Three-dimensional oral scanning device

Abstract

The present invention relates to a three-dimensional oral scanning device comprising: a camera module; a first projector module for illuminating, with first grid pattern light having a first grid pattern, an object to be measured; a second projector module for illuminating, with second grid pattern light having a second grid pattern, the object to be measured; and a scanning control unit which controls that the first projector module and the second projector module alternately illuminate the first grid pattern light and the second grid pattern light, and which control that the camera module photographs, in synchronization with the illumination from the first projector module and the second projector module, light reflected from the object to be measured. Therefore, low resolution and measurement accuracy, which are disadvantages of stereo vision, are overcome, and measurement speed is improved, and thus high measurement accuracy in acquiring a three-dimensional image of teeth while moving in an oral cavity can be provided.

Description

3D oral scanning device

[0001] The present invention relates to a three-dimensional oral scanning device, and more particularly, to a three-dimensional oral scanner for obtaining a three-dimensional image of a patient's teeth in a dental clinic or the like.

[0002] Normally, human teeth help us chew food, facilitate digestion, and play a crucial role in pronunciation. When these teeth become abnormal, their condition is diagnosed and treated, and if necessary, artificial teeth are implanted to replace them.

[0003] When teeth are lost, artificial teeth are replaced through dental implants. When using an abutment for implant prosthesis, the final prosthesis, the rounded crown, is placed on a custom abutment, requiring precise three-dimensional measurement of the abutment's shape.

[0004] Recently, there have been active attempts to directly measure the abutment in the patient's mouth using an oral scanner, that is, to use 3D scanning to design prosthetics.

[0005] A 3D oral scanner of this type can obtain 3D surface shape information of a tooth, which is a measurement target, by obtaining multiple 2D images using light reflected from the target object and imaging-processing the multiple 2D images.

[0006] For example, the "3D scanner device" disclosed in Korean Patent Registration No. 10-2444195 installs one light source and two cameras, and obtains a 3D image by acquiring multiple phase shift images from each camera.

[0007] The 3D scanner device disclosed in the above Korean registered patent acquires a 3D image using a stereo vision method in which one of the two cameras is used as the left image and the other is used as the right image.

[0008] This type of stereo vision method has the advantage of having a high Z-axis measurement range, but has the disadvantages of low resolution and low measurement accuracy.

[0009] In particular, there are limitations in applying the stereo vision method to acquire a three-dimensional tooth image by moving the oral scanner inside the tooth rather than acquiring a three-dimensional image of a fixed measurement target.

[0010] Accordingly, the present invention has been devised to solve the above problems, and its purpose is to provide a three-dimensional spherical scanning device that can overcome the low resolution and measurement accuracy, which are the shortcomings of the stereo vision method.

[0011] In addition, another object of the present invention is to provide a three-dimensional spherical scanning device having high resolution and measurement accuracy while implementing a high Z-axis measurement range, which is an advantage of the stereo vision method.

[0012] In addition, another object of the present invention is to provide a three-dimensional oral scanning device that can provide high measurement accuracy in obtaining a three-dimensional image of teeth while moving within the oral cavity by improving the measurement speed.

[0013] The above object is achieved by a 3D oral scanning device according to the present invention, comprising: a camera module; a first projector module for illuminating a measurement object with a first grid pattern light having a first grid pattern; a second projector module for illuminating the measurement object with a second grid pattern light having a second grid pattern; and a scanning control unit for controlling the first projector module and the second projector module to alternately illuminate the first grid pattern light and the second grid pattern light, and controlling the camera module to photograph light reflected from the measurement object in synchronization with the illumination of the first projector module and the second projector module.

[0014] Here, the first projector module includes a first projector that irradiates the first grid pattern light, and a first projector controller that controls the first projector to turn on / off the irradiation of the first grid pattern light; the second projector module includes a second projector that irradiates the second grid pattern light, and a second projector controller that controls the second projector to turn on / off the irradiation of the second grid pattern light; and the scanning control unit can control the first projector controller and the second projector controller so that the first grid pattern light and the second grid pattern light are alternately irradiated.

[0015] In addition, the first projector controller controls turning on / off the first projector by applying a first PWM control signal to the first projector; the second projector controller controls turning on / off the second projector by applying a second PWM control signal to the second projector; and the scanning control unit can synchronize and control the first PWM controller and the second PWM controller so that the first PWM control signal and the second PWM control signal are output to alternately turn on / off the first projector and the second projector within the frame rates of each of the first projector and the second projector.

