Patent Description:
Three-dimensional scanning technologies have been used in various fields of industry, such as measurement, testing, reverse engineering, content generation, CAD/CAM for dental treatment, and medical equipment. With development in computing technology, an improvement in scanning performance has further increased the practical use of scanners. Particularly, the three-dimensional scanning technology is employed to provide dental treatment for a patient in the field of dental treatment, and thus, high precision is required of a three model acquired through three-dimensional scanning.

In a case where a three-dimensional scanner scans a target object (for example, a model that is cast from plaster of paris to duplicate a patient's oral cavity), a contour line of the target object may include a horizontal portion and a vertical portion. A sample target object P100 illustrated in <FIG> may include a dental portion P110 and a gingival portion P120. In addition, in the sample target object P100, a gingival lines H1 and H2 on which the dental portion P110 and the gingival portion P120 come into contact with each other, and a dental edge line H3 corresponding to an end portion of the dental portion P110 may have the shape of horizontal contour lines H, and inter-tooth lines (a line between two different teeth) may have the shape of vertical contour lines V, V1, V2, V3, V4, and V5.

The three-dimensional scanner may emit light, forming a predetermined shape, to the target object when scanning the target object to generate a three-dimensional model three-dimensionally representing the target object. The light may form a specific pattern in order to acquire depth information for three-dimensionally representing the target object as a three-dimensional model. As an example, the pattern may be a stripe pattern.

As illustrated in <FIG>, in a case where the target object is scanned using light in a horizontal stripe pattern, a horizontal contour line of the target object that corresponds to a stripe-extending direction of the horizontal stripe pattern may be insufficiently scanned. Thus, a horizontal non-scan region HB, as empty space, may occur in a portion in the horizontal direction of the three-dimensional model (the three-dimensional model may correspond to an initial three-dimensional model <NUM> described below). As another example, as illustrated in <FIG>, in a case where the target object is scanned using light in a vertical stripe pattern, a vertical contour line of the target object that corresponds to a stripe-extending direction of the vertical stripe pattern may be insufficiently scanned. Thus, a vertical non-scan region VB, as empty space, may occur in a portion in the vertical direction of the three-dimensional model. The three-dimensional model in which the non-scan region occurs has a low completeness level. Thus, there occurs a problem in that the presence of the non-scan region makes it difficult to precisely analyze a patient's dental cavity and that an orthodontic treatment object manufactured for providing a dental treatment to the patient has a low precision level.

Particularly, this problem may frequently occur in a specific type of three-dimensional scanner (for example, a table-type three-dimensional scanner). As an example, in a case where the target object is placed on the three-dimensional scanner and where a limited number of scan shots are acquired from a predetermined angle and in a predetermined direction, there occurs a problem in that the non-scan region occurs in a specific scan shot. In the specific type of three-dimensional scanner, the direction in which the target object is scanned and the angle from which the target object is scanned may be preset. Therefore, although a scanning process is repeatedly performed, the non-scan region may not be compensated for. That is, there is an increasing need to set a new direction and angle for the target object in order to compensate for the non-scan region.

Therefore, in order to solve the above-mentioned problems, research has been conducted on a method of acquiring a three-dimensional model in which a non-scan region is minimized.

Furthermore, <CIT> discloses a noncontact optical three-dimensional measuring device that includes a first projector, a first camera, a second projector, and a second camera; a processor electrically coupled to the first projector, the first camera, the second projector, and the second camera; and computer readable media which, when executed by the processor, causes the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time and determines three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance and determines three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance.

<CIT> discloses a method for intraoral scanning, including introducing an intraoral scanner (IOS) head into an oral cavity, acquiring an image of a field of view (FOV), processing the acquired FOV image and adjusting at least one image acquisition parameter based on said processing, and an intraoral scanner (IOS) including an IOS head including at least one imager imaging a field of view (FOV), at least on light emitter that illuminates said FOV and circuitry that controls said imager and/or said light emitter.

An object of the present invention, which is made to solve the above-mentioned problems, is to provide a method of compensating data, the method being capable of acquiring a compensated three-dimensional model by acquiring a compensated scan shot and then compensating an initial three-dimensional model including a non-scan region.

Another object of the present invention is to provide a system for compensating data, the system for detecting and compensating for a non-scan region using the method of compensating data, as mentioned above.

The present disclosure is not limited to the above-mentioned object, and, from the following description, an object not mentioned above would be understandable to a person of ordinary skill in the art.

The invention is defined by a method of compensating data and a system for compensating data, the system for performing the method of compensating data according to any one of claims <NUM> to <NUM> according to the independent claims.

In order to accomplish the above-mentioned objects, according to an aspect of the present disclosure, there is provided a method of compensating data, the method including: acquiring, by a three-dimensional scanner, a plurality of initial scan shots by scanning a target object onto which a predetermined pattern is projected; detecting, by a control unit, a non-scan region on the basis of the plurality of initial scan shots; and acquiring, by the three-dimensional scanner, at least one compensated scan shot by additionally scanning at least one portion of the target object when the non-scan region is detected by the control unit.

The method may further include a different step. Accordingly, the non-scan region in the compensated three-dimensional model representing the target object can be minimized.

According to another aspect of the present disclosure, there is provided a system for compensating data, the system for performing the method of compensating data, the system including: a three-dimensional scanner including an optical projector and at least one camera arranged adjacent to one side of the optical projector and configured to acquire a plurality of initial scan shots and at least one compensated scan shot by the at least one camera scanning a target object onto which a predetermined pattern is projected by the optical projector; a control unit connected to the three-dimensional scanner and configured to adjust a direction and an angle of the target object with respect to the at least one camera by controlling the three-dimensional scanner; and a display unit configured to display a three-dimensional model of the target object generated on the basis of the plurality of initial scan shots and at least one compensated scan shot that are acquired through the three-dimensional scanner.

The system may further include a constituent element. Accordingly, the compensated three-dimensional model representing the target object can be easily acquired.

The user's use of the method of compensating data and the system for compensating data using the method according to the present disclosure makes it possible to acquire a compensated three-dimensional model resulting from compensating through a compensated scan shot acquired by scanning a non-scan region, occurring due to projecting of a specific pattern, in a pattern different from the specific pattern. Accordingly, the non-scan region in the compensated three-dimensional model is minimized. Thus, the advantage of improving a completion level of the compensated three-dimensional model can be achieved.

