Sensing device capable of detecting hardness, mobile device having the same, and three-dimensional printing apparatus using the same

A sensing device capable of detecting hardness includes a sensor array including a plurality of sensors, each of the plurality of sensors including a transmitter configured to emit a detection wave and a receiver configured to receive a reflected detection wave reflected by an object, the plurality of sensors arranged in a matrix form; and a controller configured to obtain image information and hardness information of each portion of the object from the reflected waves received by the plurality of sensors, and to form three-dimensional print data by mapping the image information and the hardness information.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based on and claims priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2016-0011452 filed Jan. 29, 2016 in the Korean Intellectual Property Office, the disclosure of which is incorporated by reference herein in its entirety.

BACKGROUND

The present disclosure relates generally to a sensing device capable of obtaining three-dimensional print data and a three-dimensional printing apparatus using the same. For example, the present disclosure relates to a sensing device capable of hardness detection that can obtain three-dimensional print data including hardness information, a mobile device having the same, and a three-dimensional printing apparatus using the same.

2. Description of Related Art

According to the development of electronic technology, an imaging device or a sensing device capable of obtaining a three dimensional image of an object has been developed and widely used.

However, a conventional sensing device capable of obtaining a three-dimensional image cannot obtain information about hardness or stiffness of the object, that is, a degree of hardness or stiffness of the object.

Accordingly, when a three-dimensional image obtained by the conventional sensing device is printed using a three-dimensional printing apparatus, an output having the same shape as the object can be obtained. However, since the hardness information of the object is not included in the three-dimensional image data of the object obtained by the conventional sensing device, the output of the object is formed such that all portions of the output have the same hardness.

For example, when a three-dimensional image of an apple is obtained by the conventional sensing device and is printed by the conventional three-dimensional printing apparatus, an output having a shape similar to that of the captured apple may be obtained. The printed apple is formed of a material having a single hardness.

However, since peel, pulp, and seeds of a real apple are different in the hardness, there is a problem that an apple having similar hardness to the real apple cannot be formed by the three-dimensional image and the three-dimensional printing apparatus according to the related art.

In other words, there is a problem in that when an object is composed of parts having various hardness, the conventional sensing device capable of obtaining a three-dimensional image may not recognize hardness of various portions of the object.

SUMMARY

The present disclosure has been developed to address the above drawbacks and other problems associated with the conventional arrangement. An example aspect of the present disclosure relates a sensing device capable of detecting hardness that can obtain three-dimensional print data including hardness information, a mobile device having the same, and a three-dimensional printing apparatus using the same.

According to an example aspect of the present disclosure, a sensing device capable of detecting hardness may include a sensor array including a plurality of sensors arranged in a matrix form; and a controller configured to obtain image information and hardness information of each portion of an object from reflected waves received by the plurality of sensors, and to form three-dimensional print data by mapping the image information and the hardness information.

The plurality of sensors of the sensor array may be arranged in a plane.

The plurality of sensors of the sensor array may be arranged in a hollow cylindrical shape.

The sensor array may include a plurality of sensors provided to cover one end of the hollow cylindrical shape.

The sensing device capable of detecting hardness may include a plurality of camera modules provided in the sensor array, wherein the controller may be configured to obtain color information of each portion of the object from the plurality of camera modules.

The sensor array may include a plurality of first sensors configured to emit a first detection wave, and a plurality of second sensors configured to emit a second detection wave different from the first detection wave.

The first detection wave may include a terahertz wave, and the second detection wave may include an ultrasonic wave.

The controller may be configured to form the three-dimensional print data by mapping the image information, the hardness information, and the color information, and to store the three-dimensional print data.

Each of the plurality of sensors may be configured to emit a detection wave including one or more of a terahertz wave, a millimeter wave, and an ultrasonic wave.

According to another example aspect of the present disclosure, a mobile device may include a camera module; a sensor array disposed adjacent to the camera module and comprising a plurality of sensors arranged in a matrix form; and a controller configured to obtain image information and hardness information of each portion of an object from reflected waves received by the plurality of sensors, to obtain color information of each portion of the object from the camera module, and to form three-dimensional print data by mapping the image information, the hardness information, and the color information.

The controller may be configured to store the three-dimensional print data formed by the print data processor.

The mobile device may include a cylindrical sensor array detachably connected to the mobile device.

The cylindrical sensor array may include a plurality of camera modules. The mobile device may include an ultrasonic sensor array unit detachably connected to the mobile device.

According to another example aspect of the present disclosure, a three-dimensional printing apparatus may include a receiver including a receiving circuit configured to receive three-dimensional print data from a sensing device capable of detecting hardness; a print controller configured to analyze the three-dimensional print data received by the receiving circuit; a material mixer configured to form a material corresponding to an analysis result of the print controller; and a print head configured to form a shape corresponding to the received three-dimensional print data using the material supplied from the material mixer, wherein the sensing device capable of detecting hardness includes a sensor array including a plurality of sensors arranged in a matrix form; and a controller configured to obtain image information and hardness information of each portion of an object from reflected waves received by the plurality of sensors, and to form three-dimensional print data by mapping image information and hardness information.