[0016] And, it may further include an imaging control unit that generates a first three-dimensional image according to the PMP (Phase Measuring Profilometry) method based on n first grid images captured by the camera module for n times of the first grid pattern light, and generates a second three-dimensional image according to the PMP (Phase Measuring Profilometry) method based on m second grid images captured by the camera module for m times of the second grid pattern light.

[0017] And, the first projector controller can control the first projector so that at least one of the n times of the first grid pattern light has a first grid pattern with a different pitch; and the second projector controller can control the second projector so that at least one of the m times of the second grid pattern light has a second grid pattern with a different pitch.

[0018] Here, the imaging control unit can generate the first three-dimensional image by applying phase unwrapping to a first grid image photographed for the first grid pitch with a large pitch among the n first grid images, and can generate the second three-dimensional image by applying phase unwrapping to a second grid image photographed for the second grid pitch with a large pitch among the m second grid images.

[0019] Meanwhile, the above object is provided in accordance with another embodiment of the present invention, a three-dimensional oral scanning device comprising: a camera module; a first projector module for illuminating a measurement target with a first grid pattern light having a first grid pattern; a second projector module for illuminating the measurement target with a second grid pattern light having a second grid pattern; a scanning control unit for controlling the first projector module so that the first grid pattern light is irradiated to the measurement target n times so that the camera module captures n first grid images for n times of the first grid pattern light, and for controlling the second projector module so that the second grid pattern light is irradiated to the measurement target m times so that the camera module captures m second grid images for m times of the second grid pattern light; and an imaging control unit for generating a first three-dimensional image according to a PMP (Phase Measuring Profilometry) method based on the n first grid images and generating a second three-dimensional image according to a PMP (Phase Measuring Profilometry) method based on the m second grid images; The scanning control unit controls the first projector module so that at least one of the n first grid pattern lights has a first grid pattern with a different pitch, and controls the second projector module so that at least one of the m second grid pattern lights has a second grid pattern with a different pitch;The imaging control unit is also achieved by a three-dimensional oral scanning device characterized in that it applies a first grid image photographed for a first grid pitch with a large pitch among n first grid images to phase unwrapping to generate the first three-dimensional image, and applies a second grid image photographed for a first grid pitch with a large pitch among m second grid images to phase unwrapping to generate the second three-dimensional image.;

[0020] According to the above configuration, the present invention provides a three-dimensional spherical scanning device capable of overcoming the shortcomings of the stereo vision method, such as low resolution and measurement accuracy.

[0021] In addition, a three-dimensional spherical scanning device is provided that has high resolution and measurement accuracy while implementing a high Z-axis measurement range, which is an advantage of the stereo vision method.

[0022] In addition, a three-dimensional oral scanning device is provided that can provide high measurement accuracy in obtaining a three-dimensional image of teeth while moving within the oral cavity by improving the measurement speed.

[0023] FIG. 1 is a drawing showing the configuration of a three-dimensional oral scanning system according to an embodiment of the present invention.

[0024] FIG. 2 is a drawing showing an example of a control block diagram of a 3D oral scanning device according to an embodiment of the present invention;

[0025] FIG. 3 is a drawing for explaining an on / off control method of the first projector module and the second projector module of the 3D oral scanning device according to an embodiment of the present invention.

[0026] FIG. 4 and FIG. 5 are drawings for explaining the grid pattern of a three-dimensional oral scanning device according to an embodiment of the present invention.

[0027] FIG. 6 is a drawing showing an example of the configuration of a scanning control terminal of a three-dimensional oral scanning device according to an embodiment of the present invention.

[0028] The present invention relates to a three-dimensional oral scanning device, comprising: a camera module; a first projector module for illuminating a measurement object with a first grid pattern light having a first grid pattern; a second projector module for illuminating the measurement object with a second grid pattern light having a second grid pattern; and a scanning control unit for controlling the first projector module and the second projector module to alternately illuminate the first grid pattern light and the second grid pattern light, and controlling the camera module to photograph light reflected from the measurement object in synchronization with the illumination of the first projector module and the second projector module.

[0029] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the present invention, and the present invention is defined solely by the scope of the claims.

