Scanner, data processing device, and data processing method

Abstract

Disclosed is a scanner including a communication unit that transmits and receives information to and from a data processing device, a projector that emits pattern light generated based on pattern data, and a data acquisition unit that acquires two-dimensional image data about an object; the data acquisition unit includes a first camera and a second camera spaced apart from each other, at least one of the first camera and the camera acquires image data about an object to which the pattern light is projected, the first camera acquires first image data, and the second camera acquires second image data. A light path of the pattern light projected to the object coincides with a light path of the incident light incident to the second camera in opposite directions, and the communication unit transmits the first image data and at least one of the second image data and the pattern data to the data processing apparatus.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a scanner, a data processing device, and a data processing method, and more specifically, to a device and a method for processing or processing oral images. Background Art

[0002] The scanner is used to perform dental treatment on patients and can obtain scan data about the surface of the object using light reflected from the object.

[0003] A data processing device such as a PC connected to the scanner can generate a three-dimensional virtual model using the scan data obtained by the scanner.

[0004] When the object has high reflectivity, such as metal, the scanner may not be able to obtain accurate two-dimensional scan data about the object. For example, when the object is an internal metal structure such as a crown, a filling material, or an orthodontic device, the accurate shape cannot be scanned due to the high reflectivity of light. In this case, there is a problem that the three-dimensional virtual model generated by the inaccurate scan data also becomes inaccurate.

[0005] Therefore, a method and apparatus are needed that can generate an accurate three-dimensional virtual model even for an object with high reflectivity. Summary of the invention

[0006] Means used to solve problems

[0007] The scanner of the embodiment includes: a communication unit for sending and receiving information with a data processing device, a projector for emitting pattern light generated based on pattern data, and a data acquisition unit for acquiring two-dimensional image data about an object; the data acquisition unit includes a first camera and a second camera separated from each other, at least one of the first camera and the second camera acquires image data about the object onto which the pattern light is projected, the first camera acquires first image data, the second camera acquires second image data, the light path of the pattern light projected onto the object overlaps with the light path of the incident light incident onto the second camera in opposite directions, and the communication unit transmits the second image data and at least one of the pattern data and the first image data to the data processing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a diagram for explaining the oral cavity image processing system according to the embodiment.

[0009] Figure 2 FIG. 1 is a diagram for explaining a method of acquiring surface data by a scanner according to an embodiment.

[0010] Figure 3 is a diagram showing the light path of a scanner.

[0011] Figure 4 The light path of the scanner of an embodiment is shown.

[0012] Figure 5 It is shown that according to the embodiment, the scanner acquires different data according to the object body.

[0013] Figure 6 It is shown that the scanner according to the embodiment acquires two-dimensional image data about the object by scanning the object.

[0014] Figure 7 It is shown that the projector and the second camera included in the scanner according to the embodiment are coaxially formed.

[0015] Figure 8 Part of the components of the scanner according to the embodiment is shown.

[0016] Fig. 9 Shows the use of Figure 8 The image data acquired by the scanner shown acquires a three-dimensional oral cavity model of the subject.

[0017] Fig.10 A diagram showing information transmission and reception between a scanner and a data processing device according to an embodiment.

[0018] Fig.11 is a diagram showing a data processing system according to an embodiment in a block diagram.

[0019] Fig.12 is a sequence diagram showing a data processing method according to an embodiment.

[0020] Fig.13 is a sequence diagram showing a data processing method according to an embodiment. DETAILED DESCRIPTION

[0021] In an embodiment, when performing a scanning action, the scanner operates alternately in a first scanning mode and a second scanning mode, and the data acquisition unit acquires two-dimensional image data at a first brightness when the scanner operates in the first scanning mode, and acquires two-dimensional image data at a second brightness when the scanner operates in the second scanning mode. The second brightness may be lower than the first brightness.

[0022] In an embodiment, the scanner may further include a processor, and the processor may control the second camera to be turned on and / or off based on at least one of a control signal from the data processing device and a scanning mode of the scanner.

[0023] In an embodiment, the projector may include a near ultraviolet (NUV) light source, and at least one of the first camera and the second camera may be a color camera including a color sensor or a black and white camera with a color filter. In response to the projector projecting near ultraviolet light onto an object using the near ultraviolet light source, the first camera and the second camera may obtain image data about light reflected by the near ultraviolet light on the object, and the communication unit may transmit the image data about the light reflected by the near ultraviolet light on the object to the data processing device.

[0024] According to the embodiment, the data processing device may include: a communication unit for sending and receiving information with a scanner including a projector, a first camera and a second camera, and a processor for executing at least one instruction; the processor may receive at least one of the second image data acquired by the second camera and the pattern data of the projector and the first image data acquired by the first camera from the scanner through the communication unit, and generate a light path of the pattern light generated based on the pattern data and projected to the object body, which overlaps with the light path of the incident light incident to the second camera in the opposite direction, and compares the pattern included in the first image data with the pattern corresponding to the pattern data to generate a three-dimensional oral model of the object body.

[0025] In an embodiment, the processor may acquire depth information by finding consistent points between a pattern included in the first image data and a pattern corresponding to the pattern data, thereby generating a three-dimensional oral cavity model of the object.

[0026] In an embodiment, the processor can generate a three-dimensional oral model about the object body by comparing the pattern included in the first image data and the pattern corresponding to the pattern data based on at least one of a user control signal, an identification signal that the object body is metal, and an inability to obtain a three-dimensional oral model about the object body from the first image data and the second image data.

[0027] In an embodiment, the processor may receive from the scanner through the communication unit image data acquired at a first brightness when the scanner is in a first scanning mode and image data acquired at a second brightness when the scanner is in a second scanning mode, wherein the second brightness is lower than the first brightness, and use the image data acquired through the first camera among the image data acquired at the second brightness as the first image data to generate the three-dimensional oral model.

[0028] In an embodiment, the processor may apply a second camera lens distortion to the pattern data, and compare a pattern corresponding to the pattern data to which the second camera lens distortion is applied with a pattern included in the first image data to generate a three-dimensional oral model of the object.

[0029] In an embodiment, at least one of the first camera and the second camera is a color camera that may include a color sensor or a black and white camera with a color filter. The communication unit may receive from the scanner image data about light reflected by the near-ultraviolet light on the object body, which is obtained by the first camera and the second camera in response to the projector projecting near-ultraviolet light using a near-ultraviolet light source. The processor may generate a three-dimensional oral model that identifies an area with a predetermined wavelength band from the image data about the light reflected by the near-ultraviolet light on the object body.

[0030] According to the data processing method of the embodiment, the following steps may be included: using a projector included in a scanner to emit pattern light generated based on pattern data, using a first camera included in the scanner to acquire first image data about an object body onto which the pattern light is projected, and comparing a pattern included in the first image data with a pattern corresponding to the pattern data to generate a three-dimensional oral model of the object body; the light path of the pattern light projected onto the object body may overlap in the opposite direction with the light path of the incident light incident onto the second camera included in the scanner.

[0031] In an embodiment, the step of generating a three-dimensional oral model about the object body may include the following steps: acquiring depth information by finding consistent points between a pattern included in the first image data and a pattern corresponding to the pattern data, thereby generating a three-dimensional oral model about the object body.

[0032] In an embodiment, the step of generating a three-dimensional oral model about the object body may include the following steps: based on a user control signal, an identification signal that the object body is metal, and at least one of the inability to obtain the three-dimensional oral model about the object body from the first image data and the second image data, comparing a pattern included in the first image data and a pattern corresponding to the pattern data to generate a three-dimensional oral model about the object body.

[0033] In an embodiment, the step of acquiring the first image data and the second image data may include the following steps: the scanner acquires image data at a first brightness when in a first scanning mode, and acquires image data at a second brightness when in a second scanning mode; the second brightness may be lower than the first brightness; the step of generating a three-dimensional oral model about the object may include the following steps: using the image data acquired by the first camera among the image data acquired at the second brightness as the first image data to generate the three-dimensional oral model.

[0034] In an embodiment, the data processing method may also include a step of applying a second camera lens distortion to the pattern data, and the step of generating a three-dimensional oral model about the object body may include the following steps: comparing a pattern corresponding to the pattern data to which the second camera lens distortion is applied with a pattern included in the first image data to generate a three-dimensional oral model about the object body.

[0035] In an embodiment, one of the first camera and the second camera may be a color camera including a color sensor or a black and white camera with a color filter, and the data processing method may further include the following steps: the projector projects near-ultraviolet light using a near-ultraviolet light source; the first camera and the second camera are used to obtain image data about the light reflected by the near-ultraviolet light on the object; and a three-dimensional oral model that identifies an area with a predetermined wavelength band is generated from the image data about the light reflected by the near-ultraviolet light on the object.

[0036] The recording medium of the embodiment may be a computer-readable recording medium recording a program that can execute a data processing method in a computer. The data processing method may include the following steps: using a projector included in a scanner to emit pattern light generated based on pattern data, using a first camera included in the scanner to acquire first image data about an object body onto which the pattern light is projected, and comparing a pattern included in the first image data with a pattern corresponding to the pattern data to generate a three-dimensional oral model of the object body; the light path of the pattern light projected onto the object body may overlap in the opposite direction with the light path of the incident light incident on the second camera included in the scanner.

[0037] According to a data processing device and a data processing method of an embodiment, image data about light reflected by near-ultraviolet rays from an object can be acquired using a NUV light source and a color camera or a black-and-white camera with a color filter.

[0038] This specification describes the principles of the present invention and discloses embodiments to clarify the scope of the invention and enable those skilled in the art to implement the present invention. The disclosed embodiments can be implemented in various forms.

[0039] Throughout the specification, the same figure numbers refer to the same constituent elements. The disclosed embodiments do not describe all the elements of the embodiments, and omit the general content belonging to the technical field of the present invention or the repetitive content between the embodiments. The term "part" used in the specification can be implemented by software or hardware. Depending on the embodiment, multiple "parts" can be implemented as a unit (unit, element), or one "part" can contain multiple elements. The working principle and embodiments of the present invention are described below with reference to the accompanying drawings.

[0040] In the present specification, an image may include at least one tooth, or an oral cavity including at least one tooth, or an image of a plaster model representing the oral cavity (hereinafter referred to as an "oral cavity image").

[0041] In addition, in the present specification, an image may include a two-dimensional image of an object or a three-dimensional oral image showing the object in a three-dimensional manner. A three-dimensional oral image can be generated by three-dimensionally modeling the structure of the oral cavity based on raw data, and thus can be referred to as a three-dimensional oral model. In addition, a three-dimensional oral model can also be referred to as a three-dimensional scan model or three-dimensional scan data.