The material mixer may include a material selecting portion configured to supply a material having hardness corresponding to the analysis result of the print controller; a color selecting portion configured to supply a pigment having a color corresponding to the analysis result of the print controller; and a mixing portion configured to form a material having color and hardness corresponding to the analysis result of the print controller by mixing the material supplied from the material selecting portion and the pigment supplied from the color selecting portion.

The material selecting portion may include a plurality of material cartridges accommodating materials having different hardness.

The color selecting portion may include a plurality of pigment cartridges accommodating pigments having different colors.

The receiver may be configured to receive the three-dimensional print data from a cloud or a Web hard disk.

Other objects, advantages and salient features of the present disclosure will become apparent from the following detailed description, which, taken in conjunction with the annexed drawings, discloses various example embodiments.

DETAILED DESCRIPTION

Hereinafter, various example embodiments of the present disclosure will be described in greater detail with reference to the accompanying drawings.

The matters disclosed herein, such as a detailed construction and elements thereof, are provided to aid in a comprehensive understanding of this description. Thus, it is apparent that example embodiments may be carried out without those defined matters. Also, well-known functions or constructions may be omitted to provide a clear and concise description of example embodiments. Further, dimensions of various elements in the accompanying drawings may be arbitrarily increased or decreased to aid in a comprehensive understanding.

The terms “first”, “second”, etc. may be used to describe diverse components, but the components are not limited by the terms. The terms are only used to distinguish one component from the others.

The terms used in the present description are used to describe the example embodiments, but are not intended to limit the scope of the disclosure. The singular expression also includes the plural meaning so long as it does not conflict with the context. In the present description, the terms “include” and “consist of” designate the presence of features, numbers, steps, operations, components, elements, or a combination thereof that are written in the description, but do not exclude the presence or possibility of addition of one or more other features, numbers, steps, operations, components, elements, or a combination thereof.

In the various example embodiments of the present disclosure, a “module” or a “unit” performs at least one function or operation, and may be implemented with hardware, software, or a combination of hardware and software. In addition, a plurality of “modules” or a plurality of “units” may be integrated into at least one module except for a “module” or a “unit” which has to be implemented with specific hardware, and may be implemented with various processing circuitry, such as, for example, and without limitation, at least one processor (not shown).

FIG. 1is a diagram illustrating a perspective view of an example sensing device capable of detecting hardness according to an example embodiment of the present disclosure.FIG. 2is a block diagram illustrating an example sensing device capable of detecting hardness according to an example embodiment of the present disclosure.

Referring toFIGS. 1 and 2, a sensing device capable of detecting hardness10according to an example embodiment of the present disclosure may include a sensor array11and a controller (e.g., including processing circuitry)20.

The sensor array11includes a plurality of sensors12capable of emitting a detection wave toward a target object1. The plurality of sensors12may be arranged in a matrix form.

In an example embodiment as illustrated inFIG. 1, the plurality of sensors12of the sensor array11are arranged in a hollow cylindrical shape. Each of the plurality of sensors12may be provided to emit a detection wave in a horizontal direction toward the center line of the hollow cylinder. The target object1whose a three-dimensional image and hardness are photographed and detected by the sensing device capable of detecting hardness10may be positioned at the center line of the hollow cylinder. InFIG. 1, five sensors12are arranged in the longitudinal direction of the hollow cylinder, and eighteen sensors12are arranged in the circumferential direction of the hollow cylinder. However, this is only an example, and the arrangement of the plurality of sensors12is not limited thereto.FIG. 1illustrates an example where the sensor array11photographs a half of an apple as the target object1.

The plurality of sensors12may all include the same type of sensors. Each of the sensors12may include a transmitter12-1and a receiver12-2. The transmitter12-1of the sensor12emits a detection wave under the control of a sensor controller21, and the receiver12-2receives a reflected wave of the detection wave reflected from the object1. For example, the reflected wave refers to the detection wave emitted from the transmitter12-1that is reflected by the object1, and then is introduced into the receiver12-2.

The controller20is configured to control the plurality of sensors12of the sensor array11to emit detection waves and to form three-dimensional print data including hardness information using the received reflected wave, and may include the sensor controller21, an image processor22, a hardness processor23, a print data processor24, an input-output unit (e.g., including input-output circuitry)25, and a memory26.

The controller20may include various electronic components such as, for example, and without limitation, processing circuitry, an ASIC, a ROM, a RAM, etc., and may be provided in a ring shape at one end of the sensor array11.

The sensor controller21may include various circuitry and/or program module(s) configured to control the transmitters12-1of the plurality of sensors12based on a command input through the input-output unit25, so that each of the plurality of sensors12emits the detection wave. The sensor controller21may be configured such that the transmitter12-1of the sensor12performs frequency sweep of the detection waves and the receiver12-2thereof receives the reflected waves based on the frequency sweep.