[0030] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

[0031] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0032] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0033] FIG. 1 is a drawing showing the configuration of a three-dimensional oral scanning system (10) according to an embodiment of the present invention.

[0034] Referring to FIG. 1, a three-dimensional oral scanning system (10) according to an embodiment of the present invention may be configured to include a dental management device (200) and a three-dimensional oral scanning device (100).

[0035] A dental management device (200) according to an embodiment of the present invention stores and manages patient-related information, such as patient information, dental photos, and treatment processes, at a dental clinic. In one embodiment, the dental management device (200) may be installed in an existing dental clinic or may be newly installed.

[0036] In an embodiment of the present invention, a dental management device (200) is provided as an example in which an electronic chart is provided for a patient lying on each dental chair (20) while being placed near a dental chair (20) installed in a dental clinic. In Fig. 1, a dental management device (200) is provided as an example in which a plurality of, for example, three dental chairs (20) are placed on each of them.

[0037] According to an embodiment of the present invention, a 3D oral scanning device (100) includes, as an example, a physically separate 3D oral scanner (110) and a scanning control terminal (130) for managing the same. In one embodiment, the 3D oral scanning device (100) may be provided to a dental clinic by a manufacturer of the 3D oral scanner (110) along with a scanning control terminal (130) for managing the same.

[0038] FIG. 2 is a drawing showing an example of a control block diagram of a three-dimensional oral scanning device (100) according to an embodiment of the present invention.

[0039] Referring to FIG. 2, a three-dimensional oral scanning device (100) according to an embodiment of the present invention may be configured to include a camera module (113), a first projector module (111), a second projector module (112), and a scanning control unit (114). In addition, the three-dimensional oral scanning device (100) according to an embodiment of the present invention may be configured to include an imaging control unit (132a).

[0040] In one embodiment, the camera module (113), the second projector module (112), and the scanning control unit (114) may be installed in a 3D oral scanner (110), and the imaging control unit (132a) may be installed in a scanning control terminal (130). Here, a detailed description of the configuration in which the imaging control unit (132a) is installed in the scanning control terminal (130) will be described later.

[0041] Referring to FIG. 2, the first projector module (111) illuminates the first grid pattern light having the first grid pattern (see FIG. 4) toward the measurement object (Ob). Then, the second projector module (112) illuminates the second grid pattern light having the second grid pattern (see FIG. 4) toward the measurement object (Ob).

[0042] The scanning control unit (114) can control the first projector module (111) and the second projector module (112) to alternately illuminate the first grid pattern light and the second grid pattern light. In addition, the scanning control unit (114) can control the camera module (113) to photograph the light reflected from the measurement target (Ob) in synchronization with the illumination of the first projector module (111) and the second projector module (112).

[0043] In the present invention, an example is provided in which the scanning control unit (114) controls the first projector module (111) and the second projector module (112) to alternately illuminate the first grid pattern light and the second grid pattern light.

[0044] Here, the imaging control unit (132a) can generate a first three-dimensional image by using a first grid image captured by a camera module (113) and reflected by the first grid pattern light irradiated from the first projector module (111).

[0045] Likewise, the imaging control unit (132a) can generate a second 3D image by using a second grid image captured by the camera module (113) and reflected by the second grid pattern light irradiated from the second projector module (112).

[0046] In one embodiment, the imaging control unit (132a) can generate a first three-dimensional image according to the PMP (Phase Measuring Profilometry) method based on n first grid images captured by the camera module (113) for n first grid pattern lights.

[0047] Likewise, the imaging control unit (132a) can generate a second three-dimensional image according to the PMP (Phase Measuring Profilometry) method based on m second grid images captured by the camera module (113) for m second grid pattern lights.

[0048] For example, the imaging control unit (132a) can generate a first 3D image and a second 3D image according to the PMP (Phase Measuring Profilometry) method by using four first grid images and four second grid images.

[0049] Here, depending on the height of the measurement target (Ob), a shaded area may occur in the first 3D image or the second 3D image, and thus an area, i.e., a pixel, in which no height information is generated may occur in the first 3D image or the second 3D image, respectively.

[0050] At this time, the imaging control unit (132a) can generate a final three-dimensional image using the height information for pixels in which height information is generated on only one side. In addition, for pixels in which height information exists in both the first three-dimensional image and the second three-dimensional image, the final height information can be determined in various ways.