In addition, in a case where the non-scan region is detected in a plurality of initial scan shots before the initial three-dimensional model is acquired, the three-dimensional model is not redundantly generated. Thus, the advantage of saving a system source necessary to, and the time taken, to acquire an initial three-dimensional model can be achieved.

In addition, with various arrangements of the optical projector and the camera, a plurality of patterns may be projected onto a target object. Accordingly, the compensated three-dimensional model in which the non-scan region is minimized can be acquired, and the user can design an orthodontic treatment object using the precisely compensated three-dimensional model. Thus, the advantage of providing an optimal treatment to a patient can be achieved.

Embodiments of the present disclosure will be described in detail below with reference to the drawings. It should be noted that the same constituent elements, although illustrated in different drawings, are given the same reference character, if possible, throughout the drawings. In addition, specific descriptions of a well-known configuration and function associated with the embodiments of the present disclosure will be omitted when determined as making the embodiments of the present disclosure difficult to understand.

The terms first, second, and so forth, the letters A, B, and so forth, and the letters in parentheses (a), (b), and so forth may be used to describe constituent elements according to each of the embodiments of the present disclosure. These terms and letters are used only to distinguish among the same constituent elements, and do not impose any limitation on the natures of the same constituent elements or the order thereof. In addition, unless otherwise defined, all terms, including technical or scientific terms, which are used in the present specification, have the same meanings as are normally understood by a person of ordinary skill in the art to which the present disclosure pertains. The term as defined in a dictionary in general use should be construed as having the same meaning as interpreted in context in the relevant technology, and, unless otherwise explicitly defined in the present specification, is not construed as having an ideal meaning or an excessively-formal meaning.

A method of compensating data according to a first embodiment of the present disclosure will be described in detail below.

<FIG> is a flowchart illustrating the method of compensating data according to at least one embodiment among various embodiments of the present disclosure.

With reference to <FIG>, the method of compensating data according to the first embodiment of the present disclosure may include Step S110 of performing initial scanning, Step S120 of detecting a non-scan region, Step S130 of performing compensative scanning, and Step S140 of generating a compensated three-dimensional model. In Step S110 of performing initial scanning, a three-dimensional scanner <NUM> may acquire a plurality of initial scan shots. In Step S120 of detecting a non-scan region, a control unit <NUM> may detect a non-scan region in an initial three-dimensional model generated from a plurality of initial scan shots or in each of the plurality of initial scan shots. In Step S130 of performing compensative scanning, the control unit <NUM> may acquire a compensated scan shot for minimizing the non-scan region, using a three-dimensional scanner <NUM>. In Step S140 of generating a compensated three-dimensional model, the control unit <NUM> may generate a compensated three-dimensional model in which the non-scan region is minimized, by merging the plurality of initial scan shots and the compensated scan shot together.

Each step of the method of compensating data according to the present disclosure will be described in more detail below.

<FIG> is a view that is referred to for description of a state where a first pattern <NUM> is projected onto a target object O. <FIG> is a view that is referred to for description of a state where a second pattern <NUM> is projected onto the target object O.

With reference to <FIG>, Step S110 of performing initial scanning in the method of compensating data according to the present disclosure, the three-dimensional scanner <NUM> may acquire the plurality of initial scan shots by scanning the target object O onto which a predetermined pattern <NUM> is projected. In order to acquire a three-dimensional model three-dimensionally expressing the target object O, the three-dimensional scanner <NUM> may emit light, forming a predetermined shape, to a surface of the target object O. As an example, the light that the three-dimensional scanner <NUM> emits to the surface of the target object O may be pattern light forming the predetermined pattern <NUM>. The predetermined pattern <NUM> may be a stripe pattern having a predetermined stripe-extending direction. Examples of the predetermined pattern <NUM> may include the first pattern <NUM>. The first pattern <NUM> may have a shape in which a dark portion <NUM> and a bright portion <NUM> appear alternately. For example, the first pattern <NUM> may be a horizontal stripe pattern in which the dark portion <NUM> and the bright portion <NUM> extend in the horizontal direction and the dark portion <NUM> and the bright portion <NUM> are alternately arranged in the vertical direction. Examples of the predetermined pattern <NUM> may include the second pattern <NUM>. The second pattern <NUM> may have a shape in which a dark portion <NUM> and a bright portion <NUM> appear alternately. For example, the second pattern <NUM> may be a vertical stripe pattern in which the dark portion <NUM> and the bright portion <NUM> extend in the vertical direction and the dark portion <NUM> and the bright portion <NUM> are alternately arranged in the horizontal direction.

Patterns <NUM> including the horizontal stripe pattern and the vertical stripe pattern may be generated by an optical projector <NUM> of the three-dimensional scanner <NUM>. As an example, the optical projector <NUM> may include a light source that generates light and a pattern generation unit that is arranged between the light source and the target object. The pattern generation unit may be a pattern generation element that includes a pattern mask and a digital micromirror device (DMD). Accordingly, the light that is generated by the light passes through the pattern generation unit, and the pattern <NUM> corresponding to a shape of the pattern generation unit may be generated. The generated pattern <NUM> is projected onto the surface of the target object O. At this time, a portion of the surface of the target object O at which the light transmitted by the pattern generation unit arrives appears bright (the bright portion), and a portion of the surface of the target object O at which the light, not transmitted by the pattern generation unit, does not arrive appears dark (the dark portion).

The first pattern <NUM> and the second pattern <NUM> are described above as the vertical stripe pattern and the vertical stripe patters, respectively, but the present disclosure is not necessarily limited to these exemplary patterns. Two or more different patterns <NUM> that possibly minimize the non-scan region may be projected onto the surface of the target object O. Depth information of the target object O may be acquired through the pattern <NUM> projected onto the surface of the target object O, and a three-dimensional model (including an initial three-dimensional model and a compensated three-dimensional model) three-dimensionally representing the target object O may be acquired.

<FIG> is a view that is referred to for description of a relationship among a plurality of initial scan shots <NUM> for generating an initial three-dimensional model <NUM>.