The detection wave may include a wave having a property of being reflected by an object1and returning toward the transmitter12-1. For example, the detection wave may include a terahertz wave, a millimeter wave, an ultrasonic wave, a light, or the like, but is not limited thereto. Accordingly, the plurality of sensors12of the sensor array11may include a terahertz wave sensor configured to emit a terahertz wave and to receive the terahertz wave reflected by an object, a millimeter wave sensor configured to emit a millimeter wave and to receive the millimeter wave reflected by the object, an ultrasonic wave sensor configured to emit an ultrasonic wave and to receive the ultrasonic wave reflected by the object, or the like, but is not limited thereto. For example, when the frequency sweep is performed using a terahertz wave or a millimeter wave, the internal structure of the object may be recognized by analyzing the received reflected wave.

The image processor22may include various circuitry and/or program module(s) configured to obtain image information of each portion of the target object1from the reflected waves received by the receivers12-2of the plurality of sensors12. The image processor22may form an image of the target object1from the image information of each portion of the target object1obtained by the plurality of receivers12-2. The image processor22may recognize three-dimensional coordinates of image information of each portion of the target object1. Accordingly, the image processor22may form, for example, a voxel-shaped image data including three dimensional coordinates of each portion of the target object1and the image information of the each portion. That the image processor22forms the image of the target object1using the received reflected waves will be understood by one or ordinary skill in the art; therefore, a detailed description thereof is omitted.

The hardness processor23may include various circuitry and/or program module(s) configured to obtain hardness information of each portion of the target object1from the reflected waves received by the receivers12-2of the plurality of sensors12. The magnitude of the reflected wave that the detection wave is reflected on the target object1, for example, the amplitude of the reflected wave may change based on the hardness of a portion of the target object1on which the detection wave is reflected. Accordingly, when the magnitude of the reflected wave is detected, the hardness of the reflected portion of the target object1may be detected. The relationship between the hardness of the object1reflecting the detection wave and the magnitude of the reflected wave is determined based on a type of the detection wave. The relationship between the hardness of objects and the magnitude of the reflected wave may be stored in advance in the hardness processor23. Accordingly, the hardness processor23may determine hardness data including three dimensional coordinates of each portion of the target object1and hardness information of the each portion.

The print data processor24may include various circuitry and/or program module(s) configured to form three-dimensional print data by mapping the image data obtained from the image processor22and the hardness data obtained from the hardness processor23. For example, the print data processor24may combine the coordinates of each portion of the three-dimensional image with hardness information corresponding to the coordinates to form three-dimensional print data including the hardness information.

As another example, when terahertz wave sensors or millimeter wave sensors are used as the plurality of sensors12and the frequency sweep is performed, the print data processor24may be configured to recognize the target object1by extracting the characteristic of the spectrum of the received reflected wave and comparing the characteristic of the spectrum with the database. Further, the print data processor24may be configured to include characteristics of the target object1recognized from the database, for example, texture, moisture, color, permittivity, etc. of the target object1in the three-dimensional print data. The database may include the characteristics of the spectrum of the received reflected wave when a frequency sweep is performed, for example, with the terahertz wave or the millimeter wave with respect to various objects. Also, the database may include texture, moisture, color, permittivity, etc. of each of the various objects.

The input-output unit25may include various input-output circuitry configured to output the three-dimensional print data formed by the print data processor24to the outside. Also, the input-output unit25may be configured to receive an operation command of the sensing device10input from the outside.

The input-output unit25may be connected to an external device wirelessly or by wire. For example, the input-output unit25may be connected to a personal computer or a mobile device by wire or wirelessly. The mobile device may include a notebook computer, a tablet computer, a smartphone, or the like, but is not limited thereto. In this case, the three-dimensional print data formed by the print data processor24may be stored in the external device.FIG. 1illustrates an example in which a USB cable29is connected to the input-output unit25of the controller20.

The input-output unit25may be configured to be directly connected to a cloud and a Web hard disk via the internet. In this case, the three-dimensional print data provided by the print data processor24may be stored in the cloud or the Web hard disk.

As another example, the input-output unit25may be configured to be directly connected to a three-dimensional printing apparatus300(seeFIG. 11). In this case, the three-dimensional print data provided by the print data processor24may be directly printed through the three-dimensional printing apparatus300.

The memory26may be configured to store the three-dimensional print data provided by the print data processor24. Accordingly, the three-dimensional print data provided by the print data processor24may be stored in the memory26without being output to the outside. Further, the three-dimensional print data stored in the memory26may be transmitted to the external device, the cloud, the web hard disk, and the three-dimensional printing apparatus through the input-output unit25.

Also, the sensing device capable of detecting hardness10according to an example embodiment of the present disclosure may further include a power supply27. The power supply27may supply power to the plurality of sensors12of the sensor array11and to the portions of the controller20. A battery may, for example, be used as the power supply27. As another example, it is also possible to supply power to the plurality of sensors12and the controller20through the input-output unit25from the outside.

