the three-dimensional scanner 1).
- each pattern 255 ′ formed on the pattern plate 255 has the same depth information (or height information) on the same plane.
- FIG. 8 is a perspective view showing the pattern moving part in the configuration of FIG. 5
- FIG. 9 is an exploded perspective view showing the pattern moving part of FIG. 8
- FIG. 10 is a state before and after operation of the calibration cradle for a 3D scanner according to the present invention. It is a cross-sectional view showing the movement of the pattern plate
- FIG. 11 is a cross-sectional view showing the state before and after the operation of the pattern moving unit of FIG. 8
- FIG. 12 is a cutaway perspective view of FIG.
- the moving pattern 200 includes a driving motor 210 having a rotating shaft 211 and an electrically operated driving motor 210 , and a cradle body 110 .
- the fixed block 230 having a moving guide hole 231 fixed therein and opened to one side and the other side, and a pattern plate 255 are coupled, and disposed in the moving guide hole 231 in the fixed block 230 .
- a mounting block 250 may be included.
- the driving motor 210 is fixed adjacent to the other end side opposite to one end of the scanner insertion hole 111 in the inner space of the cradle body 110, and the rotating shaft 211 is provided so that it is parallel to or coincident with the optical axis. can be Therefore, the axial direction of the pattern plate 255 moved by the driving of the driving motor 210 may be interpreted as coincident with or parallel to the optical axis of the light irradiated from the 3D scanner 1 to the pattern plate 255. is natural
- Such a driving motor 210 may be electrically driven using an external power source or an internal power source.
- the pattern moving unit 200 is disposed between the driving motor 210 and the mounting block 250 to apply the rotational force of the driving motor 210 to the mounting block 250 . It may include a forwarding block 240 for forwarding.
- the transmission block 240 transmits the rotational force transmitted from the rotation shaft 211 of the driving motor 210 to the mounting block 250 , so that the mounting block 250 moves the guide hole 231 of the fixed block 230 . ) by being configured to rotate within, it is possible to rotate the pattern plate 255 inclinedly disposed on the inclined surface of the receiving end 253 of the inclined mounting block 250 .
- the transmission block 240 is provided at the front end of the coupling end 241 shaft-coupled to the rotation shaft 211 of the driving motor 210, and the coupling end 241, as shown in FIGS. 9 and 10, It may include a rotational wing tip 245 that is inserted into the rotational interference hole 251 formed in the mounting block 250 to cause rotational interference.
- the rotating blade end 245 is formed in a wing shape extending to one side and/or the other side more than the outer circumferential surface of the coupling end 241 when it is assumed that the coupling end 241 is formed to have a circular vertical cross-section.
- the transmission block 240 is rotated by such a rotating blade end 245 , it interferes with the mounting block 250 to rotate the mounting block 250 in conjunction with the rotation shaft 211 of the driving motor 210 .
- the rotation interference hole 251 formed in the mounting block 250 and the rotation wing end 245 of the transfer block 240 may be formed to have a vertical cross-section corresponding to each other.
- the rotational interference hole 251 formed in the mounting block 250 may be formed in a shape that interferes with the rotational direction of the rotational blade tip 245 and does not interfere in the horizontal direction of the rotational blade end 245 . have.
- the rotational interference hole 251 is formed to have a vertical cross-section corresponding to the rotational blade end 245 and has a structure that does not interfere with each other in the horizontal direction (ie, the axial direction), which will be described later.
- the mounting block 250 may reciprocate in an axial direction by the block 260 .
- the rotational interference hole 251 is formed such that the depth formed in the horizontal direction from the tip of the rotational blade end 245 is at least greater than or equal to the distance that the mounting block 250 can move in the horizontal direction. This is because the depth of the rotational interference hole 251 in the horizontal direction is at least greater than the movable distance of the pattern plate 255 , so that the movement distance is limited by the interference between the mounting block 250 and the transmission block 240 . to prevent it from becoming
- the rotation shaft 211 is stably supported and delivered via the center block 220 provided to be supported on the inner surface of the cradle body 110 .
- the block 240 may be shaft-fixed to the front end of the rotation shaft 211 of the driving motor 210 .
- the rotation shaft 211 of the driving motor 210 may be rotationally supported by the rotation bearing 225 interposed in the through hole 221 of the center block 220 .
- the pattern moving unit 200 is provided to interlock with the mounting block 250 , and linearly moves the mounting block 250 in the horizontal direction by interference with the fixed block 230 . It may further include a moving block (260).