[0042] Hereinafter, in this specification, the term "oral cavity image" is used to collectively refer to a model or image showing the oral cavity in two or three dimensions.

[0043] In addition, in this specification, data may refer to information required for displaying an object in two dimensions or three dimensions, for example, raw data acquired by at least one camera.

[0044] Specifically, raw data is data obtained for generating an oral image, and may be data (e.g., two-dimensional data) obtained in at least one image sensor included in a scanner when scanning an object body using a scanner. Raw data obtained from a scanner may be referred to as a two-dimensional image, image data, or two-dimensional image data. Raw data may refer to two-dimensional images from different viewpoints obtained by multiple cameras when scanning an object using a scanner.

[0045] It is described above that the original data is a two-dimensional image, but the invention is not limited thereto, and the original data may be three-dimensional image data.

[0046] In this specification, an object is a photographed object and may include a part of a body or a model obtained by casting a part of a body.

[0047] The light projected by the projector is reflected from the object and enters the two cameras included in the scanner. When the reflectivity of the object is high, such as metal, the amount of light reflected from the object and entering the two cameras changes. In this case, the scanner cannot obtain accurate two-dimensional scan data about the object, and the three-dimensional virtual model generated by the inaccurate two-dimensional scan data also becomes inaccurate.

[0048] The disclosed embodiments are directed to overcoming the above problems and to providing a method and apparatus capable of generating an accurate three-dimensional virtual model about an object even when the object has high reflectivity.

[0049] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

[0050] Figure 1 It is a diagram for explaining the oral cavity image processing system according to the embodiment.

[0051] Reference Figure 1 The oral image processing system may include: a scanner 110 ; and a data processing device 120 , which is combined with the scanner 110 via a communication network 130 .

[0052] The scanner 110 may be a medical device for acquiring an image of an object. In an embodiment, the scanner 110 may be an optical three-dimensional scanner. The optical three-dimensional scanner 110 may acquire three-dimensional surface shape information using light reflected from the object.

[0053] The scanner 110 may acquire an image of at least one of the oral cavity, ear, nose, artificial structure, or a plaster model for taking a mold of the oral cavity, ear, nose, or artificial structure. Alternatively, the scanner 110 may be an oral scanner that is inserted into the oral cavity and scans the teeth to acquire an oral image of the oral cavity including at least one tooth. In the following, for ease of description, the case where the scanner 110 is an oral scanner will be taken as an example, but is not limited thereto.

[0054] In an embodiment, the scanner 110 may be a handheld scanner that a user holds and moves while scanning an object. The scanner 110 is inserted into the ear or nose to scan the ear or nose in a non-contact manner, but is not limited thereto, and the scanner 110 may also be a desktop scanner.

[0055] In the present disclosure, the object body may refer to a scanned object. The object body may be a part of the body, or include a model obtained by taking a mold of a part of the body. The object body may include an oral cavity, a plaster model or an impression model obtained by taking a mold of the oral cavity, an artificial structure that can be inserted into the oral cavity, or a plaster model or an impression model obtained by taking a mold of an artificial structure, a tooth model (dentiform), etc. For example, the object body may be at least one of a tooth and a gum, or include a plaster model or an impression model of at least one of a tooth and a gum, and / or an artificial structure that can be inserted into the oral cavity, or a plaster model or an impression model of such an artificial structure. Among them, the artificial structure that can be inserted into the oral cavity, for example, may include at least one of an orthodontic device, a dental implant, a crown, an inlay, an onlay, an artificial tooth, and an orthodontic auxiliary tool inserted into the oral cavity. In addition, the orthodontic device may include at least one of a bracket, an attachment, an orthodontic screw, a lingual orthodontic device, and a detachable orthodontic retaining device.

[0056] The scanner 110 may include a main body and a tip. The tip is a portion inserted into the oral cavity and is detachably mounted on the main body. Light irradiated from the main body may be directed toward the object through the tip, and light received from the object may be directed toward the main body through the tip.

[0057] The main body may include an optical part. The optical part may include: a light irradiation part for projecting light; and a camera for acquiring an image by photographing the object.

[0058] In an embodiment, the light irradiation unit may include a projector. The light irradiation unit may irradiate pattern light toward the object. In an embodiment, the pattern light may be light having a pattern form irradiated by the projector from outside the projector.

[0059] In an embodiment, the scanner 110 may include a first camera and a second camera. In an embodiment, the first camera and the second camera may be symmetrically spaced apart. The first camera and the second camera may acquire first image data and second image data having different viewpoints for an object onto which the patterned light is projected.

[0060] In an embodiment, the first camera and the second camera included in the scanner 110 can capture the object irradiated with pattern light and obtain surface information about the object as raw data. In an embodiment, the first camera and the second camera can respectively obtain first image data and second image data about the object.

[0061] In an embodiment, the light path of the pattern light projected onto the object may overlap with the light path of the incident light incident onto the second camera in an opposite direction.

[0062] The scanner 110 may transmit the acquired raw data to the data processing device 120 via the communication network 130 .

[0063] In an embodiment, the scanner 110 may transmit at least one of the pattern light and the second image data acquired by the second camera and the first image data acquired by the first camera to the data processing device 120 through the communication network 130 .

[0064] The data processing device 120 may be connected to the scanner 110 via a wired or wireless communication network 130. The data processing device 120 may be any electronic device that receives raw data from the scanner 110 and generates, processes, displays and / or transmits an oral image based on the received raw data. For example, the data processing device 120 may be a computing device such as a smart phone, a laptop computer, a desktop computer, a PDA, a tablet computer, etc., but is not limited thereto. In addition, the data processing device 120 may also exist in the form of a server (or server device) for processing oral images, etc.

[0065] In an embodiment, the data processing device 120 may receive the first image data acquired by the first camera from the scanner 110 , and may also receive at least one of the second image data acquired by the second camera and the pattern light projected by the projector.

[0066] The data processing device 120 may generate a three-dimensional oral cavity image, namely, three-dimensional scanning data, according to the raw data received from the scanner 110 .

[0067] In an embodiment, the data processing device 120 may generate a three-dimensional oral cavity model about the subject body by using one of the second image data and the patterned light together with the first image data.

[0068] The objects include objects with low reflectivity such as enamel included in teeth or plaster models, and objects with high reflectivity such as inlays, onlays, crowns, filling materials, orthodontic devices, etc.

[0069] Alternatively, the object may be a mixture of objects with high reflectivity and objects with low reflectivity. For example, the object may be tooth enamel, for example, a metal crown is attached to a part of the enamel.

[0070] In an embodiment, when the object is not an object with high reflectivity, the data processing device 120 may acquire a three-dimensional oral cavity model about the object from the first image data and the second image.

[0071] In an embodiment, when the object is an object with high reflectivity, the data processing device 120 may acquire a three-dimensional oral cavity model about the object by using the first image data and the patterned light.

[0072] The data processing device 120 may display the three-dimensional oral cavity image through a display, or output or transmit it to an external device.

[0073] As another example, the scanner 110 acquires raw data by scanning the oral cavity, processes the acquired raw data to generate three-dimensional information, and transmits the three-dimensional information to the data processing device 120 .

[0074] In an embodiment, the scanner 110 may use a variety of methods to obtain three-dimensional information about the object. For example, the scanner 110 may use a confocal method to obtain three-dimensional information about the object. Alternatively, in an embodiment, the scanner 110 may use a triangulation technique to obtain three-dimensional information about the object. However, this is an embodiment, and in addition to the confocal method or the triangulation technique, the scanner 110 may also use a variety of methods to obtain three-dimensional information from raw data and transmit it to the data processing device 120.

[0075] The data processing device 120 may analyze, process, process, display and / or transmit the received three-dimensional information to an external device.

[0076] The data processing device 120 may generate a three-dimensional oral cavity model of the object using the images, ie, frames, of the object received from the scanner 110 .

[0077] Figure 2 FIG. 1 is a diagram for explaining a method of acquiring surface data by a scanner according to an embodiment.

[0078] Figure 2 It is used to illustrate Figure 1 The scanner 110 described in the figure acquires three-dimensional data by imaging the object.

[0079] In an embodiment, the scanner 110 may acquire three-dimensional data about an object body using a variety of methods. For example, the scanner 110 may acquire three-dimensional data about an object body using a confocal method. The confocal method acquires three-dimensional information of an object body based on the position of a point detected by the maximum intensity of reflected light according to the refractive index of a lens through which light irradiated onto the object body passes. The scanner 110 may acquire an optical cross-sectional image with high spatial resolution using a pinhole structure. The scanner 110 may obtain three-dimensional data by stacking acquired two-dimensional images along the axial direction.

[0080] Alternatively, in another embodiment, the scanner 110 may also obtain three-dimensional information of the object using a triangulation technique. The triangulation technique is a technique for obtaining three-dimensional information of the object through triangulation calculation using a triangle formed by a light source, an object illuminated by light from the light source, and an image sensor that inputs light reflected from the object. However, this is only one embodiment, and the scanner 110 may obtain three-dimensional data through a variety of methods other than the confocal method or the triangulation technique.

[0081] As an embodiment, the following describes in more detail how the scanner 110 uses triangulation technology to obtain three-dimensional data about an object.

[0082] In an embodiment, the scanner 110 may acquire an image using at least one camera, and acquire three-dimensional data based on the acquired image.

[0083] In an embodiment, the scanner 110 may be an optical 3D scanner. The scanner 110 may use structured light with stereo vision to obtain 3D data about the surface of the object 210 .

[0084] The scanner 110 may include two or more cameras and a projector 220 capable of projecting structured light 225 .

[0085] The scanner 110 may project structured light 225 onto the object 210, and acquire an L image 235 corresponding to the left field of view and an R image 245 corresponding to the right field of view from an L camera 230 corresponding to the left field of view and an R camera 240 corresponding to the right field of view, respectively. The L image 235 and the R image 245 may be images of the object onto which the structured light (patterned light) is projected. The L image 235 and the R image 245 may be reconstructed into a three-dimensional image frame representing the surface of the object 210.

[0086] The scanner 110 may continuously acquire two-dimensional image frames including the L image 235 and the R image 245 of the object 210. The scanner 110 or the data processing device 120 may acquire a three-dimensional image frame representing the surface shape of the object 210 from the two-dimensional image frames including the L image 235 and the R image 245. Figure 2 In the figure, it is described that the scanner 110 obtains three-dimensional data from two images obtained by using two cameras 230 and 240, but this is only one embodiment, and the scanner 110 can also obtain images by using only one of the two cameras 230 and 240.