In the above description, the sensor array11is formed, for example, as a hollow cylindrical shape. However, the sensor array11may be formed in a shape which one end of a hollow cylinder is covered, for example, a cylindrical container shape, as illustrated inFIG. 3.

FIG. 3is a perspective view illustrating an example sensing device10′ capable of detecting hardness according to another example embodiment of the present disclosure, and illustrates an example in which the sensor array is formed in a cylindrical container shape.

A sensor array11′ as illustrated inFIG. 3is the same as the sensor array11as illustrated inFIG. 1except that a cover portion30is provided at one end of the sensor array11of the hollow cylindrical shape illustrated inFIG. 1.

A plurality of sensors31may be of the same type as the plurality of sensors12arranged on the side surface of the cylindrical container are disposed concentrically on the cover portion30. Accordingly, it is possible to detect not only the periphery of a target object located at the center of the sensor array11′ as illustrated inFIG. 3, but also the upper portion of the target object.

FIG. 4is a perspective view illustrating an example sensing device capable of detecting hardness according to another example embodiment of the present disclosure, andFIG. 5is a block diagram illustrating an example sensing device capable of detecting hardness according to another example embodiment of the present disclosure.

Referring toFIGS. 4 and 5, a sensing device capable of detecting hardness40may include a sensor array41and a controller50.

The sensor array41may include a plurality of sensors42capable of emitting a detection wave toward a target object and a plurality of camera modules45. The plurality of sensors42may be arranged in a matrix form.

In an example embodiment as illustrated inFIG. 4, the plurality of sensors42of the sensor array41are arranged in a hollow cylindrical shape. Each of the plurality of sensors42may be disposed to emit a detection wave in a horizontal direction toward the center line of the hollow cylinder. InFIG. 4, five sensors42are arranged in the longitudinal direction of the hollow cylinder, and eighteen sensors42are arranged in the circumferential direction of the hollow cylinder. However, this is only an example, and the arrangement of the plurality of sensors42is not limited thereto.

The plurality of sensors42of the sensor array11are the same as or similar to the plurality of sensors12of the sensing device capable of detecting hardness10according to the above-described example embodiment; therefore, a detailed description thereof is omitted.

Further, the plurality of camera modules45may be disposed in the sensor array41to capture a three-dimensional image of the target object located, for example, at the center of the sensor array41. The sensing device capable of detecting hardness40according to an example embodiment of the present disclosure may detect color information of the target object using the plurality of camera modules45.

The controller50may include various processing circuitry and is configured to control the plurality of sensors42of the sensor array41to emit detection waves and to form three-dimensional print data including hardness information using the received reflected waves, and may include a sensor controller51, an image processor52, a hardness processor53, a color processor57, a print data processor54, an input-output unit55, and a memory56.

The sensor controller51may include various circuitry and/or program module(s) configured to control transmitters42-1of the plurality of sensors42based on a command input through the input-output unit55so that each of the transmitters42-1of the plurality of sensors42of the sensor array41emits the detection wave, and to control receiver42-2of the plurality of sensors42to receive the reflected wave reflected from the target object. Further, the sensor controller51may be configured to photograph the target object by controlling the plurality of camera modules45provided at one end of the sensor array41based on a command input through the input-output unit55. As another example embodiment, the sensor controller51may be configured such that the transmitters42-1of the plurality of sensors42perform frequency sweep of the detection waves and the receivers42-2thereof receive the reflected waves according to the frequency sweep.

The color processor57may include various circuitry and/or program module(s) configured to extract color information of the target object from the image captured by the plurality of camera modules45. For example, the color processor57may be configured to extract three-dimensional coordinates (x, y, z) of all the portions of the target object11and color information corresponding to each three-dimensional coordinates from the captured image.

The image processor52and the hardness processor53may include various circuitry and/or program module(s) configured to obtain image information and hardness information of the target object using the reflected waves received by the receivers42-2of the plurality of sensors42. The configurations of the image processor52and the hardness processor53to obtain the image information and the hardness information of the target object using the reflected waves received by the receivers42-2of the plurality of sensors42are similar to the image processor22and the hardness processor23of the sensing device capable of detecting hardness10as described above; therefore, detailed descriptions thereof will be omitted.

The print data processor54may include various circuitry and/or program module(s) configured to provide three-dimensional print data of the target object including image information, hardness information, and color information of the target object by mapping the three-dimensional image information, the hardness information, and the color information obtained from the image processor52, the hardness processor53, and the color processor57.

The input-output unit55and the memory56are the same as or similar to the input-output unit25and the memory26of the sensing device capable of detecting hardness10according to the above-described example embodiment. Therefore, detailed descriptions thereof are omitted.FIG. 4illustrates an example in which a USB cable59is connected to the input-output unit55of the controller50.