With reference to <FIG>, in Step S110 of performing initial scanning, the three-dimensional scanner <NUM> may acquire the plurality of initial scan shots <NUM> by rotating and tiling the target object O and then scanning the target object O from various angles. As an example, the three-dimensional scanner <NUM> may acquire a first initial scan shot <NUM> by scanning a first portion of the target object O from a first angle A1 and may acquire a second initial scan shot <NUM> by scanning a second portion of the target object O from a second angle A2. In addition, the three-dimensional scanner <NUM> may acquire a third initial scan shot <NUM> by scanning a third portion of the target object O from a third angle A3 and may acquire a fourth initial scan shot <NUM> by scanning a fourth portion of the target object O from a fourth angle A4. At this time, at least one of portions of the target object O that are represented by the plurality of initial scan shots <NUM>, respectively, may be different from the others, and at least one of angles with respect to the target object O may be different from the others. That is, the plurality of initial scan shots <NUM> may be acquired by scanning the target object O using different portions of the target object O and/or different angles with respect to the target object O. The initial three-dimensional model <NUM> may be generated by aligning and merging the plurality of initial scan shots <NUM>. The initial three-dimensional model <NUM> may three-dimensionally represent the target object O, and the initial three-dimensional model <NUM> may include a dental model <NUM> and a gingival model <NUM>.

The generated initial three-dimensional model <NUM> may include a non-scan region u. As illustrated in <FIG>, with the second initial scan shot <NUM>, the initial three-dimensional model <NUM> may include a horizontal non-scan region HB, and, with the fourth initial scan shot <NUM>, the initial three-dimensional model <NUM> may include the vertical non-scan region VB. As an example, the second initial scan shot <NUM> may be acquired by the three-dimensional scanner <NUM> by projecting the first pattern <NUM> onto the target object O, and the fourth initial scan shot <NUM> may be acquired by the three-dimensional scanner <NUM> by projecting the second pattern <NUM> onto the target object O. That is, the horizontal non-scan region HB corresponding to the second initial scan shot <NUM> may be formed along a stripe-extending direction of the horizontal stripe pattern, and the vertical non-scan region VB corresponding to the fourth initial scan shot <NUM> may be formed along a stripe-extending direction of the vertical stripe pattern.

Therefore, there is a need to compensate for the horizontal non-scan region HB of the initial three-dimensional model <NUM> corresponding to the second initial scan shot <NUM> and for the vertical non-scan region VB of the initial three-dimensional model <NUM> according to the fourth initial scan shot <NUM>.

After Step S110 of performing initial scanning is performed, Step S120 of detecting a non-scan region may be performed. In Step S120 of detecting a non-scan region, the control unit <NUM> may detect the non-scan region u on the basis of the plurality of initial scan shots <NUM>. As an example, a non-scan region detection unit <NUM> of the control unit <NUM> may detect the non-scan region u in the initial three-dimensional model <NUM> generated by merging the plurality of initial scan shots <NUM>. When the non-scan region u of the initial three-dimensional model <NUM> is detected, at least one compensated scan shot that is an additional scan shot for compensating for the non-scan region u may be acquired. Accordingly, a three-dimensional modeling unit <NUM> of the control unit <NUM> may additionally merge the compensated scan shot to the initial three-dimensional model <NUM>. Thus, the compensated three-dimensional model may be generated and the non-scan region u of the compensated three-dimensional model may be minimized.

As another example, the non-scan region u may be detected in each of the plurality of initial scan shots <NUM>. That is, the non-scan region u may be detected before the initial three-dimensional model <NUM> is generated. When the non-scan region u is detected in the plurality of initial scan shots <NUM>, under the control of a three-dimensional scanner controller <NUM> of the control unit <NUM>, the three-dimensional scanner <NUM> may acquire at least one compensated scan shot that is an additional scan shot for compensating for the non-scan region u. Accordingly, the compensated scan shot may be merged to the plurality of initial scan shots <NUM>. Thus, the compensated three-dimensional model may be generated, and the non-scan region u of the compensated three-dimensional model may be minimized.

Step S130 of performing compensative scanning will be described below.

<FIG> is a flowchart illustrating sub-steps of Step S130 of performing compensative scanning in the method of compensating data according to the first embodiment of the present disclosure.

With reference to <FIG>, <FIG>, in Step S130 of performing compensative scanning in the method of compensating data according to the present disclosure, when the non-scan region u is detected, the control unit <NUM> may acquire at least one compensated scan shot by additionally scanning at least one portion of the target object O using the three-dimensional scanner <NUM>. More specifically, Step S130 of performing compensative scanning may include Step S131 of determining an initial scan shot subject to compensation. In Step S131 of determining an initial scan shot subject to compensation, the non-scan region detection unit <NUM> of the control unit <NUM> may determine the initial scan shot subject to compensation that includes an image of a compensation recommendation portion corresponding to the non-scan region u. When the initial scan shot subject to compensation is determined, Step S132 of setting a target object may be performed. In Step S132 of setting a target object, the target object O may be set in the same direction and from the same angle as when under the control of the three-dimensional scanner controller <NUM> of the control unit <NUM>, the three-dimensional scanner <NUM> acquires the initial scan shot subject to compensation. As an example, in a case where the initial scan shot subject to compensation is a second scan shot <NUM>, the three-dimensional scanner <NUM> may set the target object O in such a manner as to scan the second portion of the target object O from the second angle A2. As another example, in a case where the initial scan shot subject to compensation is a fourth scan shot <NUM>, the three-dimensional scanner <NUM> may set the target object O in such a manner as to scan the fourth portion of the target object O from the fourth angle A4.

As still another example, in a case where the initial scan shot subject to compensation is the second scan shot <NUM>, the three-dimensional scanner <NUM> may set the target object O in such a manner as to scan the second portion of the target object O from a new angle different from the second angle A2. In this case, although a pattern that is the same as the initial scan shot subject to compensation is projected onto the target object O, the compensated scan shot through which the non-scan region u is compensated for may be acquired.

Step S130 of performing compensative scanning may further include Step S133 of acquiring a scan shot associated with a different pattern. In Step S133 of acquiring a scan shot associated with a different pattern, under the control of the three-dimensional scanner controller <NUM> of the control unit <NUM>, the three-dimensional scanner <NUM> may acquire the compensated scan shot by projecting onto the target object O a pattern different from the pattern projected when acquiring the initial scan shot subject to compensation that includes the non-scan region u. As an example, in a case where the initial scan shot subject to compensation is acquired by scanning the target object O onto which the first pattern <NUM> is projected, the compensated scan shot may be acquired by scanning the target object O onto which the second pattern <NUM> different from the first pattern <NUM> is projected. Accordingly, the non-scan region u occurring due to the first pattern <NUM> may be compensated for through the compensated scan shot acquired by scanning the target object O onto which the second pattern <NUM> is projected.