[0051] For example, the average of two pieces of height information can be used, the reliability can be calculated and a weighted average can be used according to the reliability, or the height information on one side with high reliability can be used.

[0052] Meanwhile, the first projector module (111) may be configured to include a first projector (111a) and a first projector controller (111b). And, the second projector module (112) may be configured to include a second projector (112a) and a second projector controller (112b).

[0053] The first projector (111a) irradiates the first grid pattern light. The first projector controller (111b) controls the first projector (111a) to turn on / off the irradiation of the first grid pattern light. Similarly, the second projector (112a) irradiates the second grid pattern light. The second projector controller (112b) can control the second projector (112a) to turn on / off the irradiation of the second grid pattern light.

[0054] Here, the scanning control unit (114) can control the first projector controller (111b) and the second projector controller (112b) so that the first grid pattern light and the second grid pattern light are alternately irradiated.

[0055] In one embodiment, the first projector controller (111b) can control the on / off of the first projector (111a) by applying a first PWM control signal to the first projector (111a). In addition, the second projector controller (112b) can control the on / off of the second projector (112a) by applying a second PWM control signal to the second projector (112a).

[0056] Here, the first PWM control signal and the second PWM control signal are, for example, signals for turning on / off the first projector (111a) and the second projector (112a) according to the pulse width modulation (PMP) method.

[0057] The scanning control unit (114) can control the first PWM controller and the second PWM controller in synchronization so that the first PWM control signal and the second PWM control signal are output to alternately turn the first projector (111a) and the second projector (112a) on and off within the frame rates of the first projector (111a) and the second projector (112a), respectively.

[0058] As previously explained, assuming that one first 3D image and one second 3D image are generated using four first grid images and four second grid images, respectively, one cycle of illumination and shooting is performed when the first projector (111a) and the second projector (112a) alternately irradiate the first grid pattern light and the second grid pattern light four times each.

[0059] Referring to FIG. 3, more specifically, (a1) to (a4) of FIG. 3 are drawings for explaining a scanning method in a general dual projector system, and (b1) to (b4) of FIG. 3 are drawings for explaining a scanning method in a 3D oral scanning device (100) according to an embodiment of the present invention.

[0060] (a1) of FIG. 3 is a first PWM control signal for turning on / off a first projector (111a) to which a conventional scanning method is applied, (a2) of FIG. 3 is a first projector (111a) turned on / off according to the first PWM control signal according to (a1), (a3) ​​of FIG. 3 is a second PWM control signal for turning on / off a second projector (112a) to which a conventional scanning method is applied, and (a4) of FIG. 3 is a second projector (112a) turned on / off according to the second PWM control signal according to (a3).

[0061] (b1) of FIG. 3 is a first PWM control signal for turning on / off a first projector (111a) to which a scanning method of a three-dimensional oral scanning device (100) according to an embodiment of the present invention is applied, (b2) of FIG. 3 is a first projector (111a) turned on / off according to the first PWM control signal according to (b1), (b3) of FIG. 3 is a second PWM control signal for turning on / off a second projector (112a) to which a scanning method of a three-dimensional oral scanning device (100) according to an embodiment of the present invention is applied, and (b4) of FIG. 3 is a second projector (112a) turned on / off according to the second PWM control signal according to (b3).

[0062] As shown in (a1) to (a4) of Fig. 3, in the existing scanning method, the first projector (111a) is turned on / off four times, and then the second projector (112a) is turned on / off four times.

[0063] On the other hand, in a three-dimensional oral scanning device (100) according to an embodiment of the present invention, a method is applied in which the first projector controller (111b) and the second projector controller (112b) alternately output a first PWM control signal and a second PWM control signal, and accordingly, the first projector (111a) and the second projector (112a) alternately illuminate the first grid pattern light and the second grid pattern light four times each.

[0064] Assuming that the maximum frame rates of the first projector (111a) and the second projector (112a) are 500 Hz, 20 msec is required per frame. In this case, in the conventional method, the first projector (111a) and the second projector (112a) sequentially illuminate four times each, so that one cycle takes 20*8=160 msec.

[0065] On the other hand, when the scanning method according to the embodiment of the present invention is applied, it can be seen that since the first PWM control signal and the second PWM control signal only take 5 signal intervals, 20*5=100 msec is taken for one cycle.