[0087] The scanner 110 may scan around the object 210 at a certain time interval (eg, 10 to 30 frames per second) to obtain a plurality of 2D frames. The scanner 110 or the data processing device 120 may obtain a plurality of 3D image frames from the plurality of 2D image frames.

[0088] The data processing device 120 may obtain a 3D oral cavity model of the entire object 210 by merging or aligning a plurality of 3D image frames.

[0089] In an embodiment, when the scanner 110 uses one of the two cameras 230 and 240 to acquire an image, the data processing device 120 can use the image (the image acquired using only one camera and received from the scanner 110) and the pattern light to acquire a three-dimensional oral model of the object.

[0090] When the object or a part of the object is a metal structure in the oral cavity such as an inlay, onlay, crown, filling material, or orthodontic device, the scanner 110 Figure 2 When scanning an object in the manner shown, it is difficult to scan its shape.

[0091] According to the 3D data acquisition method of irradiating pattern light to an object and acquiring 3D shape information of the surface of the object, the 3D shape information can be obtained only when the pattern is visible on the surface of the object. However, in the case of metal structures, since the amount of light reflected in the irradiated pattern light is large, it is difficult to distinguish the pattern, and thus it is difficult to measure the 3D shape information.

[0092] In addition, when the object is metal, there may be a case where light reflected from the metal does not simultaneously enter the L camera 230 and the R camera 240. For example, when light reflected from a point on the object enters only one of the L camera 230 and the R camera 240, three-dimensional data about the point cannot be acquired.

[0093] Figure 3 is a diagram showing the light path of a scanner.

[0094] Reference Figure 3 The scanner may include a pair of lenses 21, 22 that are spaced apart.

[0095] The projector 70 may be located at the center of the pair of lenses 21 and 22. The outgoing light emitted from the projector 70 sequentially passes through the outgoing light path portion 53 formed in the camera mounting portion 50 and reaches the tip, and its path is changed by the reflector 60 included in the tip, so that it is projected to the object through the opening portion of the tip.

[0096] The light reflected from the object, in contrast to the projected light projected onto the object, sequentially passes through the opening to enter the inside of the tip. The path of the light incident onto the tip is changed by the reflector 60 and is incident onto a pair of lenses 21 and 22, respectively. The two incident light path portions 51 and 52 are formed to allow the incident light incident from the pair of lenses 21 and 22 to pass through, and are formed to open to one side and the other side of the camera mounting portion 50. The incident light passing through the pair of lenses 21 and 22 can have its path changed by the light path changing portions 41 and 42, and be irradiated onto the image sensors 31a and 32a respectively integrated on the imaging boards 31b and 32b. The image sensors 31a and 32a can perform imaging processing on the irradiated light to generate two image data. The image sensors 31a and 32a can be black and white image sensors.

[0097] When the object or part of the object is a metal structure in the mouth such as an inlay, onlay, crown, filling material, or orthodontic device, it is used Figure 3 Even when scanning an object with a scanner of the form shown, an accurate image cannot be obtained. This is because, due to the high reflectivity of metal materials, the amount of light reflected by the metal materials is large, which not only makes it difficult to distinguish patterns in the image obtained by scanning the metal, but also there is a situation where the light reflected from the metal surface does not enter the pair of lenses 21 and 22 included in the pair of cameras at the same time. That is, in the case of metal, there is a situation where the light reflected from a point on the object is incident on the two cameras at the same time, and it is difficult to find a consistent point in the two image data obtained by the two cameras. Therefore, there are difficulties in measuring three-dimensional shape information.

[0098] Figure 4 The light path of the scanner of an embodiment is shown.

[0099] Figure 4 A portion of the components included in the optical unit of the scanner of the embodiment is shown. For the convenience of explanation, Figure 4 The components inside the scanner are shown in a simple diagram, which is one embodiment. The components inside the scanner can be implemented in a variety of shapes that are consistent with the actions or functions of the components.

[0100] Reference Figure 4 The scanner 110 of the embodiment may include an optical unit. The optical unit may include: a light irradiation unit for irradiating light; and a data acquisition unit for photographing the object to acquire an image.

[0101] In an embodiment, the light irradiation section may generate pattern light and irradiate the pattern light to the object.

[0102] In an embodiment, the data acquisition unit may include a first camera and a second camera. In an embodiment, the first camera and the second camera may be arranged side by side on a horizontal plane. In an embodiment, the first camera and the second camera may be spaced apart in a symmetrical form.

[0103] In an embodiment, the first camera and the second camera include a first camera lens 405-1 and a second camera lens 405-2 at one end, respectively. In an embodiment, the first camera lens 405-1 and the second camera lens 405-2 are formed to be spaced apart from each other in a direction toward the tip.

[0104] The path of the light reflected from the object and incident on the tip can be changed by the reflector inside the tip and incident on the first camera lens 405-1 and the second camera lens 405-2 respectively. The incident light passing through the first camera lens 405-1 and the second camera lens 405-2 can change the path by the light path changer 406-1, 406-2. The light path changer 406-1, 406-2 may include a total reflection mirror capable of total reflection of light. However, it is not limited to this, and the light path changer 406-1, 406-2 may include any optical element capable of total reflection.

[0105] The light whose path is changed by the optical path changing units 406-1 and 406-2 may be irradiated to the image sensors 407-1 and 407-2. The image sensors 407-1 and 407-2 perform imaging processing on the irradiated light, thereby generating two image data.

[0106] Hereinafter, the image data acquired by the image sensor 407 - 1 included in the first camera is referred to as first image data, and the image data acquired by the image sensor 407 - 2 included in the second camera is referred to as second image data.

[0107] In an embodiment, both image sensors 407-1 and 407-2 are monochrome image sensors. That is, in an embodiment, the first camera and the second camera are black and white cameras. The resolution of the image data acquired by the black and white camera is higher than the resolution of the image data acquired by the color camera (dividing pixels into red, green, and blue). For example, the resolution of the image data acquired by the black and white camera is 4 times higher than the resolution of the image data acquired by the color camera. Therefore, the data processing device 120 can find feature points more accurately in the image data acquired by the black and white camera, and can acquire accurate scanning data about the object.

[0108] Depending on the situation, there is a situation where the scanner 110 needs to obtain a color image of the object. Therefore, in the embodiment, the image sensor 407-1 included in the first camera of the two image sensors 407-1 and 407-2 can be a black and white image sensor, and the image sensor 407-2 included in the second camera can be a color image sensor. In this case, the scanner 110 can use the first camera to obtain high-resolution image data, and use the second camera to obtain color image data.

[0109] Alternatively, both image sensors 407-1 and 407-2 are monochrome black and white image sensors, and the image sensor 407-1 included in the second camera may further include a color filter. In this case, the scanner 110 may use the color filter to obtain an image showing a signal of a specific wavelength band passing through the color filter in the light reflected by the object.

[0110] In an embodiment, the first camera and the second camera may simultaneously obtain first image data and second image data having different viewpoints for the object onto which the pattern light is projected.

[0111] In an embodiment, the first camera and the second camera may be arranged so that the light path of the first camera and the light path of the second camera maintain a certain angle. The light path of the first camera is the light path of the incident light incident to the first camera, and the light path of the second camera is the light path of the incident light incident to the second camera.

[0112] Considering a triangle with the center point of each of the first camera lens 405-1 and the second camera lens 405-2 and the center point of the reflector inside the tip as vertices, in the inner angle of the triangle, the edge connecting the center point of the first camera lens 405-1 and the center point of the reflector represents the light path of the first camera, and the edge connecting the center point of the second camera lens 405-2 and the center point of the reflector represents the light path of the second camera. The angle between the light path of the first camera and the light path of the second camera is called the angle between the two cameras.

[0113] In stereoscopic vision, if the angle between the two cameras increases, the depth resolution will increase when the image data obtained by the two cameras form a three-dimensional oral model. On the contrary, if the angle between the two cameras decreases, the depth resolution will decrease. Resolving power is the ability of a lens, screen, etc. to convey, record or display fine images, and can mean how detailed the object can be displayed.

[0114] Since the depth resolution varies according to the angle between the two cameras, the angle between the two cameras needs to maintain a predetermined angle.

[0115] As described above, when the object is made of metal, it is difficult to generate an accurate three-dimensional oral cavity model using two image data acquired by two cameras.

[0116] Therefore, the present invention discloses a technology for generating an accurate three-dimensional oral cavity model of a subject body using one image data acquired by a camera (one of two cameras) and pattern data of a projector 401 .

[0117] To this end, the scanner 110 of the embodiment may be provided with a projector 401 near one of the two cameras. Figure 3 As shown in FIG. 1 , the projector 70 is not located at the center of the pair of lenses 21 and 22, but as shown in FIG. Figure 4 As shown, in the scanner 110 of the embodiment, the projector 401 may be located near one of the first camera and the second camera, for example, may be located near the second camera.

[0118] In an embodiment, the projector 401 may be disposed above or below the second camera. Alternatively, the projector 401 may be located on the side of the second camera, with the projector 401, the second camera, and the first camera being arranged in a row.

[0119] In an embodiment, the scanner 110 can project images in a variety of projection methods, such as a cathode-ray tube (CRT) method, a liquid crystal display (LCD) method, a digital light processing (DLP) method, a laser method, etc.

[0120] In the embodiment, the light irradiation unit included in the scanner 110 is a component for projecting light, and may include components such as the projector 401 and a reflector.

[0121] In an embodiment, the projector 401 may include a light source, a digital micromirror device (DMD), and a projector lens.

[0122] In an embodiment, the scanner 110 may include multiple types of light sources. For example, the scanner 110 may include at least one light source selected from the group consisting of a lamp, an LED, and a laser.

[0123] Figure 4 The scanner 110 is shown as using an RGB LED light source as a light source. In an embodiment, the scanner 110 can use the RGB LED light source to provide color by using a combination of red LED, green LED, and blue LED.

[0124] However, the invention is not limited thereto, and the scanner 110 may also use a white light source as a light source instead of the red LED, the green LED, and the blue LED.

[0125] In an embodiment, the scanner 110 may include a DMD. The scanner 110 may control each of the plurality of mirrors included in the DMD to form a pattern. The DMD is a collection of micro-mirrors, tens of thousands of which are arranged like a chessboard, and each mirror may function as a pixel. The scanner 110 may control the mirrors included in the DMD to be one of on and off. Each mirror has a different inclination in the on and off states, thereby causing light to be emitted or not emitted, thereby adjusting the brightness.