- the moving block 260 reciprocates the pattern plate 255 in the horizontal direction (axial direction) while rotating in association with the mounting block 250 to which the pattern plate 255 is coupled, as shown in FIGS. 9 to 12 . It plays a role in moving.
- the moving block 260 rotates and moves linearly inside the moving guide hole 231 , and on the outer peripheral surface of the moving block 260 , the moving guide hole 231 of the fixed block 230 protrudes into the inside.
- a rotation guide groove 263 in which the tip of the guide member 235 is engaged may be formed.
- the rotation guide groove 263 is formed on the outer peripheral surface of the moving block 260, and the moving block 260 may be grooved in a spiral shape having a predetermined pitch interval so that at least three rotations are made.
- a pair of guide members 235 may be provided to be spaced apart at intervals of 180 degrees based on the center of the moving guide hole 231 of the fixed block 230 , but the number and spacing are not limited thereto.
- One end of the guide member 235 may be inserted into the rotation guide groove 263 provided in a spiral shape.
- the mounting block 250 is provided to rotate interlocked with the moving block 260 and to reciprocate linearly in the horizontal direction, and the guide member 235 fixed to the fixed block 230 is rotated on the outer circumferential surface of the moving block 260. Since the bar is provided to mesh with the formed rotation guide groove 263 , the linear movement distance of the pattern plate 255 may be determined according to the amount of rotation of the moving block 260 .
- the guide member 235 is not necessarily provided to protrude into the fixed block 230 , and the rotation guide groove 263 is not necessarily provided on the outer circumferential surface of the moving block 260 . That is, as described above, if the pattern plate 255 is capable of linear movement in the horizontal direction according to the amount of rotation of the moving block 260 , the reverse structure may be employed.
- a rotation guide groove in which the guide member is engaged is formed on the inner circumferential surface of the moving guide hole 231 , and the guide member may be provided on the outer circumferential surface of the moving block 260 .
- the guide member 235 may be a guide bolt, a part of which is inserted into the rotation guide groove 263 .
- the guide member 235 is not necessarily provided as a guide bolt, and the guide member 235 may be a ball plunger having a bearing ball installed therein.
- the guide member 235 is provided as a ball plunger, it is possible to minimize the frictional force caused by the rotation of the moving block 260 .
- FIG. 13 is a cross-sectional view illustrating a calibration cradle for a 3D scanner according to another embodiment of the present invention
- FIG. 14 is a cutaway perspective view of FIG. 13 .
- the calibration cradle for a three-dimensional scanner according to an embodiment of the present invention described with reference to FIGS. 5 to 10 is directly connected so that the transmission block 240 has a coaxial axis to the rotation shaft 211 of the driving motor 210 . It is provided to transmit the rotational force of the driving motor 210 to the mounting block 250 via the transmission block 240 .
- the transfer block 240 does not necessarily have to be directly connected to the rotation shaft 211 of the driving motor 210 . That is, as shown in FIGS. 13 and 14 , it is also possible to be provided to transmit the rotational driving force of the driving motor 210 to the transmission block 240 in a belt driving transmission method.
- a drive belt pulley 211a may be provided to be directly connected to the rotation shaft 211 of the drive motor 210 .
- the transmission block 240 may be disposed to be spaced apart in the width direction of the cradle body 110 in parallel to the rotation shaft 211 of the driving motor 210, and a coaxial driven belt pulley 211b is provided at the front end.
- the rotational driving force of the mutual driving motor 210 may be transmitted through the transmission belt 211c wound around the outer periphery of the driving belt pulley 211a and the driven belt pulley 211b.
- the control method of the calibration cradle for a 3D scanner detects the insertion and seating of the 3D scanner 1 in the cradle body 110 through the mounting sensor 190 provided inside the cradle body 110 .
- the light irradiated by the operation of the light projector 70 of the 3D scanner 1 is detected through the illuminance sensor 169 .
- a calibration performing step of performing calibration by operating the pattern plate 255 that moves linearly while rotating with respect to the optical axis inside the cradle body 110 includes a calibration performing step. .
- the operation of the driving motor 210 is controlled to perform the calibration, and accordingly, when the rotation shaft 111 of the driving motor 110 is rotated in one direction, transmission
- the mounting block 250 and the moving block 260 are interlocked and rotated via the block 240 , and the guide member 235 of the fixed block 230 and the rotation guide groove 263 of the moving block 260 engage with each other. Accordingly, the pattern plate 255 coupled to the mounting block 250 may be rotated and moved in a straight line in the horizontal direction (calibration performing step).
- the driving motor 210 may be a stepping motor.