FIG. 6is a diagram illustrating an example sensing device capable of detecting hardness according to another example embodiment of the present disclosure.

A sensing device capable of detecting hardness60as illustrated inFIG. 6may be configured so that a sensor array61is formed in a flat plate shape. For example, a plurality of sensors62of the sensor array61are arranged substantially in a plane. The sensor array61as illustrated inFIG. 6is formed substantially into a square flat plate shape. In this case, a controller (not illustrated) may be disposed behind the sensor array61.

The configurations of the plurality of sensors62of the sensor array61and the controller of the sensing device capable of detecting hardness60as illustrated inFIG. 6are the same as or similar to the plurality of sensors12and the controller20of the sensing device capable of detecting hardness10according to the above-described example embodiment; therefore, detailed descriptions thereof are omitted.

In the above description, the plurality of sensors12,42, and62of the various example sensor arrays11,41, and61use sensors of the same type. However, as another example embodiment, the plurality of sensors12,42, and62may include two types of sensors.

FIG. 7is a perspective view illustrating an example sensing device capable of detecting hardness according to another example embodiment of the present disclosure including two types of sensors.

Referring toFIG. 7, a sensing device capable of detecting hardness70according to an example embodiment of the present disclosure may include a sensor array71and a controller80.

The sensor array71includes a plurality of sensors72and73arranged in a hollow cylindrical shape. The plurality of sensors72and73may include two types of sensors. For example, the sensor array71may be configured to include a plurality of first sensors72to emit a first detection wave and a plurality of second sensors73configured to emit a second detection wave of a different kind from the first detection wave. For example, the first sensors72may use a terahertz wave sensor to emit terahertz waves as the first detection wave, and the second sensors73may use an ultrasonic sensor to emit ultrasonic waves as the second detection wave. It will be understood that this is merely an example, and that the disclosure is not limited to these two example types of sensors.

Further, the plurality of first sensors72and the plurality of second sensors73may be alternately arranged in the circumferential direction of the sensor array71as illustrated inFIG. 7. In other words, five first sensors72may be provided in one row in the longitudinal direction of the sensor array71, and five second sensors73may be provided in the next row. Five first sensors72may be placed again in the next row. The arrangement of the plurality of first sensors72and the plurality of second sensors73as illustrated inFIG. 7is only one example. Therefore, the plurality of first sensors72and the plurality of second sensors73may be arranged in a variety of ways as required.

The controller80may include various circuitry and/or program module(s), such as, for example, and without limitation, a sensor controller, an image processor, a hardness processor, a print data processor, an input-output unit, and a memory. The sensor controller, the image processor, the hardness processor, and the print data processor are similar to the sensor controller21, the image processor22, the hardness processor23, and the print data processor24of the sensing device capable of detecting hardness10according to the above-described example embodiment except that they are configured to process two types of reflected waves received by the receivers of the two types of sensors72and73. Therefore, detailed descriptions thereof are omitted. Also, the input-output unit and the memory of the controller80may be configured in the same manner as the input-output unit25and the memory26of the sensing device capable of detecting hardness10according to the above-described example embodiment; therefore, the detailed description thereof is omitted.FIG. 7illustrates an example in which a USB cable89is connected to the input-output unit of the controller.

In the above description, the sensing device capable of detecting hardness10,40,60, and70is configured as a separate device. However, the sensing device capable of detecting hardness according to an example embodiment of the present disclosure may be formed integrally with a mobile device.

Hereinafter, a mobile device with a sensing device capable of detecting hardness according to an example embodiment of the present disclosure will be described in greater detail with reference to the accompanying drawings.

FIG. 8is a diagram illustrating an example mobile device having a sensing device capable of detecting hardness according to an example embodiment of the present disclosure.FIG. 9is a perspective view illustrating an example ultrasonic sensor array that can be used in the mobile device ofFIG. 8.

Referring toFIG. 8, a mobile device100according to an example embodiment of the present disclosure may include a camera module110and a sensor array120capable of detecting hardness.FIG. 8illustrates an example in which a smartphone is used as the mobile device100. However, the mobile device100is not limited to a smartphone, but may include various types of devices that user can carry. For example, the mobile device100may include a notebook computer, a tablet computer, a smartphone, or the like.

The camera module110may include various camera circuitry and be configured to obtain color information of a target object by photographing an image of the target object. The camera module110is the same as or similar to a camera module that would be understood by one of ordinary skill in the art; therefore, a detailed description thereof is omitted.

The sensor array120may be provided adjacent to the camera module110. In the example embodiment as illustrated inFIG. 8, the camera module110and the sensor array120are provided side by side on the rear surface of the mobile device100.

The sensor array120is configured so that a plurality of sensors121are arranged in a matrix form in a flat plate shape. Each of the plurality of sensors121includes a transmitter for emitting a detection wave and a receiver for receiving a reflected wave that the emitted detection wave is reflected by an object. The plurality of sensors121of the sensor array120are the same as or similar to the plurality of sensors12of the sensing device capable of detecting hardness10according to the above-described example embodiment; therefore, a detailed description thereof is omitted.