When the compensated scan shot is acquired, Step S140 of generating a compensated three-dimensional model may be performed. As an example, in Step S140 of generating a compensated three-dimensional model, an alignment unit <NUM> and the three-dimensional modeling unit <NUM> of the control unit <NUM> may additionally merge the compensated scan shot to the initial three-dimensional model <NUM> and thus may generate the compensated three-dimensional model. As another example, in a case where the non-scan region u is detected in the plurality of initial scan shots <NUM>, the compensated three-dimensional model may be generated by merging the compensated scan shot to the plurality of initial scan shots <NUM>. The non-scan region u may be minimized in the compensated three-dimensional model resulting from the compensation through the compensated scan shot. A user can advantageously provide an optimal dental treatment to a patient using the compensated three-dimensional model precisely representing the target object O.

A process of acquiring the plurality of initial scan shots <NUM>, a process of acquiring the compensated scan shot, and a process of generating the compensated three-dimensional model will be described below with reference to various practical examples.

<FIG> is a diagram that is referred to for description of a process of generating a compensated three-dimensional model <NUM> in a method of compensating data according to a second embodiment of the present disclosure. <FIG> is a diagram that is referred to for description of a process of generating a compensated three-dimensional model <NUM> in a method of compensating data according to a third embodiment of the present disclosure. <FIG> is a diagram that is referred to for description of a process of generating a compensated three-dimensional model <NUM> in a method of compensating data according to a fourth embodiment of the present disclosure. <FIG> is a diagram that is referred to for description of a process of generating a compensated three-dimensional model <NUM> in a method of compensating data according to a fifth embodiment of the present disclosure. <FIG> is a diagram that is referred to for description of a process of generating a compensated three-dimensional model <NUM> in a method of compensating data according to a sixth embodiment of the present disclosure.

The process of generating the compensated three-dimensional model <NUM> in the method of compensating data according to the second embodiment will be described with reference to <FIG>. First, in Step S110 of performing initial scanning, the three-dimensional scanner <NUM> may acquire a total of n (n is an integer that is equal to or greater than <NUM>) initial scan shots <NUM>. As an example, the plurality of initial scan shots <NUM> that are acquired in Step S110 of performing initial scanning may be acquired in a state where the first pattern <NUM> is projected onto the target object O by the optical projector <NUM> of the three-dimensional scanner <NUM>. More specifically, in the state where the first pattern <NUM> is projected onto the target object O, the first initial scan shot <NUM> is acquired by scanning the first portion of the target object O from the first angle. Then, the second initial scan shot <NUM> is acquired by scanning the second portion of the target object O from the second angle. Then, the third initial scan shot <NUM> is acquired by scanning the third portion of the target object O from the third angle. Then, the fourth initial scan shot <NUM> is acquired by scanning the fourth portion of the target object O from the fourth angle. In this manner, the n-th initial scan shot <NUM> is acquired by scanning the n-th portion of the target object O from the n-th angle.

When the n initial scan shots <NUM> are acquired, the alignment unit <NUM> and the three-dimensional modeling unit <NUM> of the control unit <NUM> may align and merge the initial scan shots <NUM> and thus may generate the initial three-dimensional model <NUM>. As an example, the initial three-dimensional model <NUM> may be generated on the basis of the initial scan shots <NUM> acquired in a state where the first pattern <NUM> is projected onto all portions of the target object O.

Subsequently, the non-scan region u may be detected in the initial three-dimensional model <NUM>. In addition, if the non-scan region u is detected in the initial three-dimensional model <NUM>, the initial scan shot subject to compensation in which the non-scan region u is present may be determined. For convenience in description, it is assumed that the first initial scan shot <NUM> is determined as the initial scan shot subject to compensation. Under the control of the three-dimensional scanner controller <NUM> of the control unit <NUM>, in order to acquire a compensated scan shot <NUM>, the three-dimensional scanner <NUM> may scan the first portion of the target object O from the same first angle as when the first initial scan shot <NUM> is acquired. When acquiring the compensated scan shot <NUM>, the second pattern <NUM> different from the first pattern <NUM> projected when acquiring the first initial scan shot <NUM> may be projected onto the target object O. That is, at least one compensated scan shot <NUM> that is acquired in Step S130 of performing compensative scanning may be acquired by projecting the second pattern <NUM> different from the first pattern <NUM>.

When the compensated scan shot <NUM> is acquired, the three-dimensional modeling unit <NUM> of the control unit <NUM> may additionally merge the compensated scan shot to the initial three-dimensional model <NUM> and thus may generate the compensated three-dimensional model <NUM>. The non-scan region u of the initial three-dimensional model <NUM> generated with the first pattern <NUM> is minimized with the compensated scan shot <NUM>. Therefore, a completion level of the compensated three-dimensional model <NUM> can be improved. Accordingly, the user can design an orthodontic treatment object on the basis of the precisely compensated three-dimensional model <NUM> and can provide an optimal treatment to the patient.

The process of generating the compensated three-dimensional model <NUM> in the method of compensating data according to the third embodiment will be described with reference to <FIG>. The plurality of initial scan shots <NUM> that are acquired in Step S110 of performing initial scanning may be acquired in a state where the first pattern <NUM> and the second pattern <NUM> are projected onto the target object O. As an example, the three-dimensional scanner <NUM> may acquire at least one of the plurality of initial scan shots <NUM> in the state where the first pattern <NUM> is projected onto the target object O and may acquire the others of the plurality of initial scan shots <NUM> in a state where the second pattern <NUM> having a different shape than the first pattern <NUM> is projected onto the target object O. As an example, the first initial scan shot <NUM> may be acquired by scanning the first portion of the target object O from the first angle in the state where the first pattern <NUM> is projected onto the target object O, and the second initial scan shot <NUM> may be acquired by scanning the second portion of the target object O from the second angle in the state where the first pattern <NUM> is projected onto the target object O. Moreover, the third initial scan shot <NUM> may be acquired by scanning the third portion of the target object O from the third angle in the state where the first pattern <NUM> is projected onto the target object O. Then, the fourth initial scan shot <NUM> may be acquired by scanning the fourth portion of the target object O from the fourth angle in a state where the second pattern <NUM> is projected onto the target object O. In this manner, the n-th initial scan shot <NUM> may be acquired by scanning the n-th portions of the target object O from the n-th angle in the state where the second pattern <NUM> is projected onto the target object O.