[0126] In an embodiment, the projector 401 of the scanner 110 may include a spatial light modulator (SLM) in addition to the DMD. For example, the projector 401 may include liquid crystal on silicon (LCoS), a liquid crystal device (LCD), a microelectromechanical system (MEMS), etc.

[0127] In an embodiment, the projector 401 may generate patterned light having a predetermined pattern. In an embodiment, the pattern may be a shape or texture of the patterned light to be generated by the projector 401 using the DMD. In an embodiment, the pattern data may be data corresponding to the pattern to be generated by the projector 401.

[0128] In an embodiment, the projector 401 may generate patterned light based on the pattern data, and irradiate the patterned light to the outside of the projector 401. In an embodiment, the patterned light may have a plurality of patterns such as straight lines, oblique lines, and lattice lines.

[0129] In an embodiment, the projector 401 may sequentially emit pattern lights of a red LED, a green LED, and a blue LED through a projector lens located at one end of the projector 401 .

[0130] In an embodiment, the outgoing light emitted from the projector lens may be totally reflected by the reflector 403. In an embodiment, the outgoing light totally reflected and changed in path by the reflector 403 is directed toward the beam splitter (Beam Splitter) 404, and may be split into a transmission beam and a reflection beam by the beam splitter 404. The reflection beam split by the beam splitter 404 may be irradiated toward the tip direction and projected onto the object.

[0131] As described above, according to the embodiment, the optical path of the outgoing light emitted from the projector 401 can be changed by the reflector 403 and the beam splitter 404. Therefore, although the positions of the projector 401 and the second camera are different, the optical path of the projection light projected to the object overlaps with the optical path of the second camera in the opposite direction.

[0132] In addition, according to an embodiment, the projector 401 is configured to have the same optical path as one of the two cameras, whereby the angle between the optical path of the projector 401 and the optical path of the first camera is the same as the angle between the two cameras formed by the optical path of the first camera and the optical path of the second camera.

[0133] Therefore, even when the three-dimensional oral cavity model is formed using the pattern data of the projector 401 and the first image data, the same depth resolution as when the three-dimensional oral cavity model is formed using the first image data and the second image data can be maintained.

[0134] In an embodiment, the scanner 110 may transmit at least one of the second image data acquired through the second camera and the pattern data of the projector 401 , and the first image data acquired through the first camera to the data processing device 210 .

[0135] In an embodiment, the data processing device 120 may generate a 3D oral model based on data received from the scanner 110. In an embodiment, the data processing device 120 may acquire a 3D oral model of the subject using the first image data and one of the second image data and the pattern data of the projector 401.

[0136] In an embodiment, the data processing device 120 may acquire a three-dimensional oral cavity model of the object by using the first image data acquired from the first camera and the second image data acquired from the second camera.

[0137] In an embodiment, when the data processing device 120 receives a control signal from the user that the object is metal, or recognizes that the object is metal using an artificial intelligence model, a three-dimensional oral model of the object can be generated by comparing the pattern included in the first image data with the pattern data of the projector 401.

[0138] Alternatively, in an embodiment, when the data processing device 120 cannot obtain a three-dimensional oral model of the object body from the first image data and the second image data, a three-dimensional oral model of the object body can be generated by comparing the first image data and the pattern data of the projector 401.

[0139] Figure 5 It is shown that according to the embodiment, the scanner 110 acquires different data according to the object body.

[0140] Figure 5 The left side drawing of shows a situation where the scanner 110 generally scans an object to acquire data.

[0141] In an embodiment, the scanner 110 may project pattern light onto the object using the projector 401. The scanner 110 may use the first camera and the second camera to obtain two-dimensional image data about the object onto which the pattern light is projected. The scanner 110 may use the first camera to obtain first image data about the object, and use the second camera to obtain second image data about the object. The first image data and the second image data may be image data obtained at different viewpoints / viewpoints at the same time point for the object onto which the pattern light is projected.

[0142] In an embodiment, the scanner 110 may transmit the first image data and the second image data to the data processing device 120 .

[0143] In an embodiment, the data processing device may receive the first image data and the second image data from the scanner 110, and detect main feature points in the two image data. In an embodiment, the data processing device may match the feature points of the two image data. In an embodiment, the data processing device may calculate depth information based on the matched feature point pairs. In an embodiment, the data processing device may generate a depth map based on the calculated depth information. In the depth map, the position of each pixel is assigned a depth value, so that three-dimensional information can be obtained.

[0144] Figure 5 The right side figure of shows a situation where the scanner 110 acquires data for generating a three-dimensional oral cavity model about the object when the object is made of metal.

[0145] In an embodiment, the scanner 110 may project pattern light onto the object. In an embodiment, the scanner 110 may irradiate pattern light onto the object using the projector 401 and acquire two-dimensional image data about a pattern formed on the object by scanning the object irradiated with the pattern light.

[0146] In an embodiment, when the object is metal, Figure 5 As shown in the right figure of , the scanner 110 can control the second camera not to act. For example, when the object is metal, the scanner 110 can turn off the action of the second camera so that the second camera does not obtain the second data about the object.

[0147] In an embodiment, the scanner 110 may receive a control signal for turning off the second camera from the data processing device 120. For example, when the data processing device 120 recognizes that the object is metal, the data processing device 120 may transmit a control signal indicating that the object is metal to the scanner 110, or transmit a control signal for turning off the second camera.

[0148] In an embodiment, in response to receiving a control signal indicating that the object is metal or a control signal for turning off the second camera from the data processing device 120, the scanner 110 may control the second camera to not operate so that the second camera does not acquire the second image data.

[0149] In the embodiment, regardless of whether the object is metal or not, the scanner 110 can use the first camera to obtain the first image data about the object. The first image data about the object obtained by the first camera is a patterned image with a pattern formed on the object. The pattern formed on the object is generated by the pattern light projected from the projector 401, so the pattern data of the projector 401 must contain feature points corresponding to the pattern included in the first image data.

[0150] In an embodiment, the scanner 110 may transmit the first image data to the data processing device 120. In an embodiment, the scanner 110 may transmit the pattern data of the projector 401 to the data processing device 120 together with the first image data.

[0151] In an embodiment, the data processing device 120 may receive the first image data and the pattern data of the projector 401 from the scanner 110, and detect feature points using the first image data and the pattern data of the projector 401. That is, the data processing device 120 uses the projector 401 as a virtual camera, uses the pattern data of the projector 401 to replace the second image data, and compares the pattern included in the first image data with the pattern corresponding to the pattern data of the projector 401.

[0152] In an embodiment, the data processing device 120 detects corresponding feature points from the pattern of the first image data and the pattern of the pattern data corresponding to the projector 401, and matches the detected feature points with each other. In an embodiment, the data processing device can use information such as the pattern, color, texture, etc. of each feature point to match similar feature points.

[0153] In an embodiment, the data processing device may calculate the depth information based on the matched feature points. One method for calculating the depth is to use the distance difference (disparity) between pixels. The larger the distance difference, the deeper the depth may be calculated.

[0154] In an embodiment, the data processing device may generate a depth map based on the calculated depth information. In the depth map, a depth value is assigned to the position of each pixel, so that three-dimensional information can be obtained.

[0155] In another embodiment, when the object is made of metal, the scanner 110 may also obtain second image data about the object through the second camera, and does not transmit the second image data to the data processing device 120 .

[0156] In another embodiment, when the object is made of metal, the scanner 110 may also obtain second image data about the object through the second camera and transmit it to the data processing device 120. In this case, when generating the three-dimensional oral cavity model, the data processing device 120 may not use the second image data in response to the fact that the object is made of metal.

[0157] As described above, according to the embodiment, the scanner 110 may not acquire the second image data or may not transmit the second image data to the data processing device 120 depending on whether the object is metal.

[0158] According to an embodiment, the data processing device 120 may generate a 3D oral cavity model about the object using different data depending on whether the object is metal, thereby generating an accurate 3D oral cavity model according to the type of the object.

[0159] Figure 6 It is shown that the scanner 110 acquires two-dimensional image data about the object by scanning the object according to the embodiment.

[0160] Figure 6 The method of acquiring image data of a scan set by the scanner 110 is shown. A scan set refers to a data set of images about the same location required to generate a three-dimensional oral cavity model.

[0161] Reference numeral 610 indicates that, according to the embodiment, the scanner 110 acquires image data on the object under the same conditions regardless of the scanning mode when performing the scanning operation.

[0162] In an embodiment, the scanner 110 projects pattern light onto the object, and acquires first image data and second image data having different viewpoints through the first camera and the second camera for the object onto which the pattern light is projected.

[0163] For example, if a scan set has 100 frames per second, the scanner 110 may use the first camera to acquire 100 first image data of the object per second, and simultaneously use the second camera to acquire 100 second image data of the object per second.

[0164] In the embodiment, regardless of the type of the object, that is, regardless of whether the object is metal, the scanner 100 can acquire image data about the object by the method shown by reference numeral 610. The scanner 110 can transmit all acquired image data to the data processing device 120.

[0165] The data processing device 120 may generate a three-dimensional oral cavity model of the object based on the image data of the object received from the scanner 110. Specifically, the data processing device 120 may filter data suitable for generating a three-dimensional oral cavity model of the object from the image data of the object received from the scanner 110, and combine the filtered data to generate the three-dimensional oral cavity model.

[0166] For example, when the object is a metal, the two-dimensional image data about the object may include pixels that have reached a limit brightness. Limit brightness refers to a state in which the brightness of a pixel is too high to represent the data. Therefore, when the first image data or the second image data includes a pixel with limit brightness, the data processing device 120 cannot generate a three-dimensional oral model for a location on the object corresponding to the pixel. Alternatively, when the object is a metal, when the light reflected from the metal surface does not simultaneously enter the lens of the first camera and the lens of the second camera, there may be a situation in which the first image data and the second image data do not include a consistent point. For locations where no consistent point can be found in the first image data and the second image data, the data processing device 120 cannot generate a three-dimensional oral model.

[0167] At this time, the data processing device 120 can generate a three-dimensional oral model about the object body using the first image data and the pattern data of the projector 401. The first image data can be a patterned image in which a pattern is formed on the object body. The projector 401 generates pattern light based on the pattern data and projects the generated pattern light. Therefore. There are feature points corresponding to the pattern included in the first image data in the pattern data. The data processing device 120 detects corresponding feature points in the pattern of the first image data and the pattern data of the projector 401, matches the detected feature points, calculates depth information based on the feature points, and generates a depth map using the depth information, thereby generating a three-dimensional oral model about the object body.