Further, the main body of the mobile device100is provided with an image processor, a hardness processor, a color processor, and a print data processor for controlling the camera module110and the sensor array120and obtaining necessary information from the received reflected wave. The electronic components, such as various processing circuitry, ASICs, etc., of the image processor, the hardness processor, the color processor, and the print data processor may be disposed on a printed circuit board that is provided inside the mobile device100.

The image processor may be configured to acquire image information of each portion of the target object from the reflected waves, that the detection wave emitted from the transmitter of each of the plurality of sensors121of the sensor array120is reflected by the target object, which is received by the receiver of each of the plurality of sensors121, thereby obtaining three-dimensional image data of the target object. For example, each portion of the target object may refer, for example, to each divided portion when the target object1is placed in a coordinate space composed of X-axis, Y-axis, and Z-axis and is divided at a certain resolution as illustrated, for example inFIG. 10. All the divided portions of the target object1may be represented in three-dimensional coordinates (x, y, z). Accordingly, the image data obtained by the image processor may be expressed in, for example, a voxel form.

The hardness processor may be configured to obtain hardness information of each portion of the target object1from the above-described reflected wave received by the receivers of the plurality of sensors121. For example, the hardness processor may be configured to acquire hardness information corresponding to the coordinates of each portion of the target object1acquired by the image processor from the reflected waves.

The color processor may be formed to acquire color information of each portion of the target object1from the image photographed by the camera module110. For example, the color processor may be configured to obtain color information corresponding to the coordinates of each portion of the target object1acquired by the image processor from the image photographed by the camera module110.

The print data processor may be configured to form three-dimensional print data by mapping the image data acquired from the image processor, the hardness information acquired from the hardness processor, and the color information acquired from the color processor.

For example, the print data processor forms image data including the hardness information by mapping the image data that are represented in the voxel form and acquired from the image processor and the hardness information acquired from the hardness processor. The image data including the hardness information may be represented by (x, y, z, A). Here, x, y, and z are coordinate values of a specific portion of the target object1, and A represents hardness information as a magnitude of the reflected wave of the specific portion of the target object1.

Further, the print data processor may be configured form three-dimensional print data including hardness information and color information by mapping the color information of the target object1acquired from the image photographed by the camera module110to the image data including the hardness information. The three-dimensional print data including the hardness information and the color information may be represented by (x, y, z, A, C). Here, x, y, and z are coordinate values in a voxel form of a specific portion of the target object1, A is hardness information as a magnitude of the reflected wave of the specific portion of the target object1, and C represents color information of the specific portion of the target object1.

The three-dimensional print data formed by the print data processor may be stored in a storage portion of the mobile device100, for example, a memory, a flash memory, and the like. At this time, the three-dimensional print data may be stored in the memory in a format of (address, A, C). For example, address represents a storage address of the memory in which image data of the voxel form is stored, A represents the hardness information as the magnitude of the reflected wave, and C represents the color information.

The three-dimensional print data stored in the memory of the mobile device100may be directly transmitted to a three-dimensional printing apparatus300(seeFIG. 11). The mobile device100may be provided with a mobile print application capable of transmitting the three-dimensional print data stored in the memory to the three-dimensional printing apparatus300and controlling the three-dimensional printing apparatus300to perform printing. A user can control the three-dimensional printing apparatus300using the mobile print application provided in the mobile device100, thereby printing the target object1corresponding to the three-dimensional print data of the target object1formed using the sensing device capable of detecting hardness120according to an example embodiment of the present disclosure and the camera module110in three-dimensional form.

Also, the three-dimensional print data stored in the memory of the mobile device100may be stored in a cloud or a Web-hard disk. If a tag is attached to an image of the three-dimensional print data stored in a cloud or a Web-hard disk, the user can easily find and print desired three-dimensional print data.

In the above description, the three-dimensional print data of the target object are formed using the sensing device capable of detecting hardness120built in the mobile device100. However, using the sensing device capable of detecting hardness120embedded in the mobile device100makes it difficult to print the target object in a completely three-dimensional form. When the target object is desired to be printed in a complete three-dimensional form, a separate sensing device capable of detecting hardness that can be detachably connected to or attached to the mobile device100may be used.

The sensing device capable of detecting hardness that can be used by being connected to or attached to the mobile device100may be configured similar to the sensing device capable of detecting hardness10and40as illustrated inFIGS. 1 to 5as described above. However, a controller of the sensing device capable of detecting hardness that may be connected to or attached to the mobile device100may be configured differently from the controller20and50of the sensing device capable of detecting hardness10and40as illustrated inFIGS. 1 to 5. For example, since the mobile device100is provided with the image processor, the hardness processor, the color processor, and the print data processor, the controller of the sensing device capable of detecting hardness, which may be connected to or attached to the mobile device100, may be configured not to separately include these components and to use the image processor, the hardness processor, the color processor, and the print data processor provided in the mobile device100to form the three-dimensional print data.