When the initial three-dimensional model <NUM> is generated on the basis of the initial scan shots <NUM>, the non-scan region detection unit <NUM> may detect the non-scan region u of the initial three-dimensional model <NUM> and may determine the initial scan shot subject to compensation that includes the image of the compensation recommendation portion corresponding to the non-scan region u. As an example, when it is assumed that the initial scan shot subject to compensation is the first initial scan shot <NUM>, under the control of the three-dimensional scanner controller <NUM> of the control unit <NUM>, in order to acquire the compensated scan shot <NUM>, the three-dimensional scanner <NUM> may scan the first portion of the target object O from the same first angle as when the first initial scan shot <NUM> is acquired. When acquiring the compensated scan shot <NUM>, the second pattern <NUM> different from the first pattern <NUM> projected when acquiring the first initial scan shot <NUM> may be projected onto the target object O. That is, at least one compensated scan shot <NUM> that is acquired in Step S130 of performing compensative scanning may be acquired by projecting the second pattern <NUM> different from the first pattern <NUM>.

As another example, when it is assumed that the initial scan shot subject to compensation is the fourth initial scan shot <NUM>, under the control of the three-dimensional scanner controller <NUM> of the control unit <NUM>, in order to acquire the compensated scan shot <NUM>, the three-dimensional scanner <NUM> may scan the fourth portion of the target object O from the same fourth angle as when the fourth initial scan shot <NUM> is acquired. When acquiring the compensated scan shot <NUM>, the first pattern <NUM> different from the second pattern <NUM> projected when acquiring the fourth initial scan shot <NUM> may be projected onto the target object O. That is, at least one compensated scan shot <NUM> that is acquired in Step S130 of performing compensative scanning may be acquired by projecting the first pattern <NUM> different from the second pattern <NUM>.

When the compensated scan shot <NUM> is acquired, the compensated scan shot may be additionally merged to the initial three-dimensional model <NUM>, and thus the compensated three-dimensional model <NUM> may be generated. The non-scan region u of the initial three-dimensional model <NUM> generated with the first pattern <NUM> may be minimized with the compensated scan shot <NUM> acquired by scanning the target object O onto which the second pattern <NUM> is projected. The non-scan region u of the initial three-dimensional model <NUM> generated with the second pattern <NUM> may be minimized with the compensated scan shot <NUM> acquired by scanning the target object O onto which the first pattern <NUM> is projected. Accordingly, the completion level of the compensated three-dimensional model <NUM> can be improved. The user can design the orthodontic treatment object on the basis of the precisely compensated three-dimensional model <NUM> and can provide the optimal treatment to the patient.

The process of generating the compensated three-dimensional model <NUM> in the method of compensating data according to a not claimed fourth embodiment is described with reference to <FIG>. Unlike in the above-described method of compensating data according to the second embodiment and the above-described method of compensating data according to the third embodiment, in the method of compensating data according to the fourth embodiment, the three-dimensional scanner <NUM> may acquire 2n initial scan shots <NUM> in Step S110 of performing initial scanning. As an example, the first initial scan shot <NUM> may be acquired by scanning the first portion of the target object O onto which the first pattern <NUM> is projected, from the first angle, and the second initial scan shot <NUM> may be acquired by scanning the first portion of the target object O onto which the second pattern <NUM> is projected, from the first angle. That is, the first initial scan shot <NUM> and the second initial scan shot <NUM> may be acquired by scanning the same portion of the target object O from the same angle, but projecting different patterns <NUM> onto the same portion of the target object O. In the same manner, the third initial scan shot <NUM> may be acquired by scanning the second portion of the target object O onto which the first pattern <NUM> is projected, from the second angle, and the fourth initial scan shot <NUM> may be acquired by scanning the second portion of the target object O onto which the second pattern <NUM> is projected, from the second angle.

In this manner, the first initial scan shot <NUM> and the second initial scan shot <NUM> may constitute a pair, and the third initial scan shot <NUM> and the fourth initial scan shot <NUM> may constitute a pair. In the same manner, an (n+<NUM>)-th initial scan shot <NUM> and an (n+<NUM>)-th initial scan shot <NUM> may constitute a pair, and an (n+<NUM>)-th initial scan shot <NUM> and an (n+<NUM>)-th initial scan shot <NUM> may constitute a pair. Accordingly, the 2n initial scan shots <NUM> may be acquired by scanning n portions of the target object O onto each of which the first pattern <NUM> and the second pattern <NUM> are projected. In the present embodiment, the alignment unit <NUM> and the three-dimensional modeling unit <NUM> of the control unit <NUM> may align and merge the initial scan shots <NUM> and thus may generate the compensated three-dimensional model <NUM>. Step S120 of detecting a non-scan region and Step S130 of performing compensative scanning may be omitted.

The process of generating the compensated three-dimensional model <NUM> in the method of compensating data according to a not claimed fifth embodiment will be described with reference to <FIG>. Like in the above-described method of compensating data according to the fourth embodiment, in the method of compensating data according to the fifth embodiment, the three-dimensional scanner <NUM> may acquire the 2n initial scan shots <NUM> in Step S110 of performing initial scanning. As an example, the first to n-th initial scan shots, for example, the initial scan shots <NUM>, <NUM>, <NUM>, <NUM>, and so forth up to <NUM>, may be acquired by scanning the n portions of the target object O onto which the first pattern <NUM> is projected, from the n angles, respectively. (n+<NUM>)-th to 2n-th initial scan shots, for example, the initial scan shots <NUM>, <NUM>, <NUM>, <NUM>, and so forth up to <NUM>, may be acquired by scanning the n portions of the target object O onto which the second pattern <NUM> is projected, from the n angles, respectively. That is, the first initial scan shot <NUM> and the (n+<NUM>)-th initial scan shot <NUM> may be acquired by scanning the same portions of the target object O onto which different pattern <NUM> are projected, from the same angles, respectively. In the same manner, the second initial scan shot <NUM> may be acquired by scanning the second portion of the target object O onto which the first pattern <NUM> is projected, from the second angle, and the (n+<NUM>)-th initial scan shot <NUM> may be acquired by scanning the second portion of the target object O onto which the second pattern <NUM> is projected, from the second angle.