- the driving motor 210 may rotate by a predetermined amount whenever there is a pulse.
- the camera 20 of the 3D scanner 1 operates to obtain calibration data.
- the rotation and stop operations of the pattern plate 255 may be repeated several times (for example, a total of 9 times) to the completion position including the initial position for performing calibration, and the camera 20 of the three-dimensional scanner 1 also
- the calibration data may be obtained by repeating the operation several times (eg, a total of 9 times).
- the calibration cradle of the present invention information on the position and rotation angle of the pattern plate 255 is obtained using a scanning position detection unit, and continuous result values (data) of multiple points using the control unit can be calculated, providing the advantage that more accurate and reliable calibration can be performed.
- the time required for the calibration process offers the advantage of greatly shortening the
- FIG. 15 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 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. After the front end is inserted into the scanner insertion hole 111, calibration is performed.
- 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 pattern plate 255 differently for performing calibration.
- the camera The initial position of the pattern plate 255 for performing calibration may be set differently according to the distance between the 20 and the optical member 60 in the tip case 14 .
- 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 255 is, the camera 20 and the optical member 60 ), preferably set within the range of the sum of 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 do.
- the distance D between the camera 20 and the pattern plate 255 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 object, and half (C/2) of the scan error distance.
- the initial position and the final position of the pattern plate 255 may be set in consideration of the minimum distance and the maximum distance.
- the movement area of the pattern plate 255 for performing calibration may be between the initial position and the final position.
- the initial position of the pattern plate 255 for performing calibration is set differently according to the distance A between the camera 20 and the optical member 60 of the tip case 14 provided with various specifications. you need to do
- 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 255 and the camera 20 is greater than when the second tip case 14 is applied.
- An initial position of the pattern plate 255 may be set to be closer.
- the distance between the pattern plate 255 and the camera 20 is greater than when the first tip case 14 is applied.
- the initial position of the pattern plate 255 may be set to be farther away.
- the present invention provides a calibration cradle for a 3D scanner and a control method thereof, which are 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.
Abstract
Description
Claims (20)