A sensing device capable of detecting hardness separate from the mobile device100, for example, an external sensing device capable of detecting hardness, may be connected to the mobile device100wirelessly or by wire. For example, for wireless connections, Bluetooth, WiFi, zigbee, etc. may be used.

FIG. 9illustrates a detachable ultrasonic sensor unit200that can be detachably attached to the mobile device100. A plurality of ultrasonic sensors202and a camera module201may be provided on the bottom surface of the detachable ultrasonic sensor unit200ofFIG. 9. Also, a connecting portion (e.g., a connector)204that can be connected to the mobile device100is provided on the top surface of the detachable ultrasonic sensor unit200, for example, the surface opposite to the surface on which the plurality of ultrasonic sensors202are provided. The connecting portion204is formed to be connectable to the connecting terminal of the mobile device100. For example, when the mobile device100is provided with a USB female connector, the connecting portion204of the detachable ultrasonic sensor unit200may be provided, for example, with a USB male connector.

Accordingly, when the detachable ultrasonic sensor unit200as illustrated inFIG. 9is brought into contact with the surface of the target object and then a detection wave is emitted to the target object, a three-dimensional image showing the internal structure of the target object may be obtained. The three-dimensional image obtained by the detachable ultrasonic sensor unit200may include hardness information of the internal structure of the target object.

A three-dimensional printing apparatus that can print a three-dimensional shape using the three-dimensional print data formed by a sensing device capable of detecting hardness according to an example embodiment of the present disclosure or a mobile device having the same will be described in greater detail with reference toFIGS. 11 and 12.

FIG. 11is a diagram illustrating an example three-dimensional printing apparatus that can output a three-dimensional image including hardness information obtained by a sensing device capable of detecting hardness according to an example embodiment of the present disclosure, andFIG. 12is a block diagram illustrating example the three-dimensional printing apparatus ofFIG. 11.

Referring toFIGS. 11 and 12, a three-dimensional printing apparatus300according to an example embodiment of the present disclosure may include a receiving portion310, a print controller320, a three-dimensional (3D) print data analyzing portion330, a material mixing portion340, a print head350, and a print head drive portion360.

The receiving portion (or receiver)310may include various receiving circuitry configured to receive the three-dimensional print data including hardness information and color information from the sensing device capable of detecting hardness10and40or the mobile device100as described above. Also, the receiving portion310may be configured to receive the three-dimensional print data including the hardness information and color information from a cloud or a Web hard disk.

The print controller320may include various processing circuitry configured to control the receiving portion310to receive the three-dimensional print data from an external device such as the sensing device capable of detecting hardness10or the mobile device100. Further, the print controller320may control the three-dimensional print data analyzing portion330, the print head350, and the print head drive portion360to print an object corresponding to the received three-dimensional print data in a three-dimensional shape.

The three-dimensional print data analyzing portion330may include various circuitry and/or program module(s) that analyzes the three-dimensional print data received from the receiving portion310, determines the hardness and color of the object to be printed, and sends the hardness and color information to the material mixing portion340. Further, the three-dimensional print data analyzing portion330analyzes the three-dimensional print data to be printed to determine a movement path of the print head350, and sends the determined path to the print head drive portion360through the print controller320.

The material mixing portion340may include a mixer configured to form a material to be used for printing in accordance with the hardness and color information of the target object sent from the three-dimensional print data analyzing portion330. For example, the material mixing portion340may include a material selecting portion341, a color selecting portion343, and a mixing portion345.

The material selecting portion341may include various elements, such as, for example, a plurality of material cartridges342accommodating materials having different hardness, select a material cartridge342filled with a material having a hardness corresponding to the analysis result of the three-dimensional print data analyzing portion330among the plurality of material cartridges342, and supply the material of the material cartridge342to the mixing portion345. If there is no material cartridge342in which a material corresponding to the hardness of the object to be printed is stored in the plurality of material cartridges342, at least one of the plurality of material cartridges342may be replaced with a material cartridge342filled with a material having a required hardness. As the material, FDM thermoplastic resin such as ABS plus, ABSi, ABS-M30, ABS-M30i, ABS-ESDI, FDM Nylon 12, PC-ABS, PC-ISO, PPSF/PPSU, ULTEM9085, etc., or PolyJet photo-curable resin such as digital material, digital ABS, high temperature resistant resin, transparent resin, hard opaque resin, polypropylene-like resin, rubber-like resin, etc. may be used.

The color selecting portion343may include various elements formed to supply a pigment having a color corresponding to the analysis result of the three-dimensional print data analyzing portion330. The color selecting portion343may include a plurality of pigment cartridges for receiving pigments of different colors. The color selecting portion343selects a pigment cartridge filled with a pigment having a color corresponding to the analysis result of the three-dimensional print data analyzing portion330in the plurality of pigment cartridges, and supplies the pigment of the pigment cartridge to the mixing portion345. If there is no pigment cartridge in which a pigment corresponding to the color of the object to be printed is stored in the plurality of pigment cartridges, at least one of the plurality of pigment cartridges may be replaced with a pigment cartridge filled with a pigment having a required color.