In this manner, the first initial scan shot <NUM> and the (n+<NUM>)-th initial scan shot <NUM> may constitute a pair, and the second initial scan shot <NUM> and the (n+<NUM>)-th initial scan shot <NUM> may constitute a pair. In the same manner, the third initial scan shot <NUM> and the (n+<NUM>)-th initial scan shot <NUM> may constitute a pair, and the fourth initial scan shot <NUM> and the (n+<NUM>)-th initial scan shot <NUM> may constitute a pair. Accordingly, the 2n initial scan shots <NUM> may be acquired by scanning the n portions of the target object O onto each of which the first pattern <NUM> and the second pattern <NUM> are projected. In the present embodiment, like in the above-described fourth embodiment, the alignment unit <NUM> and the three-dimensional modeling unit <NUM> of the control unit <NUM> may align and merge the initial scan shots <NUM> and thus may generate the compensated three-dimensional model <NUM>. Step S120 of detecting a non-scan region and Step S130 of performing compensative scanning may be omitted.

The process of generating the compensated three-dimensional model <NUM> in the method of compensating data according to the sixth embodiment will be described below with reference to <FIG>. Like in the method of compensating data according to the third embodiment, in the method of compensating data according to the sixth embodiment, the initial scan shots <NUM> may be acquired. As an example, at least one of the plurality of initial scan shots <NUM> may be acquired in the state where the first pattern <NUM> is projected onto the target object O, and the others of the plurality of initial scan shots <NUM> may be acquired in a state where the second pattern <NUM> having a different shape than the first pattern <NUM> is projected onto the target object O.

In the method of compensating data according to the sixth embodiment, the non-scan region u may be detected in each of the plurality of initial scan shots. As an example, when the first initial scan shot <NUM> is acquired, the non-scan region detection unit <NUM> of the control unit <NUM> may detect whether or not the non-scan region u is present in the first initial scan shot <NUM>. In addition, when the second initial scan shot <NUM> is acquired, it may be detected whether or not the non-scan region u is present in the second initial scan shot <NUM>.

As another example, in the method of compensating data according to the sixth embodiment, when the first to n-th initial scan shots, for example, the initial scan shots <NUM>, <NUM>, <NUM>, <NUM>, and so forth up to <NUM>, are acquired, the non-scan region detection unit <NUM> may detect whether or not the non-scan region u is present in the initial scan shots <NUM>.

That is, in the method of compensating data according to the sixth embodiment, the non-scan region detection unit <NUM> may detect the non-scan region u in the initial scan shots <NUM> in a state where the three-dimensional modeling unit <NUM> does not generate the initial three-dimensional model <NUM>. Therefore, the system resource and the time that are required to generate the initial three-dimensional model <NUM> can be saved.

As an example, when the initial scan shot subject to compensation that includes the image of the compensation recommendation portion corresponding to the non-scan region u is determined as the fourth initial scan shot <NUM>, in order to acquire the compensated scan shot <NUM>, under the control of the three-dimensional scanner controller <NUM>, the three-dimensional scanner <NUM> may scan the fourth portion of the target object O from the same fourth angle as when the fourth initial scan shot <NUM> is acquired. When acquiring the compensated scan shot <NUM>, the first pattern <NUM> different from the second pattern <NUM> projected when acquiring the fourth initial scan shot <NUM> may be projected onto the target object O. That is, at least one compensated scan shot <NUM> that is acquired in Step S130 of performing compensative scanning may be acquired by projecting the first pattern <NUM> different from the second pattern <NUM>.

When the compensated scan shot <NUM> is acquired, the three-dimensional modeling unit <NUM> of the control unit <NUM> may merge the plurality of initial scan shots <NUM> and the compensated scan shot <NUM> together and thus may generate the compensated three-dimensional model <NUM> representing the target object O. The non-scan region u generated with the first pattern <NUM> may be minimized with the compensated scan shot <NUM> acquired by scanning the target object O onto which the second pattern <NUM> is projected, and the non-scan region u of the initial three-dimensional model <NUM> that is generated with the second pattern <NUM> may be minimized with the compensated scan shot <NUM> acquired by scanning the target object O onto which the first pattern <NUM> is projected. Accordingly, the completion level of the compensated three-dimensional model <NUM> can be improved. The user can design the orthodontic treatment object on the basis of the precisely compensated three-dimensional model <NUM> and can provide the optimal treatment to the patient.

A system for compensating data, the system for performing the method of compensating data according to the present disclosure, will be described below. A portion of the above description of the method of compensating data, when associated with description of the system for compensating data, may be briefly repeated or omitted.

<FIG> is a diagram illustrating a schematic configuration of a system <NUM> for compensating data, the system for performing the method of compensating data according to the present disclosure.

With reference to <FIG>, the system <NUM> for compensating data, the system for performing the method of compensating data according to the present disclosure may include the three-dimensional scanner <NUM>, the control unit <NUM>, and a display unit <NUM>.

The three-dimensional scanner <NUM> may include a table-type scanner on which the target object O is placed at a predetermined position and which acquires the three-dimensional model representing the target object O by rotating and/or tilting the target object O. The three-dimensional scanner <NUM> may be installed at a predetermined place. A change in a distance between a camera <NUM> of the three-dimensional scanner <NUM> and the target object O is small. Thus, scan shots acquired at a uniform distance from the target object O may be easily merged, and a three-dimensional model may be generated.

The control unit <NUM> may be configured to perform data computation. As an example, the control unit <NUM> may be a computation device including a microprocessor. The control unit <NUM> may be at least one of general-purpose computation devices including a desktop PC, a tablet PC, and a local server. In addition, the control unit <NUM> may be a cloud control unit.

The control unit <NUM> may be connected to the three-dimensional scanner <NUM> in a wired or wireless way in such a manner as to possibly perform data communication therewith. The control unit <NUM> may receive scan shots resulting from scanning by the three-dimensional scanner <NUM> and may generate a three-dimensional model by merging the scan shots. In addition, the control unit <NUM> may control the three-dimensional scanner <NUM> in such a manner that the optical projector <NUM> of the three-dimensional scanner <NUM> projects a pattern or that the camera <NUM> at a specific position operates. In addition, the control unit <NUM> may detect the non-scan region u in the initial three-dimensional model or the plurality of initial scan shots and may control rotating and tilting of a jig on which the target object O is placed to acquire the compensated scan shot. As an example, the control unit <NUM> may control the three-dimensional scanner <NUM> and thus may adjust a direction and an angle of the target object O with respect to at least one camera <NUM>.