- 카메라를 포함하는 3차원 스캐너의 적어도 일부가 삽입되는 크래들 본체;상기 3차원 스캐너를 스캐닝 보정하기 위하여, 상기 카메라와 마주하도록 상기 크래들 본체의 내부에 배치되는 패턴 플레이트; 및상기 3차원 스캐너가 상기 크래들 본체에 결합되면 자동으로 상기 패턴 플레이트를 축 회전 이동 및 축 방향 이동 중 적어도 하나로 이동시키는 패턴 무빙부; 를 포함하고,상기 축 방향은 상기 3차원 스캐너의 길이 방향인, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 축은 상기 3차원 스캐너로부터 상기 패턴 플레이트로 조사되는 광의 광축과 일치하거나 평행하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 패턴 무빙부는 상기 패턴 플레이트를 동시에 축 회전 이동 및 축 방향 이동시키고,상기 패턴 플레이트가 이동하는 동안, 상기 패턴 플레이트와 상기 3차원 스캐너로부터 상기 패턴 플레이트로 조사되는 광의 광축 사이의 각도가 유지되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 크래들 본체에는 상기 3차원 스캐너가 삽입되는 스캐너 삽입구가 형성되고,상기 스캐너 삽입구는 수평으로 삽입된 상기 3차원 스캐너의 하단과 상기 크래들 본체의 하단이 동일 지면에 위치되는 높이로 설정되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 크래들 본체에는 상기 3차원 스캐너가 삽입되는 스캐너 삽입구가 형성되고,상기 스캐너 삽입구의 크기는 상기 3차원 스캐너가 삽입되면 상기 크래들 본체 내부로 외부광이 유입되지 않도록 차단되는 크기를 가지는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 패턴 무빙부는 무선 또는 유선으로 충전되는 내부 전원에 의하여 전기적으로 작동되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 크래들 본체에는,상기 3차원 스캐너의 삽입 안착을 감지하는 마운팅 센서; 및상기 패턴 플레이트의 위치를 감지하는 스캐닝 위치 감지부; 중 적어도 하나가 구비된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 크래들 본체의 내부에는 광을 감지하는 조도 센서; 가 구비되며,상기 조도 센서는,상기 3차원 스캐너로부터 상기 패턴 플레이트로 조사되는 광을 감지하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 패턴 무빙부는,전기적으로 작동되고, 회전축이 구비된 구동 모터;상기 크래들 본체의 내부에 고정되고, 수평 방향으로 개구된 무빙 가이드홀이 형성된 고정 블록; 및상기 패턴 플레이트가 결합되고, 상기 고정 블록 내의 무빙 가이드홀에 배치된 마운팅 블록; 을 포함하고,상기 축 방향은 상기 회전축의 축 방향인, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 9에 있어서,상기 패턴 무빙부는,상기 구동 모터와 상기 마운팅 블록 사이에 배치되어 상기 구동 모터의 회전력을 상기 마운팅 블록에 전달하는 전달 블록; 을 더 포함하고,상기 전달 블록은,상기 구동 모터의 회전축에 축 결합되는 결합단; 및상기 결합단에 구비되고, 상기 마운팅 블록에 형성된 회동 간섭홀 내부로 삽입되어 회동 간섭을 일으키는 회동 날개단; 을 포함하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 10에 있어서,상기 마운팅 블록에 형성된 회동 간섭홀은, 상기 회동 날개단의 회전 방향으로는 간섭되고, 상기 회동 날개단의 수평 방향으로는 간섭되지 않는 형상으로 형성된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 10에 있어서,상기 회동 간섭홀은, 상기 회동 날개단으로부터 수평 방향으로 형성된 깊이가 상기 마운팅 블록이 수평 방향으로 이동 가능한 거리보다 더 크거나 같도록 형성된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 10에 있어서,상기 전달 블록은,상기 구동 모터의 회전축에 구비된 구동 벨트 풀리와 상기 구동 모터의 회전축과 평행되게 배치된 종동 벨트 풀리에 감긴 전달 벨트를 매개로 상기 구동 모터의 회전 구동력을 전달받는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 9에 있어서,상기 패턴 무빙부는,상기 마운팅 블록과 연동되도록 구비되고, 상기 고정 블록과의 간섭에 의하여 상기 마운팅 블록을 회전 이동 및 직선 이동 중 적어도 하나로 이동시키는 무빙 블록; 을 더 포함하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 14에 있어서,상기 무빙 블록은 상기 무빙 가이드홀의 내부에서 움직이고,상기 무빙 블록의 외주면 또는 상기 고정 블록의 내주면에는 가이드 부재가 치합되는 회전 가이드홈이 형성된, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 3차원 스캐너는 광이 출사되는 광 프로젝터를 포함하고, 상기 광 프로젝터에서 출사되는 광은 다른 구성을 거치지 않고, 상기 패턴 플레이트로 직접 조사되는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 패턴 플레이트가 적어도 한번 이동하면, 상기 카메라가 적어도 한번 작동하는, 3차원 스캐너용 캘리브레이션 크래들.
- 청구항 1에 있어서,상기 크래들 본체에 상기 3차원 스캐너에 구비된 팁 케이스가 제거된 상태로 삽입되는 경우,상기 카메라와 상기 팁 케이스 내의 광학부재 사이의 거리에 따라 캘리브레이션 수행을 위한 상기 패턴 플레이트의 초기 위치가 상이하게 설정되는, 3차원 스캐너용 캘리브레이션 크래들.
- 크래들 본체에 3차원 스캐너의 삽입을 감지하는 스캐너 감지 단계;상기 3차원 스캐너의 동작에 의하여 조사된 광을 감지하는 광 감지 단계; 및상기 광 감지 단계에 의하여 광이 감지되면, 상기 크래들 본체의 내부에서 광축을 기준으로 회전하면서 직선 이동되는 패턴 플레이트를 동작시켜 캘리브레이션을 수행하는 캘리브레이션 수행 단계; 를 포함하고,상기 캘리브레이션 수행 단계 시, 상기 크래들 본체의 내부에 구비된 스캐닝 위치 감지부를 통해 제어부로 상기 패턴 플레이트의 위치 정보를 제공하는, 3차원 스캐너용 캘리브레이션 크래들의 제어 방법.
- 청구항 19에 있어서,상기 캘리브레이션 수행 단계는,상기 3차원 스캐너가 삽입된 후에 상기 광 감지 단계에 의하여 광이 감지되면, 상기 패턴 플레이트를 상기 캘리브레이션 수행을 위한 초기 위치로 복원시키는, 3차원 스캐너용 캘리브레이션 크래들의 제어 방법.
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US18/277,311 US20240138680A1 (en) | 2021-02-16 | 2022-02-15 | Calibration cradle for three-dimensional scanner and control method for same |
CN202280015212.XA CN116847773A (zh) | 2021-02-16 | 2022-02-15 | 用于三维扫描仪的校准托架及其控制方法 |
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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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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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US20240138680A1 (en) | 2024-05-02 |
KR20220116953A (ko) | 2022-08-23 |
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