[0066] Therefore, compared to the existing scanning method, the time required to acquire one final 3D image is effectively reduced, thereby providing the effect of improving the overall scanning speed.

[0067] This not only reduces the scanning speed in a 3D oral scanning device (100) that takes pictures of teeth while moving a 3D oral scanner (110) inside the teeth, but also enables acquisition of more accurate and clear 3D images.

[0068] Meanwhile, the limitation of 2π ambiguity in the generation of 3D images using the pulse width modulation method is known. That is, due to the characteristics of periodic functions, a phase jump phenomenon occurs with a period of 2π.

[0069] Without a separate phase unwrapping process implemented in software to resolve this 2π ambiguity, the measurement range is limited by the grating pitch. That is, reducing the grating pitch for higher precision also reduces the measurement range.

[0070] Therefore, in the creation of a 3D image using the existing pulse width modulation method, a phase unwrapping process is artificially performed through software, which acts as a factor in increasing the imaging processing speed.

[0071] Accordingly, in the embodiment of the present invention, the first projector controller (111b) controls the first projector (111a) to emit the first grid pattern light at least once among n times, for example, four times, so that the first grid pattern light has a first grid pattern of a different pitch.

[0072] Similarly, the second projector controller (112b) controls the second projector (112a) to emit the second grid pattern light at least once out of m times, for example, four times, to have a second grid pattern with a different pitch.

[0073] FIG. 4 (a) is a drawing showing an example of a first grid pattern light (or a second grid pattern light) having a first grid pattern (or a second grid pattern) with a small pitch, and FIG. 4 (b) is a drawing showing an example of a first grid pattern light (or a second grid pattern light) having a first grid pattern (or a second grid pattern) with a large pitch.

[0074] And, (a) of FIG. 5 is a drawing showing an example of a first grid image (or a second grid image) captured by first grid pattern light (or second grid pattern light) having a first grid pattern (or a second grid pattern) of a small pitch, and (b) of FIG. 5 is a drawing showing an example of a first grid image (or a second grid image) captured by first grid pattern light (or second grid pattern light) having a first grid pattern (or a second grid pattern) of a large pitch.

[0075] Here, the imaging control unit (132a) can apply phase unwrapping to the first grid image captured for the first grid pitch with a large pitch among the n first grid images to generate a first three-dimensional image.

[0076] Similarly, the imaging control unit (132a) can apply phase unwrapping to a second grid image captured for a second grid pitch with a larger pitch among the m second grid images to generate a second three-dimensional image.

[0077] That is, the imaging control unit (132a) applies the first grid image or the second grid image photographed for a small pitch to the calculation of precise three-dimensional imaging, while applying the first grid image or the second grid image photographed for a large pitch to phase unwrapping, thereby not only significantly reducing the image processing time according to the software phase unwrapping, but also increasing the Z measurement range through the application of the hardware phase unwrapping.

[0078] Additionally, if the measurement range that can be covered by the first or second grid pattern of a large pitch is exceeded, an additional software phase unwrapping process can be performed, but since the height difference due to the 2π difference is relatively larger than that of a small pattern, the difficulty and speed of the software phase unwrapping can be reduced.

[0079] Again, referring to FIG. 2, a three-dimensional oral scanner (110) according to an embodiment of the present invention may be configured to include a first reflection mirror (115) and a second reflection mirror (116).

[0080] The first reflective mirror (115) is positioned in front of the first projector module (111) and reflects the first grid pattern light irradiated from the first projector module (111) toward the measurement object (Ob). In addition, the second reflective mirror (116) is positioned in front of the second projector module (112) and reflects the light irradiated from the second projector module (112) toward the measurement object (Ob).

[0081] According to the above configuration, the first projector module (111) and the second projector module (112) themselves are not arranged at a certain angle toward the measurement target (Ob), but rather the light path is changed through the first reflection mirror (115) and the second reflection mirror (116), thereby preventing an increase in the product size due to the inclined arrangement of the first projector module (111) and the second projector module (112).

[0082] Meanwhile, FIG. 6 is a drawing showing an example of the configuration of a scanning control terminal (130) of a 3D oral scanning device (100) according to an embodiment of the present invention.