[0168] Alternatively, in an embodiment, a user such as a dentist recognizes that the object is metal when scanning the object, and transmits a control signal regarding the type of the object to the data processing device 120 through a user input unit, etc. In response to receiving the control signal from the user, the data processing device 120 may generate a three-dimensional oral cavity model regarding the object using the first image data and the pattern data.

[0169] Alternatively, in an embodiment, the data processing device 120 may also identify the type of the object. In an embodiment, the data processing device 120 may use artificial intelligence (AI) technology to identify the type of the object in the image data received from the scanner 110. For example, the data processing device 120 may analyze the frame received from the scanner 110, identify the type of pixels included in the frame, and identify whether the frame or the type of the object included in the frame is metal based on whether the percentage of pixels identified as a predetermined type among all pixels included in the frame is above a reference value. In an embodiment, the data processing device 120 may select data for generating a three-dimensional oral cavity model based on the type of the object.

[0170] Reference numeral 620 indicates that, according to an embodiment, the scanner 110 operates in different scanning modes when performing a scanning operation to acquire image data about an object.

[0171] In an embodiment, the scanner 110 projects pattern light onto the object, and acquires first image data and second image data having different viewpoints through the first camera and the second camera in different modes for the object onto which the pattern light is projected.

[0172] In an embodiment, the scanner 110 may alternately operate in a first scanning mode and a second scanning mode when performing a scanning operation. In an embodiment, the first scanning mode may also be referred to as a general mode or an enamel mode. In an embodiment, the second scanning mode may also be referred to as a metal mode.

[0173] In an embodiment, the first scanning mode and the second scanning mode may be distinguished according to an environment in which the two-dimensional image data is acquired.

[0174] For example, if a scan set is 100 frames per second, the scanner 110 may acquire 70 frames out of the 100 frames in the first scanning mode and the remaining 30 frames in the second scanning mode.

[0175] In an embodiment, the scanner 110 may acquire two-dimensional image data at a first brightness when operating in the first scanning mode. For example, the scanner 110 may acquire 1-1 image data and 2-1 image data of the object at the first brightness using the first camera and the second camera respectively when operating in the first scanning mode.

[0176] In an embodiment, the scanner 110 may acquire two-dimensional image data at a second brightness when operating in the second scanning mode. The second brightness is a brightness lower than the first brightness. For example, the scanner 110 acquires the first-second image data and the second-second image data respectively about the object at a second brightness darker than the first brightness using the first camera and the second camera when operating in the second scanning mode. The brightness of the two-dimensional image data acquired at the second brightness is lower than the brightness of the two-dimensional image data acquired at the first brightness.

[0177] When the object has a high reflectivity like metal, the pattern light projected onto the object in a dark environment is more easily recognized than in a bright environment. Therefore, in the embodiment, when scanning the object, the scanner 110 assumes that the object is metal, alternately performs the scanning operation in the first scanning mode and the second scanning mode, and performs the scanning operation by adjusting the surrounding brightness, so that image data can be acquired in different environments.

[0178] In an embodiment, the scanner 110 may use the projector 401 to project light sources of different brightness in the first scanning mode and the second scanning mode. Alternatively, in an embodiment, the first camera and the second camera may adjust the exposure time to obtain image data with different brightness in the first scanning mode and the second scanning mode. The scanner 110 adjusts the time when the shutter of the camera is open in the first scanning mode and the second scanning mode, and adjusts the light entering the lens, thereby obtaining image data with different brightness.

[0179] In an embodiment, the scanner 110 may transmit the 1-1 image data and the 2-1 image data acquired in the first scanning mode, and the 1-2 image data and the 2-2 image data acquired in the second scanning mode to the data processing device 120 .

[0180] Alternatively, in an embodiment, the scanner 110 may also control the second camera to not operate during the operation in the second scanning mode, so as to obtain only the 1st-2nd image data through the first camera. In this case, the scanner 110 may only transmit the 1st-1st image data, the 2nd-1st image data, and the 1st-2nd image data obtained in the first scanning mode to the data processing device 120.

[0181] In an embodiment, the data processing device 120 may filter data suitable for generating a 3D oral cavity model about the subject from the data received from the scanner 110 , and combine the filtered data to generate the 3D oral cavity model.

[0182] For example, the data processing device 120 generally generates a three-dimensional oral cavity model regarding the subject body by using the 1-1 image data and the 2-1 image data acquired in the first scanning mode.

[0183] When the object is made of metal and the 1-1 image data and the 2-1 image data acquired about the object in the first scanning mode include pixels reaching the limit brightness, the data processing device 120 does not use the 1-1 image data and the 2-1 image data to generate a three-dimensional oral model about the object for this pixel, but instead uses the 1-2 image data acquired by the first camera at a darker brightness and the pattern data of the projector 401 to generate a three-dimensional oral model about the object.

[0184] Alternatively, in an embodiment, when a user such as a dentist transmits a control signal regarding the type of an object body to the data processing device 120, in response to receiving the control signal from the user, the data processing device 120 may use the 1st-2nd image data and the pattern data of the projector 401 to generate a three-dimensional oral model regarding the object body.

[0185] Alternatively, in an embodiment, when the data processing device 120 directly identifies the type of the object, when the object is not metal, the data processing device 120 generates a three-dimensional oral model of the object using the image data acquired in the first scanning mode, and when the object is metal, compares the 1st-2nd image data acquired by the first camera in the image data acquired in the second scanning mode with the pattern data of the projector 401 to generate a three-dimensional oral model of the object.

[0186] Figure 7 4 is a diagram showing a projector 401 and a second camera included in a scanner 110 as viewed from the side according to an embodiment.

[0187] In an embodiment, the scanner 110 may be provided with a projector 401 near one of the two cameras. Figure 7 As shown, the projector 401 may be located above the second camera. In an embodiment, all components included in the projector 401 or a portion of the components included in the projector 401, for example, the projector lens may be located above the second camera.

[0188] In an embodiment, the projector 401 may sequentially irradiate pattern lights of red LED, green LED, and blue LED generated by using an RGB LED light source and a DMD through a projector lens.

[0189] In an embodiment, the pattern light emitted from the projector 401 may be totally reflected by the reflector 403. In an embodiment, the emitted light totally reflected and changed in path by the reflector 403 is directed toward the beam splitter 404, and may be split into a transmission beam and a reflection beam by the beam splitter 404. The reflection beam split by the beam splitter 404 may be irradiated toward the tip direction and projected onto the object.

[0190] In an embodiment, the pattern light projected onto the object body is reflected by the object body, thereby being incident on the inside of the tip through the opening. The incident light incident on the tip is incident on the second camera through the beam splitter 404. The incident light incident on the second camera has its path changed by the light path changing unit 406-2, and is irradiated to the image sensor 407-2, where imaging processing is performed and second image data is generated. As described above, according to an embodiment, the pattern light of the projector 401 and the incident light incident on the second camera are opposite in direction and have the same light path. That is, the pattern light and the incident light are formed coaxially.

[0191] According to an embodiment, by setting the projector 401 to have the same optical path as the second camera, the angle between the optical path of the projector 401 and the optical path of the first camera can be the same as the angle between the two cameras formed by the optical path of the second camera and the optical path of the first camera. Therefore, even in the case of forming a three-dimensional oral cavity model based on the pattern data of the first camera and the projector 401, the same depth resolution can be achieved as in the case of forming a three-dimensional oral cavity model based on the image data acquired by the first camera and the second camera.

[0192] The camera lens included in the camera may produce lens distortion (radial distortion) due to the inherent characteristics of the lens. Due to lens distortion, the shape of the actual object may be distorted in the image data about the object obtained by the camera. For example, in the image data, the shape around the object is distorted, and the straight line components become more rounded as they go outward. This lens distortion increases as the viewing angle increases. In addition, since the wide-angle lens has the characteristic of describing the distance between the object and the camera as different from the actual distance, the object in front of the camera is recorded as larger than the actual size, while the object far away from the camera is recorded as smaller than the actual size by increasing the distance to the object, which has the characteristic of exaggerating the sense of distance.

[0193] In order to correct this distortion, it is necessary to analyze the distortion and correct the analyzed distortion through the difference between the image data obtained by the camera and the ideal image data. At this time, the image data obtained by the camera and the ideal image data must be obtained from the same viewpoint. If the viewpoints are different, the corrected images will be different, so the same distortion analysis cannot be applied.

[0194] In an embodiment, when the object is metal, the data processing device 120 can generate a three-dimensional oral model of the object using the first image data and the pattern data of the projector 401. At this time, the pattern data of the projector 401 is different from the pattern light emitted to the outside through the projector lens, and is data corresponding to the pattern used to generate the pattern light. Therefore, unlike the first image data, it does not have lens distortion. Although the first image data has lens distortion according to the first camera lens, the pattern data as the comparison object of the first image data does not have lens distortion, so the first image data and the pattern data cannot be accurately compared.

[0195] In an embodiment, the projector 401 and the second camera are coaxially formed to have the same optical path, and thus, distortion of the second camera may be applied to pattern data of the projector 401 .

[0196] According to an embodiment, the pattern light of the projector 401 is opposite to the direction of the incident light incident to the second camera, and has the same light path, so the projector lens and the lens of the second camera have the same viewpoint. Therefore, when the projector lens and the second camera lens are lenses of the same specifications, the distortion of the second camera lens can be applied to the pattern data of the projector 401.

[0197] In an embodiment, the data processing device 120 may analyze the second camera lens distortion and apply the second camera lens distortion to the pattern data of the projector 401. In an embodiment, the data processing device 120 may find out at which pixel of the pattern data of the projector 401 the encrypted pattern on the object included in the second image data acquired by the second camera is located. Encrypting the pattern may mean assigning an ID to the pattern. Finding consistent points on an object in stereoscopic vision may mean finding at which pixel the object with the same ID is located in the image data acquired by the cameras on both sides.

[0198] The data processing device 120 may compare the pattern data of the projector 401 to which the second camera lens distortion is applied with the pattern included in the first image data.

[0199] Therefore, according to an embodiment, by coaxially arranging the projector 401 and the second camera, the distortion of the second camera lens can be applied to the pattern data of the projector 401, and the pattern data of the projector 401 with the distortion applied can be compared with the pattern of the first image data, thereby generating a more accurate three-dimensional oral model.