A configuration of each constituent elements of the system <NUM> for compensating data will be described in detail below.

The three-dimensional scanner <NUM> may project a predetermined pattern onto the target object O and may acquire a plurality of initial scan shots representing the target object O and at least one compensated scan shot. As an example, the three-dimensional scanner <NUM> may include the optical projector <NUM> that projects a pattern onto a surface of the target object.

The optical projector <NUM> may include a light source that emits light and a pattern generation unit that forms a predetermined pattern when the light passing through the pattern generation unit is emitted to the surface of the target object O. The pattern generation unit may be at least one of pattern generation elements that include a pattern mask and a DMD. Through the light source and the pattern generation unit, the optical projector <NUM> may project at least two patterns onto the surface of the target object O.

However, in order to project at least two patterns onto the surface of the target surface O, the optical projector <NUM> may generate a single pattern or a plurality of patterns. That is, although a single pattern is generated, the optical projector <NUM> may rotate the single pattern in one direction. In a fixed state, the optical projector <NUM> may generate at least two patterns through transformation by the pattern generation unit.

In addition, the three-dimensional scanner <NUM> may include at least one camera <NUM>. The camera <NUM> receives light through a lens, and the light may be generated into a scan shot through a built-in image sensor. The image sensor may be a CCD sensor or at least one of existing image sensing devices that include a CMOS sensor.

More specifically, the camera <NUM> may be arranged on one side of the optical projector <NUM>, and the camera <NUM> may acquire the plurality of initial scan shots and at least one compensated scan shot by scanning the target object onto which the optical projector <NUM> projects the predetermined pattern. An arrangement relationship between the camera <NUM> and the optical projector <NUM> will be described below.

In addition, the three-dimensional scanner <NUM> may include a jig <NUM> for placing the target object O. As an example, the jig <NUM> may place the target object O on a flat tray, and the jig <NUM> may move the target object O in a straight line and/or may rotate the target object O. As an example, the jig <NUM> may move the target object O in a straight line in at least one of an upward-downward direction, a leftward-rightward direction, and a forward-backward direction. As another example, the jig <NUM> may rotate the target object O, in one direction, about the Z-axis direction. As still another example, the jig <NUM> may tilt the target object O in one direction. In this manner, the jig <NUM> on which the target object O is placed may move the target object O in a straight line, may rotate the target object O, and/or may tilt the target object O. Therefore, the object O can be scanned from various angles with respect to the camera <NUM>, and the three-dimensional model at a high completion level can be acquired.

A process of additionally scanning a compensation recommendation portion C when the jig <NUM> of the three-dimensional scanner <NUM> is rotated and tilted and then the target object O is scanned will be described.

<FIG> are views that are referred to for description of the compensation recommendation portion C of the target object O that corresponds to the non-scan region u when the jig <NUM> of the three-dimensional scanner <NUM> that constitutes the system <NUM> for compensating data according to the present disclosure is moved. <FIG> are views that are referred to for description of the process of additionally scanning the compensation recommendation portion C of the target object O.

With reference to <FIG>, <FIG>, the jig <NUM> of the three-dimensional scanner <NUM> may move the target object O in a straight line and may rotate and tilt the targe oject O in such a manner as to have various angles with respect to the camera <NUM>. With reference to <FIG>, the camera <NUM> may acquire the first initial scan shot by scanning the first portion of the target object O from the first angle. With reference to <FIG>, the camera <NUM> of the three-dimensional scanner <NUM> may acquire the second initial scan shot by scanning the second portion of the target object O from the second angle. In addition, with reference to <FIG>, the camera <NUM> may acquire the third initial scan shot by scanning the third portion of the target object O from the third angle. At this point, it is assumed that the non-scan region occurs with the second scan shot and that the first to third scan shots are all acquired in a state where the first pattern is projected onto the target object O. On this assumption, the initial scan shot subject to compensation is the second scan shot. There is a need to compensate for the non-scan region by additionally scanning the compensation recommendation portion of the target object O.

With reference to <FIG>, <FIG>, the control unit <NUM> may control the jig <NUM> on which the target object O is placed, in such a manner as to rotate or tilt the target object O, and the three-dimensional scanner <NUM> may acquire the compensated scan shot by additionally scanning the compensation recommendation portion C of the target object O.

With reference to <FIG>, the control unit <NUM> may control the jig <NUM> in such a manner that the camera <NUM> scans the fourth portion of the target object O from the fourth angle so that the compensation recommendation portion C of the target object O is viewed more properly from the camera <NUM>. At this point, a pattern that is projected onto the target object O may be any one of the first pattern and the second pattern different from the first pattern. Accordingly, the compensated scan shot may be acquired, and the compensated three-dimensional model may be generated through the compensated scan shot. Thus, the non-scan region may be minimized.

With reference to <FIG>, the control unit <NUM> may control the jig <NUM> in such a manner that the camera <NUM> scans the second portion of the target object O from the second angle so that the compensation recommendation portion C of the target object O is scanned using a different pattern. However, at this point, a pattern that is projected onto the target object O may be the second pattern different from the first pattern. Accordingly, the compensated scan shot may be acquired, and the compensated three-dimensional model may be generated through the compensated scan shot. Thus, the non-scan region may be minimized. As illustrated in <FIG>, in a case where the compensated scan shot is acquired, there is no need to determine a new angle for compensating for the non-scan region. The control unit <NUM> controls the jig <NUM> in such a manner that the second portion of the target object O is scanned from the second angle with respect to the camera <NUM>. Thus, the advantage of possibly quickly performing compensative scan on the target object O can be achieved. In addition, because a plurality of different patterns are used for the compensation recommendation portion C, the advantage of stably compensating for the non-scan region occurring with any one pattern using the compensated scan shot acquired by projecting another pattern can be achieved.

Particularly, the non-scan region may be generated along a stripe-extending direction of the pattern. Therefore, the compensation recommendation portion corresponding to the initial scan shot acquired in the state where the first pattern is projected onto the target object O may be compensated by acquiring the compensated scan shot. The complemented scan shot may be acquired by scanning the target object O in the same direction and from the same angle as when the initial scan shot is acquired, in a state where the second pattern is projected onto the target object O.

Various arrangement relations among the optical projector <NUM> and the camera <NUM> will be described below.