[0083] The scanning control terminal (130) according to an embodiment of the present invention can manage the scanning images scanned by the 3D oral scanner (110), i.e., the first grid image and the second grid image as described above. Here, the scanning control terminal (130) can be connected to the dental management terminal (230) through a communication network (500) and communicate with the dental management terminal (230). In one embodiment, the scanning control terminal (130) and the dental management terminal (230) can communicate with each other through a wireless communication network (500), such as wireless WI-FI or Bluetooth.

[0084] In an embodiment of the present invention, the scanning control terminal (130) is implemented as a PC-type terminal as an example. In one embodiment, the scanning control terminal (130) may be configured to include a scanning interface unit (131), a scanning terminal communication unit (133), a scanning management program (132), and a scanning terminal processor (134).

[0085] The scanning interface unit (131) according to an embodiment of the present invention is connected to a 3D oral scanner (110), so that a first grid image and a second grid image captured by the 3D oral scanner (110) can be input to a scanning control terminal (130). Here, the scanning interface unit (131) can be connected to the 3D oral scanner (110) through a connection port that is connected wired or wirelessly. Here, the technical idea of ​​the present invention is not limited to the connection method between the scanning interface unit (131) and the 3D oral scanner (110).

[0086] The scanning terminal communication unit (133) can communicate with the dental management device (200) via a communication network (500). As described above, the scanning terminal communication unit (133) can communicate with the dental management device (200) via a communication network (500) such as wireless WI-FI, Bluetooth, etc. Here, the scanning terminal communication unit (133) is not limited to including only one communication module. For example, the scanning terminal communication unit (133) can be connected to the dental management device (200) via a Bluetooth module, and can be connected to the scanning management server (300) described below via a wireless or wired Internet network.

[0087] The scanning terminal processor (134) may include hardware and software configurations for controlling the entire functions of the scanning control terminal (130) according to an embodiment of the present invention. In one embodiment, when the scanning control terminal (130) is implemented in the form of a PC, the hardware configuration may include a CPU, RAM, a main board, etc., and the software configuration may include an operating system.

[0088] The scanning management program (132) can be installed in the scanning control terminal (130). In addition, the scanning management program (132) can manage the first grid image and the second grid image captured and received by the 3D oral scanner (110) through the scanning interface unit (131) in conjunction with the scanning terminal processor (134).

[0089] Here, the imaging control unit (132a) is implemented as a single function within the scanning management program (132) as an example. That is, the imaging control unit (132a) provided as a single function of the scanning management program (132) can generate a first 3D image and a second 3D image using the first grid image and the second grid image, and generate a final 3D image based on the first 3D image and the second 3D image.

[0090] In addition, the scanning management program (132) can receive patient information from the dental management terminal (230) of the dental management device (200) through the scanning terminal communication unit (133), and manage the received patient information by matching it with the final 3D image.

[0091] The scanning management program (132) provides a graphical user interface for processing the first grid image, the second grid image, and the final 3D image scanned by the 3D oral scanner (110), and can display them on the scanning terminal monitor (150).

[0092] The graphical user interface displayed on the scanning terminal monitor (150) may display patient information and a final 3D image generated by scanning by the 3D oral scanner (110).

[0093] Meanwhile, various inputs are possible through the scanning input unit (135). The scanning input unit (135) according to an embodiment of the present invention may be configured with at least one input device among a touch pad (135a), a foot switch (135b), and a keyboard / mouse (135c). In one embodiment, the operator can select a specific button by using the foot switch (135b), thereby preventing contamination, etc., by not operating the input device with the operator's own hands.

[0094] Although certain embodiments of the present invention have been illustrated and described, it will be apparent to those skilled in the art that modifications may be made to the embodiments without departing from the spirit or scope of the invention. The scope of the invention is defined by the appended claims and their equivalents.

[0095] [Explanation of symbols]

[0096] 10: 3D intraoral scanning system 20: Dental chair

[0097] 100: 3D oral scanning device 110: 3D oral scanner

[0098] 111: First projector module 111a: First projector

[0099] 111b: 1st projector controller 112: 2nd projector module

[0100] 112a: Second projector 112b: First projector controller

[0101] 113: Camera module 114: Scanning control unit

[0102] 115: First reflective mirror 116: Second reflective mirror

[0103] 130: Scanning control terminal 131: Scanning interface unit

[0104] 132: Scanning Management Program 132a: Imaging Control Unit

[0105] 133: Scanning terminal communication unit

[0106] 134: Scanning terminal processor 135: Scanning input unit

[0107] 135a: Touchpad 135b: Footswitch

[0108] 135c: Keyboard / Mouse 150: Scanning Terminal Monitor

[0109] 200: Dental management device 300: Scanning management server

[0110] 500: Communications network

[0111] The present invention can be applied to the field of oral scanners for creating a three-dimensional model of the oral cavity in dentistry, etc.