As another example, as illustrated inFIG. 11, the color selecting portion343may be formed to include four color cartridges including yellow, green, cyan, and black pigments and a color mixing portion347that mixes pigments supplied from the yellow, green, cyan, and black color cartridges to form a pigment of required color. The color mixing portion347supplies a pigment having a color corresponding to the three-dimensional print data to the mixing portion345.

The mixing portion345may be configured to mix the material supplied from the material selecting portion341and the pigment supplied from the color selecting portion343to form a material having color and hardness corresponding to the analysis result of the three-dimensional print data analyzing portion330.

The material mixing portion340supplies the material having color and hardness corresponding to the three-dimensional print data formed in the mixing portion345to the print head350.

The print head drive portion360may include various circuitry and/or program module(s), such as, for example, a print head driver that moves the print head350in accordance with the movement path of the print head350sent from the three-dimensional print data analyzing portion330. For example, the print head drive portion360may be configured to linearly move the print head350in the X, Y, and Z axis directions. Also, the print head drive portion360may be configured to rotate the print head350in at least one direction. The print head350may be configured to rotate around three axes. The print head drive portion360may be configured as a rectangular coordinate robot that is formed to be linearly movable in X-axis, Y-axis, and Z-axis directions. The print head drive portion360may use a print head drive portion used in a conventional three-dimensional printing apparatus; therefore, a detailed description thereof is omitted.

The print head350may be configured to form a shape corresponding to the received three-dimensional print data using the material supplied from the material mixing portion340. For example, the print head350may be formed to be connected the above-described material mixing portion340and to discharge the material supplied from the material mixing portion340. Accordingly, when the print head350discharges the material supplied from the material mixing portion340while being moved by the print head drive portion360in a predetermined path, a shape corresponding to the three-dimensional print data is formed. The print head350may be controlled to be turned on or off by the print controller320. When the print controller320turns on the print head350, the material supplied from the material mixing portion340is discharged, and when the print head350is turned off, the discharging of the material is cut off.

The above-described three-dimensional printing apparatus300may print an object in a three-dimensional shape. For example, when a half of an apple1is photographed by the sensing device capable of detecting hardness10as illustrated inFIG. 1, and the three-dimensional print data of the half of the apple1is formed and sent to the three-dimensional printing apparatus300, the three-dimensional printing apparatus300as illustrated inFIG. 11may print a half of an apple401having a shape corresponding to the half of the apple1ofFIG. 1.FIG. 13illustrates an example of the half of the apple401printed by the three-dimensional printing apparatus300according to an example embodiment of the present disclosure.

Referring toFIG. 13, the half of the apple401printed by the three-dimensional printing apparatus300according to an example embodiment of the present disclosure includes peel403, pulp404, and seeds405in the same or similar way as the real apple1, and the hardness of the peel403, the pulp404, and the seeds405are different. Also, when the half of the apple1is photographed by the sensing device capable of detecting hardness40including the camera module45as illustrated inFIGS. 4 and 5, the color of the peel403, the pulp404, and the seeds405of the apple401may be printed in the same or similar color as the peel3, the pulp4, and the seeds5of the real apple1(seeFIG. 10).

In the case where terahertz wave sensors or millimeter wave sensors are used as the plurality of sensors of the sensor array and the three-dimensional print data is formed by photographing an uncut apple using the frequency sweep, the three-dimensional printing apparatus300according to an example embodiment of the present disclosure can print an apple400having the same shape as a real apple as illustrated inFIG. 14. Accordingly, when the apple400formed by the three-dimensional printing apparatus300according to an example embodiment of the present disclosure as illustrated inFIG. 14is cut in half, the same structure as that of a real apple having the peel403, the pulp404, and the seeds405may be confirmed as illustrated inFIG. 13.

By using a sensing device capable of detecting hardness according to an example embodiment of the present disclosure, three-dimensional print data including hardness information or three-dimensional print data including hardness information and color information may be formed.

With a mobile device according to an example embodiment of the present disclosure, three-dimensional print data including hardness information and color information may be formed using a sensing device capable of detecting hardness and a camera module.

Also, with a three-dimensional printing apparatus according to an example embodiment of the present disclosure, an object having hardness and color similar to those of a real object may be printed using the three-dimensional print data formed by a sensing device capable of detecting hardness and a mobile device as described above.

While the various example embodiments of the present disclosure have been described, additional variations and modifications of the embodiments may occur to those skilled in the art once they learn the technical features of the present disclosure. Therefore, it is intended that the appended claims shall be understood to include both the above embodiments and all such variations and modifications that fall within the spirit and scope of the disclosure.