[0200] Figure 8 Part of the components of the scanner 110 according to the embodiment is shown.

[0201] Figure 8 The scanner 110 shown is Figure 4An example of the scanner 110 shown in FIG. Figure 4 The description in the description is repeated.

[0202] and Figure 4 The scanner 110 shown is different. Figure 8 The illustrated scanner 110 also includes a NUV light source 801 .

[0203] In an embodiment, the NUV light source 801 may be a light source that emits near-ultraviolet light. Near-ultraviolet light is the part of ultraviolet light that is close to visible light, and is the part of ultraviolet light that has a wavelength close to light. For example, in the present disclosure, the near-ultraviolet light emitted by the NUV light source 801 may have a wavelength of 370 nm to 430 nm.

[0204] In an embodiment, the scanner 110 may project near ultraviolet light onto the object using the NUV light source included in the projector 401. In an embodiment, in response to projecting the near ultraviolet light onto the object, the scanner 110 may receive image data acquired by the first camera and the second camera, the image data being image data about light reflected by the near ultraviolet light from the object.

[0205] Although caries bacteria cannot be identified with the naked eye, they appear red when observed with the naked eye through a fluorescent reaction under light of a specific wavelength.

[0206] In the embodiment, when a tooth with dental caries is irradiated with near-ultraviolet light of wavelength 370nm to 430nm, the dental caries bacteria react with the light to produce a fluorescent light of wavelength 620nm to 640nm. Red is the color at the wavelength of 630 to 700nm in the spectrum.

[0207] Therefore, if the object is irradiated with near-ultraviolet rays and image data of the object is acquired with a color camera including a color sensor, caries bacteria in the image data will be displayed in red.

[0208] In an embodiment, at least one of the first camera and the second camera included in the scanner 110 may be a color camera including a color sensor. The color camera may detect the wavelength of light emitted or distributed by an object to distinguish colors.

[0209] For example, when the second camera is a color camera including a color sensor, image data acquired by the second camera (image data about an object projected with near-ultraviolet light) may be displayed in red according to the wavelength of light emitted from the object.

[0210] In this regard, users such as dentists can use image data labeled with caries bacteria to evaluate the degree of caries, bacterial activity, etc., and evaluate whether the subject needs treatment.

[0211] Alternatively, in an embodiment, both the first camera and the second camera may be black and white cameras. As described above, because a black and white camera can obtain image data with higher resolution than a color camera, a more accurate three-dimensional oral cavity model can be generated when the image data obtained by the black and white camera is used.

[0212] In an embodiment, when the scanner 110 includes the NUV light source 801 and both the first camera and the second camera are black and white cameras, one of the first camera and the second camera may be provided with a color filter. In an embodiment, the color filter is a color filter that allows a red wavelength band to pass. For example, if the second camera is a black and white camera provided with a color filter, only the part of the fluorescence reaction caused by the caries bacteria is displayed in the image data acquired by the second camera.

[0213] A mode in which the scanner 110 emits near-ultraviolet rays and acquires an image of a target body irradiated with the near-ultraviolet rays is referred to as a caries mode.

[0214] In an embodiment, the scanner 110 may operate in a caries mode separately from a scanning mode in which a scanning operation is performed. In an embodiment, the scanner 110 may receive a control signal from a user and / or a data processing device to operate in the caries mode. For example, when the scanner 110 is not operating in the scanning mode, the user and / or the data processing device may transmit a control signal to the scanner 110 to operate in the caries mode.

[0215] In an embodiment, when the scanner 110 receives a control signal to operate in a caries mode, the NUV light source 801 may be used to emit near-ultraviolet light to the object, and image data about the object irradiated with near-ultraviolet light may be obtained using at least one of the first camera and the second camera. In an embodiment, the scanner 110 may use a color camera including a color sensor or a black-and-white camera with a color filter in the first camera and the second camera to obtain image data that can identify caries bacteria. Alternatively, the scanner 110 generates image data about the object irradiated with near-ultraviolet light using the first camera and the second camera, and transmits it to the data processing device 120, and the data processing device 120 may only use the image data obtained by the color camera or the black-and-white camera with a color filter in the first camera and the second camera to obtain image data about the object irradiated with near-ultraviolet light.

[0216] In an embodiment, the scanner 110 can also be operated in a caries mode while operating in the scanning mode. That is, the user can check whether caries bacteria are present in the object while scanning the object with the scanner 110. For example, the user and / or the data processing device can transmit a control signal to the scanner 110 to cause the scanner 110 to operate in the scanning mode and in the caries mode at the same time.

[0217] In an embodiment, when the scanner 110 receives a control signal to operate in the scanning mode and the caries mode simultaneously, the projector 401 may be used to sequentially illuminate the red LED, the green LED, the blue LED, and the near-ultraviolet light.

[0218] Alternatively, in the embodiment, the scanner 110 may also use a white light source instead of the red LED, the green LED, and the blue LED. When the white light source is used, the color information about the object can be obtained even without using the red LED, the green LED, and the blue LED. In this case, the scanner 110 may use the projector 401 and use the white light source and the NUV light source 801 to sequentially irradiate white light and near ultraviolet light.

[0219] In an embodiment, the scanner 110 may operate in a caries mode while operating in a first scanning mode. In an embodiment, the scanner 110 may use a first camera and a second camera to acquire first image data and second image data for an object body to which pattern light is projected. In addition, the scanner 110 may use at least one of the first camera and the second camera to acquire at least one of the first image data and the second image data for an object body irradiated with near-ultraviolet light. In an embodiment, the data processing device 120 may use the first image data and the second image data received from the scanner 110 to generate a three-dimensional oral model of the object body. The three-dimensional oral model generated by the data processing device 120 may be a model showing a portion of a fluorescent reaction caused by caries bacteria.

[0220] In an embodiment, the scanner 110 may operate in the second scanning mode while operating in the caries mode. In an embodiment, when the scanner 110 is in the second scanning mode, the data processing device 120 may generate a three-dimensional oral model of the object using the image data and pattern data acquired at the second brightness. In an embodiment, when generating the three-dimensional oral model of the object, the data processing device 120 may generate a three-dimensional oral model of metal showing caries bacteria using at least one of the first image data and the second image data acquired for the object irradiated with near-ultraviolet light.

[0221] As described above, according to the embodiment, the scanner 110 may operate in the caries mode separately from the scanning mode.

[0222] Alternatively, according to an embodiment, the scanner 110 may operate in a scanning mode and a caries mode at the same time. The data processing device 120 may generate a three-dimensional oral cavity model of the object using the first image data and the second image data of the object to which the pattern light is projected, or using the first image data and the pattern data, and at the same time, may generate a three-dimensional oral cavity model capable of identifying caries bacteria using the image data obtained for the object irradiated with near-ultraviolet light.

[0223] Fig. 9 Shown by Figure 8 The image data acquired by the scanner 110.

[0224] Reference Fig. 9 , the scanner 110 can be used Figure 8 The scanner 110 radiates near-ultraviolet rays to the object. The first camera and the second camera included in the scanner 110 can obtain image data about the object irradiated with the near-ultraviolet rays.

[0225] Reference numeral 910 shows image data acquired when the object has no caries bacteria, ie, dental caries bacteria.

[0226] Reference numeral 920 shows an image obtained when the object has caries bacteria. Since the portion where caries bacteria exist encounters near-ultraviolet light and undergoes a fluorescent reaction, thereby emitting light of a predetermined wavelength band, as shown by reference numeral 920, it is different from the portion where caries bacteria are not present.

[0227] Fig.10 A diagram showing information transmission and reception between the scanner 110 and the data processing device 120 according to an embodiment.

[0228] In an embodiment, the data processing device 120 may transmit a control signal to the scanner 110. The data processing device 120 may transmit a control signal for controlling the operation of the projector 401 or the data acquisition unit provided in the scanner 110 to the scanner 110, thereby controlling the scanner 110.

[0229] In an embodiment, when the object is metal, the data processing device 120 may transmit a control signal to the scanner 110 to turn off the second camera.

[0230] In an embodiment, the data processing device 120 may transmit a control signal to the scanner 110 to cause it to operate in a scanning mode, or a control signal to cause it to operate in a caries mode. Alternatively, in an embodiment, the data processing device 120 may also transmit a control signal to the scanner 110 to cause it to operate in a scanning mode and also to execute a caries mode.

[0231] The scanner 110 may transmit the scan data to the data processing device 120. In an embodiment, the scan data may include at least one of the second image data and the patterned light projected by the projector 401, and the first image data about the object.

[0232] In an embodiment, the data processing device 120 may receive at least one of the pattern data and the second image data of the projector 401 and the first image data from the scanner 110 , and generate a three-dimensional oral model of the subject using the scan data received from the scanner 110 .

[0233] In an embodiment, the data processing device 120 may generate a three-dimensional oral cavity model about the subject body from the first image data and the second image data.

[0234] In an embodiment, when the data processing device 120 receives a user control signal, or recognizes that the object is metal, or is unable to obtain a three-dimensional oral model of the object from the first image data and the second image data, it can generate a three-dimensional oral model of the object by comparing the pattern included in the first image data with the pattern data of the projector 401.

[0235] In an embodiment, the data processing device 120 may generate a three-dimensional oral cavity model 1020 using the image data or pattern data received from the scanner 110 , and output the three-dimensional oral cavity model 1020 through the display 1010 .

[0236] Fig.11 is a diagram showing a data processing system according to an embodiment in a block diagram.

[0237] In an embodiment, the data processing system may include a scanner 110 , a data processing device 120 , and a communication network 130 . Fig.11 The scanner 110 can be Figure 1 , Figure 2 , Figures 4 to 10 An example of the scanner 110 described in .

[0238] The scanner 110 may acquire raw data by scanning an object. The object may include, for example, a patient's oral cavity or a dental model, but is not limited thereto. The scanner 110 may send the acquired raw data to the data processing device 120 via the communication network 130, or generate a three-dimensional virtual model by processing the raw data and send it to the data processing device 120.

[0239] The scanner 110 may include a processor 111 , a memory 112 , a communication portion 113 , an optical portion 114 , a user input portion 115 , and a power supply portion 116 .

[0240] The memory 112 may store one or more instructions. In addition, the memory 112 may store one or more instructions executed by the processor 111. In addition, the memory 112 may store at least one program executed by the processor 111.

[0241] The communication unit 113 may communicate with the data processing device 120 via a wired or wireless communication network.