Claims

1. In a 3D oral scanning device, Camera module and; A first projector module for illuminating a measurement target with a first grid pattern light having a first grid pattern; A second projector module for illuminating the measurement target with a second grid pattern light having a second grid pattern; A three-dimensional oral scanning device characterized by comprising a scanning control unit that controls the first projector module and the second projector module to alternately illuminate the first grid pattern light and the second grid pattern light, and controls the camera module to photograph light reflected from the measurement object in synchronization with the illumination of the first projector module and the second projector module.

2. In paragraph 1, The above first projector module A first projector that irradiates the first grid pattern light, The first projector comprises a first projector controller that controls the first projector to turn on / off the irradiation of the first grid pattern light; The above second projector module A second projector that irradiates the second grid pattern light, A second projector controller for controlling the second projector to turn on / off the irradiation of the second grid pattern light; A three-dimensional oral scanning device, characterized in that the scanning control unit controls the first projector controller and the second projector controller so that the first grid pattern light and the second grid pattern light are alternately irradiated.

3. In paragraph 2, The first projector controller applies a first PWM control signal to the first projector to control on / off of the first projector; The second projector controller applies a second PWM control signal to the second projector to control the on / off of the second projector; A three-dimensional oral scanning device characterized in that the scanning control unit synchronizes and controls the first PWM controller and the second PWM controller so that the first PWM control signal and the second PWM control signal are output to alternately turn the first projector and the second projector on and off within the frame rates of each of the first projector and the second projector.

4. In paragraph 2, A 3D oral scanning device further comprising an imaging control unit that generates a first 3D image according to the PMP (Phase Measuring Profilometry) method based on n first lattice images captured by the camera module for n times of the first lattice pattern light, and generates a second 3D image according to the PMP (Phase Measuring Profilometry) method based on m second lattice images captured by the camera module for m times of the second lattice pattern light.

5. In paragraph 4, The first projector controller controls the first projector so that at least one of the n first grid pattern lights has a first grid pattern of a different pitch; A three-dimensional oral scanning device, characterized in that the second projector controller controls the second projector so that at least one of the m second grid pattern lights has a second grid pattern of a different pitch.

6. In paragraph 5, The above imaging control unit Generating the first three-dimensional image by applying phase unwrapping to the first grid image photographed for the first grid pitch having a large pitch among the n first grid images, A three-dimensional oral scanning device characterized in that the second three-dimensional image is generated by applying a second grid image photographed for a second grid pitch having a larger pitch among the m second grid images to phase unwrapping. In the 7.3D oral scanning device, Camera module and, A first projector module for illuminating a measurement target with a first grid pattern light having a first grid pattern, A second projector module for illuminating the measurement target with a second grid pattern light having a second grid pattern, A scanning control unit that controls the first projector module so that the first grid pattern light is irradiated to the measurement target n times, so that the camera module captures n first grid images for n times of the first grid pattern light, and controls the second projector module so that the second grid pattern light is irradiated to the measurement target m times, so that the camera module captures m second grid images for m times of the second grid pattern light, An imaging control unit is included that generates a first three-dimensional image according to the PMP (Phase Measuring Profilometry) method based on n of the first grid images, and generates a second three-dimensional image according to the PMP (Phase Measuring Profilometry) method based on m of the second grid images; The scanning control unit controls the first projector module so that at least one of the n first grid pattern lights has a first grid pattern with a different pitch, and controls the second projector module so that at least one of the m second grid pattern lights has a second grid pattern with a different pitch; The above imaging control unit Generating the first three-dimensional image by applying phase unwrapping to the first grid image photographed for the first grid pitch having a large pitch among the n first grid images, A three-dimensional oral scanning device characterized in that the second three-dimensional image is generated by applying a second grid image photographed for the first grid pitch having a larger pitch among the m second grid images to phase unwrapping.

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