[0242] In an embodiment, the communication unit 113 can send and receive control signals with the data processing device 120. In addition, the communication unit 113 transmits information about the operation status of the scanner 110 to the data processing device 120. In addition, the communication unit 113 can transmit raw data acquired by the optical unit 114 to the data processing device 120.

[0243] The communication unit 113 may include: at least one short-range communication module, which performs communication according to a communication standard such as Bluetooth, Wi-Fi, Bluetooth Low Energy (BLE), NFC / RFID, Wi-Fi Direct, UWB or ZIGBEE; a long-distance communication module, which performs communication with a server for supporting long-distance communication according to the long-distance communication standard; and at least one port, which is connected to an external electronic device via a wired cable for wired communication.

[0244] The optical part 114 may include: a light irradiation part for projecting light; and at least one camera for receiving light reflected from the object. The light irradiation part may include a projector 401 for projecting light from a light source.

[0245] The optical unit 114 can project pattern light or structured light using the projector 401. The optical unit 114 irradiates light using a light source and controls each micromirror included in the DMD to form a pattern. The optical unit 114 controls the mirror included in the DMD in an on or off manner to irradiate light. The optical unit 114 irradiates the pattern light to the object and scans the object irradiated with the pattern light to obtain three-dimensional data representing the shape of the object.

[0246] In an embodiment, the optical part 114 may include a first camera and a second camera spaced apart in a symmetrical manner. The first camera and the second camera may acquire first image data and second image data having different viewpoints with respect to the object to which the pattern light is projected.

[0247] In an embodiment, the projector 401 may be formed above, below or on a side of the second camera, so that the light path of the pattern light projected onto the object overlaps with the light path of the incident light incident onto the second camera in the opposite direction.

[0248] In an embodiment, the optical part 114 may include a NUV light source, and utilizes the NUV light source to project near-ultraviolet light toward the object.

[0249] In an embodiment, at least one of the first camera and the second camera may be a color camera including a color sensor or a black-and-white camera with a color filter.

[0250] In an embodiment, in response to the projector 401 projecting near-ultraviolet light onto the object using the NUV light source, the first camera and the second camera may acquire image data regarding light reflected from the object by the near-ultraviolet light.

[0251] At this time, the communication unit 113 may transmit the first image data and the second image data regarding the light reflected from the object by the near ultraviolet rays to the data processing device 120 .

[0252] In an embodiment, the scanner 110 may alternately operate in a first scanning mode and a second scanning mode. When the scanner 110 operates in the first scanning mode, the first camera and the second camera may acquire two-dimensional image data at a first brightness. In addition, when the scanner 110 operates in the second scanning mode, the first camera and the second camera may acquire two-dimensional image data at a second brightness.

[0253] In an embodiment, the projector 401 may project light sources with different brightness in the first scanning mode and the second scanning mode. Alternatively, in an embodiment, the first camera and the second camera may also adjust the exposure time in the first scanning mode and the second scanning mode to obtain image data with different brightness.

[0254] The user input 115 may receive user input for controlling the scanner 110. The user input 115 may also be referred to as a user interface.

[0255] The user input portion 115 may include a touch panel that senses a user's touch, a button that receives a user's pressing operation, and a voice recognition device including a microphone, etc. Alternatively, the user input portion 115 may also include at least one of a wheel or dome switch that receives a user's rotation operation, and a sensor (not shown) that can recognize motion.

[0256] In an embodiment, the user may use the user input unit 115 to input a control signal, wherein the control signal controls the scanner to operate in the scanning mode or the caries mode.

[0257] In an embodiment, when the object is metal, the user may use the user input unit 115 to input a control signal to disable the second camera.

[0258] The power supply unit 116 can receive power and supply it to each component of the scanner 110 .

[0259] The processor 111 can control the entire scanner 110. The processor 111 can control at least one component included in the scanner 110 to perform the desired action. Therefore, even if the case where the processor 111 performs a prescribed operation is described as an example, this can also mean that the processor 111 controls at least one component included in the scanner 110 to perform the prescribed operation. The processor 111 can control the optical part 214 to obtain three-dimensional data of the object.

[0260] In an embodiment, the processor 111 may receive a control signal regarding the operation of the second camera from the data processing device 120 , thereby controlling the second camera to be turned on or off.

[0261] In an embodiment, the processor 111 may, based on the scanning mode of the scanner, disable the second camera when the scanner operates in the second scanning mode, so as not to acquire the second image data.

[0262] The following describes the data processing device 120. The data processing device 120 may also be referred to as an oral cavity image processing device.

[0263] The data processing device 120 may include a processor 121 , a memory 122 , a user input unit 123 , a communication unit 124 , a display 125 , and an image processing unit 126 .

[0264] The user input unit 123 may receive user input for controlling the data processing device 120. The user input unit 123 may include a touch panel for sensing a user's touch, a button for receiving a user's pressing operation, a user input device such as a mouse or keyboard for specifying or selecting a point on the user input unit screen, and may also include a voice recognition device for recognizing voice or a motion sensor for recognizing motion.

[0265] The communication unit 124 may communicate with at least one external electronic device through a wired or wireless communication network. The communication unit 124 may communicate with the scanner 110 according to the control of the processor 121 .

[0266] Specifically, the communication unit 124 may include at least one short-range communication module, which performs communication according to a communication standard such as Bluetooth, Wi-Fi, Bluetooth low energy, NFC / RFID, Wi-Fi Direct, UWB, or ZIGBEE. In addition, the communication unit 124 may also include a remote communication module, which performs communication with a server for supporting remote communication according to a remote communication standard.

[0267] In addition, the communication unit 124 may include at least one port for connecting to an external electronic device (eg, the scanner 110 , etc.) via a wired cable.

[0268] In an embodiment, the communication unit 124 may transmit a control signal to the scanner 110. The control signal transmitted to the scanner 110 may include at least one of the following commands: a power on command or a power off command of the scanner 110; a command to put the scanner 110 into a scanning mode; or a command to turn off the action of the second camera.

[0269] The display 125 may display a prescribed screen according to the control of the processor 121. The display 125 may output a user interface screen for user input. The display 125 may display a screen including an oral cavity image generated based on data acquired by scanning the oral cavity of a patient or a plaster model of the oral cavity through the scanner 110. In addition, the display 125 may output a three-dimensional oral cavity model generated from two-dimensional image data received from the scanner 110.

[0270] The image processing unit 126 may perform actions for generating and / or processing images. Specifically, the image processing unit 126 may receive raw data acquired from the scanner 110 and generate a three-dimensional virtual model based on the received data.

[0271] The memory 122 may store at least one instruction. In addition, the memory 122 may store at least one instruction executed by the processor. In addition, the memory may store at least one program executed by the processor 121. In addition, the memory 122 may store data received from the scanner 110 (e.g., raw data obtained by oral scanning, etc.). Alternatively, the memory may store a three-dimensional oral image of the oral cavity. According to one embodiment, the memory 122 may include one or more instructions for obtaining a three-dimensional oral model from two-dimensional image data.

[0272] The processor 121 executes at least one instruction stored in the memory 122 to control the execution of the expected action. The at least one instruction may be stored in an internal memory included in the processor 121 or in the memory 122 included in a data processing device separate from the processor 121.

[0273] In an embodiment, the processor 121 transmits a control signal to the scanner 110 by executing one or more instructions stored in the memory 122 , so that the scanner 110 is controlled according to the control signal.

[0274] In an embodiment, the processor 121 may generate a three-dimensional oral cavity model with respect to the subject body using the first image data and the second image data received from the scanner 110 .

[0275] In an embodiment, the processor 121 may generate a three-dimensional oral model about the object body using the first image data and the pattern light based on at least one of a user control signal, an identification signal that the object body is metal, and an inability to obtain a three-dimensional oral model about the object body from the first image data and the second image data.

[0276] In an embodiment, the processor 121 acquires depth information by finding a coincidence point between a pattern included in the first image data and a pattern of the patterned light, thereby generating a three-dimensional oral cavity model of the subject.

[0277] In an embodiment, the processor 121 may use the coaxial state of the second camera and the projector 401 to resolve the distortion of the second camera and apply it to the pattern data of the projector 401. In an embodiment, the processor 121 may compare the pattern data to which the distortion of the second camera is applied with the pattern included in the first image data to generate a three-dimensional oral model about the object.

[0278] In an embodiment, when the processor 121 receives image data acquired at a first brightness when the scanner 110 is in a first scanning mode and image data acquired at a second brightness when the scanner 110 is in a second scanning mode from the scanner 110 through the communication unit 124, a three-dimensional oral model of the object body can be generated using the first image data acquired by the first camera at the second brightness and the pattern data of the projector 401.

[0279] In an embodiment, in response to the projector 401 projecting near-ultraviolet light using a NUV light source, when the communication unit 124 receives image data about light reflected by the near-ultraviolet light on the object body obtained by the first camera and the second camera from the scanner 110, the processor 121 can generate a three-dimensional oral model that identifies an area with a predetermined wavelength band from the image data about light reflected by the near-ultraviolet light on the object body.

[0280] According to an embodiment, the actions of "extracting", "obtaining", "generating", etc. performed by the processor 121 may not only include the situation where the processor 121 executes one or more instructions to directly perform the above actions, but also includes the situation where other constituent elements are controlled to perform the above actions.

[0281] To implement the embodiments of the present disclosure, the scanner 110 and the data processing device 120 may only include Fig.11 Part of the components shown may also include Fig.11 More components than those shown.

[0282] In addition, the data processing device 120 can store and execute special software that is linked to the scanner 110. The special software can be called a special program, a special tool, or a special application. When the data processing device 120 and the scanner 110 are linked and operated, the special software stored in the data processing device 120 can be connected to the scanner 110 to receive data obtained by oral scanning in real time.

[0283] In addition, the dedicated software can send and receive control signals with the scanner 110, and also perform at least one action for acquiring, processing, storing and / or transmitting the oral cavity image. The dedicated software can be stored in the processor.

[0284] Fig.12 is a sequence diagram showing a data processing method according to an embodiment.

[0285] Reference Fig.12 In an embodiment, the scanner 110 may project pattern light onto the object (step 1210). In an embodiment, the scanner 110 may generate pattern light based on pattern data corresponding to the pattern to be generated by the projector 401 and project the pattern light onto the object.

[0286] In an embodiment, the scanner 110 may acquire first image data regarding the object onto which the patterned light is projected (step 1220 ).

[0287] In an embodiment, the scanner 110 includes a first camera and a second camera separated from each other, and a projector 401 may be disposed above or below one of the two cameras, such as the second camera. The first camera and the second camera may acquire image data with different viewpoints for the object to which the patterned light is projected.

[0288] In an embodiment, a light path of the pattern light projected onto the object overlaps with a light path of the incident light incident onto the second camera in an opposite direction.

[0289] In an embodiment, the scanner 110 may transmit the pattern data and the first image data about the object to the data processing device 120 .

[0290] In an embodiment, the data processing device 120 may generate a three-dimensional oral cavity model of the subject using the pattern data and the first image data received from the scanner 110 (step 1230 ).

[0291] In an embodiment, when the object is metal, the data processing device 120 may generate a three-dimensional oral cavity model of the object using the pattern data and the first image data of the object. In an embodiment, the data processing device 120 may obtain depth information by finding a consistent point between a pattern included in the first image data and a pattern corresponding to the pattern data, thereby generating a three-dimensional oral cavity model of the object.

[0292] Fig.13 is a sequence diagram showing a data processing method according to an embodiment.

[0293] Reference Fig.13 In an embodiment, the scanner 110 may project patterned light onto an object (step 1310 ).

[0294] In an embodiment, the scanner 110 may acquire first image data and second image data regarding the object onto which the patterned light is projected (step 1320 ).

[0295] In an embodiment, the scanner 110 may transmit at least one of the pattern data and the second image data, and the first image data about the object body to the data processing device 120. For example, in an embodiment, the scanner 110 may transmit the pattern data, the first image data about the object body, and the second image data to the data processing device 120 (step 1330).

[0296] In an embodiment, the data processing device 120 may identify whether a three-dimensional oral cavity model regarding the subject body can be acquired using the first image data and the second image data received from the scanner 110 (step 1340 ).

[0297] In an embodiment, when the three-dimensional oral model of the object can be acquired using the first image data and the second image data, the data processing device 120 can generate a three-dimensional oral model of the object using the first image data and the second image data (step 1350).

[0298] In an embodiment, when the three-dimensional oral model of the object cannot be acquired using the first image data and the second image data, the data processing device 120 may generate a three-dimensional oral model of the object using the pattern data and the first image data (step 1360).

[0299] The data processing method according to an embodiment of the present disclosure can be implemented in the form of program commands that can be executed by various computer devices, and can be recorded in a computer-readable medium. In addition, an embodiment of the present disclosure can be a computer-readable storage medium that records one or more programs including at least one instruction for executing the data processing method.

[0300] In addition, the above-mentioned data processing method according to the embodiment of the present disclosure can be implemented as a computer program product including a computer-readable recording medium, wherein the computer-readable recording medium records a program for implementing the data processing method, wherein the data processing method includes the following steps: using a projector included in a scanner to emit pattern light generated based on pattern data; using a first camera included in the scanner to obtain first image data about an object body onto which the pattern light is projected; and comparing the pattern included in the first image data with a pattern corresponding to the pattern data to generate a three-dimensional oral model of the object body, wherein the light path of the pattern light projected onto the object body overlaps in the opposite direction with the light path of the incident light incident on the second camera included in the scanner.

[0301] The computer-readable storage medium may include program commands, data files, data structures, etc., alone or in combination. Examples of computer-readable storage media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floppy disks, and hardware devices configured to store and execute program commands, such as read-only memory (ROM), random access memory (RAM), and flash memory.

[0302] The machine-readable storage medium may be provided in the form of a non-transitory storage medium. The term "non-transitory storage medium" means that the storage medium is a tangible device. In addition, the term "non-transitory storage medium" may include a buffer that temporarily stores data.

[0303] According to one embodiment, the data processing method according to the various embodiments disclosed in this specification may be provided by being included in a computer program product. The computer program product may be released in the form of a machine-readable storage medium (e.g., a compact disc read only memory (CD-ROM)). Alternatively, it may be released directly and online (e.g., downloaded or uploaded) through an application store (e.g., Play Store, etc.) or between two user devices (e.g., smartphones). Specifically, the computer program product according to the disclosed embodiment may include a storage medium having a program including at least one instruction recorded thereon to execute the data processing method according to the disclosed embodiment.

[0304] The embodiments are described in detail above, but the scope of the present invention is not limited thereto. Various modifications and improvements by those skilled in the art using the basic concept of the present invention defined in the claims also fall within the scope of the present invention.

Claims

1. A scanner, wherein: include: The communication unit sends and receives information with the data processing device. a projector for emitting pattern light generated based on the pattern data, and A data acquisition unit that acquires two-dimensional image data about the object; The data acquisition unit includes a first camera and a second camera separated from each other. At least one of the first camera and the second camera acquires image data about the object on which the pattern light is projected, the first camera acquires first image data, and the second camera acquires second image data, The light path of the pattern light projected onto the object overlaps with the light path of the incident light incident onto the second camera in opposite directions. The communication section transmits the first image data and at least one of the second image data and the pattern data to the data processing device.

2. The scanner according to claim 1, wherein: When performing a scanning operation, the scanner operates alternately in a first scanning mode and a second scanning mode. The data acquisition unit, When the scanner operates in the first scanning mode, two-dimensional image data is acquired at a first brightness, When the scanner operates in the second scanning mode, two-dimensional image data is acquired at a second brightness, The second brightness is lower than the first brightness.

3. The scanner according to claim 1, wherein: Also includes a processor, The processor controls turning on and / or off the second camera based on at least one of a control signal from the data processing device and a scanning mode of the scanner.

4. The scanner according to claim 1, wherein: The projector includes a near ultraviolet light source, At least one of the first camera and the second camera is a color camera including a color sensor or a black-and-white camera with a color filter, In response to the projector projecting near-ultraviolet light onto the object using the near-ultraviolet light source, the first camera and the second camera acquire image data about light reflected by the near-ultraviolet light from the object. The communication unit transmits image data regarding the light reflected by the near-ultraviolet light from the object to the data processing device.

5. A data processing device, in, include: a communication unit for transmitting and receiving information with a scanner including a projector, a first camera, and a second camera, and a processor, configured to execute at least one instruction; the processor, receiving, from the scanner through the communication unit, at least one of second image data acquired by the second camera and pattern data of the projector and first image data acquired by the first camera, The light path of the pattern light generated based on the pattern data and projected onto the object overlaps with the light path of the incident light incident onto the second camera in the opposite direction. A three-dimensional oral cavity model of the subject is generated by comparing a pattern included in the first image data with a pattern corresponding to the pattern data.

6. The data processing device according to claim 5, wherein: the processor, Depth information is acquired by finding a coincidence point between a pattern included in the first image data and a pattern corresponding to the pattern data, thereby generating a three-dimensional oral cavity model of the subject.

7. The data processing device according to claim 5, wherein: the processor, Based on at least one of a user control signal, an identification signal that the object body is metal, and an inability to obtain a three-dimensional oral model about the object body from the first image data and the second image data, a pattern included in the first image data and a pattern corresponding to the pattern data are compared to generate a three-dimensional oral model about the object body.

8. The data processing device according to claim 5, wherein: the processor, receiving, by the communication unit, from the scanner image data acquired at a first brightness when the scanner is in a first scanning mode and image data acquired at a second brightness when the scanner is in a second scanning mode, wherein the second brightness is lower than the first brightness, The three-dimensional oral model is generated by using image data acquired by the first camera among the image data acquired at the second brightness as the first image data.

9. The data processing device according to claim 5, wherein: the processor, applying a second camera lens distortion to the pattern data, A pattern corresponding to the pattern data to which the second camera lens distortion is applied is compared with a pattern included in the first image data to generate a three-dimensional oral cavity model of the object.

10. The data processing device according to claim 5, wherein: At least one of the first camera and the second camera is a color camera including a color sensor or a black-and-white camera with a color filter, The communication unit receives, from the scanner, image data of light reflected by the near ultraviolet light from the object, which is acquired by the first camera and the second camera in response to the projector projecting the near ultraviolet light using the near ultraviolet light source. The processor generates a three-dimensional oral cavity model in which a region of a predetermined wavelength band is identified from image data regarding light reflected by the near-ultraviolet rays at a subject.

11. A data processing method, in, The following steps are involved: The projector included in the scanner emits pattern light generated based on the pattern data. using a first camera included in the scanner to acquire first image data about the object onto which the pattern light is projected, and Comparing the pattern included in the first image data with the pattern corresponding to the pattern data to generate a three-dimensional oral cavity model of the subject; The optical path of the pattern light projected onto the object overlaps with the optical path of the incident light incident onto the second camera included in the scanner in the opposite direction.

12. The data processing method according to claim 11, wherein: The step of generating a three-dimensional oral cavity model of the object body comprises the following steps: Depth information is acquired by finding a coincidence point between a pattern included in the first image data and a pattern corresponding to the pattern data, thereby generating a three-dimensional oral cavity model of the subject.

13. The data processing method according to claim 11, wherein: The step of generating a three-dimensional oral cavity model of the object body comprises the following steps: Based on at least one of a user control signal, an identification signal that the object body is metal, and an inability to obtain a three-dimensional oral model about the object body from the first image data and the second image data, a pattern included in the first image data and a pattern corresponding to the pattern data are compared to generate a three-dimensional oral model about the object body.

14. The data processing method according to claim 11, wherein: The step of acquiring the first image data and the second image data comprises the following steps: The scanner acquires image data at a first brightness when in a first scanning mode, and The scanner acquires image data at a second brightness when in a second scanning mode; The second brightness is lower than the first brightness; The step of generating a three-dimensional oral cavity model of the object body comprises the following steps: The three-dimensional oral model is generated by using image data acquired by the first camera among the image data acquired at the second brightness as the first image data.

15. The data processing method according to claim 11, wherein: Also included is the step of applying a second camera lens distortion to the pattern data, The step of generating a three-dimensional oral cavity model of the object body comprises the following steps: A pattern corresponding to the pattern data to which the second camera lens distortion is applied is compared with a pattern included in the first image data to generate a three-dimensional oral cavity model of the object.

16. The data processing method according to claim 11, wherein: One of the first camera and the second camera is a color camera including a color sensor or a black-and-white camera with a color filter, The data processing method further comprises the following steps: The projector projects near ultraviolet light using a near ultraviolet light source; Using the first camera and the second camera to acquire image data about the light reflected by the near-ultraviolet light from the object; and A three-dimensional oral cavity model in which a region of a predetermined wavelength band is identified is generated from image data regarding light reflected by the near-ultraviolet rays from the subject.

Images