<FIG> are views that are referred to for description of a first arrangement relationship between the optical projector <NUM> and the camera <NUM> of the three-dimensional scanner <NUM> that constitutes the system <NUM> for compensating data according to the present disclosure. <FIG> is a view that is referred to for description of a second arrangement relationship between the optical projector <NUM> and the camera <NUM> of the three-dimensional scanner <NUM> that constitutes the system <NUM> for compensating data according to the present disclosure. <FIG> are views that are referred to for description of a third arrangement relationship between the optical projector <NUM> and the camera <NUM> of the three-dimensional scanner <NUM> that constitutes the system <NUM> for compensating data according to the present disclosure.

With reference to <FIG> and <FIG>, one pair of cameras <NUM> may be provided. As an example, the cameras <NUM> constituting one pair may be a first camera 912a and a second camera 912b that are arranged between the optical projector <NUM> in between. The first camera 912a is arranged adjacent to one side of the optical projector <NUM>. The second camera 912b is arranged adjacent to the other side of the optical projector <NUM> that faces the one side thereof.

At least one camera <NUM> may be arranged in a direction vertical to the stripe-extending direction of the pattern generated by the optical projector <NUM> in order to easily acquire the depth information of the target object O with the projection of the pattern by the optical projector <NUM>. As illustrated in <FIG>, the optical projector <NUM> may generate a pattern having the shape of vertical stripes. That is, the stripe-extending direction of the pattern generated by the optical projector <NUM> is the upward-downward direction, and the camera <NUM> may be arranged in the leftward-rightward direction vertical to the stripe-extending direction of the pattern. In addition, as illustrated in <FIG>, in a case where the optical projector <NUM> generates the pattern having the shape of vertical stripes, the stripe-extending direction of the pattern generated by the optical projector <NUM> is the leftward-rightward direction, and the camera <NUM> may be arranged in the upward-downward direction vertical to the stripe-extending direction of the pattern. Particularly, in a case where a pair of cameras <NUM> is provided, the pattern for each of the cameras <NUM> arranged in the direction vertical to the stripe-extending direction of the pattern may be precisely aligned. Therefore, the advantage of possibly easily acquiring the depth information of the target object O and possibly acquiring the precise three-dimensional model (the initial three-dimensional model or the compensated three-dimensional model) can be achieved.

In the first arrangement relationship, the optical projector <NUM> may generate and project at least two patterns. As an example, the optical projector <NUM>, as illustrated in <FIG>, may generate and project the first pattern (for example, the vertical stripe pattern) and, as illustrated in <FIG>, may generate and project the second pattern (for example, the horizontal stripe pattern).

At this point, when the shape of the pattern generated by the optical projector <NUM> changes, one pair of cameras 912a and 912b can be rotated to a predetermined angle in order to be arranged in the direction vertical to the stripe-extending direction of the pattern. As an example, the three-dimensional scanner <NUM> may further include a rotation plate <NUM>. The rotation plate <NUM> may rotate at least one camera <NUM> in one direction. The rotation plate <NUM> may be arranged to come into contact with bottom surfaces of the first camera 912a and the second camera 912b and thus may rotate the first camera 912a and the second camera 912b in one direction at the same time. Therefore, although a pattern that is generated by the optical projector <NUM> changes, one pair of cameras 912a and 912b are rotatable. Thus, the depth information of the target object O may be easily acquired, and the precise three-dimensional model may be acquired.

In addition, in the second arrangement relationship between the optical projector <NUM> and the camera <NUM> as illustrated in <FIG>, two pairs of cameras <NUM> may be provided. As an example, cameras <NUM> that constitute two pairs may be the first camera 912a, the second camera 912b, a third camera 912c, and a fourth camera 912d that are arranged with the optical projector <NUM> in the middle thereof. The first camera 912a is arranged adjacent to a first side of the optical projector <NUM>. The second camera 912b is arranged adjacent to a second side of the optical projector <NUM>. The third camera 912c is arranged adjacent to a third side of the optical projector <NUM> that faces the first side thereof. The fourth camera 912d is arranged adjacent to a fourth side of the optical projector <NUM> that faces the second side thereof. In this case, the first camera 912a and the third camera 912c may constitute one pair, and the second camera 912b and the fourth camera 912d may constitute the other pair.

As an example, when the optical projector <NUM> generates and projects the first pattern (for example, the vertical stripe pattern) having a first stripe-extending direction (for example, the upward-downward direction), the first camera 912a and the third camera 912c that are arranged vertically to the stripe-extending direction of the first pattern may be activated and thus may scan the target object O. Moreover, when the optical projector <NUM> generates and projects the second pattern (for example, the horizontal stripe pattern) having a second stripe-extending direction (for example, the leftward-rightward direction), the second camera 912b and the fourth camera 912d that are arranged vertically to the stripe-extending direction of the second pattern may be activated and thus may scan the target object O. When the cameras <NUM> arranged vertically to the stripe-extending direction of the pattern generated by the optical projector <NUM> are activated as described above, the advantage of possibly easily acquiring the plurality of initial scan shots and at least one compensated scan shot can be achieved.

In addition, in the third arrangement relationship between the optical projector <NUM> and the camera <NUM>, the optical projector <NUM> as illustrated in <FIG> may generate a single pattern. Although the optical projector <NUM> generates a single pattern, the stripe-extending direction of the pattern projected by the optical projector <NUM> has to be changed in order to project at least two patterns onto the target object O. Therefore, the optical projector <NUM> may project at least two patterns by being rotated in one direction with respect to the target object O. When the optical projector <NUM> generating a single pattern, as described above, is rotated in one direction with respect to the target object O, at least two patterns may be projected onto the target object O although only one pattern is generated by the optical projector <NUM>. Thus, the compensated three-dimensional model in which the non-scan region is minimized may be acquired.

In order to rotate the optical projector <NUM> in one direction with respect to the target object O, the rotation plate <NUM> may rotate the optical projector <NUM> and at least one camera <NUM> together. As an example, when the optical projector <NUM> projects the first pattern (for example, the vertical stripe pattern) that has a stripe-extending direction that is the same as the upward-downward direction, the first camera 912a and the second camera 912b that are arranged vertically to the stripe-extending direction of the first pattern may scan the target object O. When the second pattern (for example, the horizontal stripe pattern) different from the first pattern is projected onto the target object O, the rotation plate <NUM> may rotate the optical projector <NUM> and the camera <NUM> in a clockwise or counterclockwise direction. Thus, the second pattern can be realized. In this case, the first camera 912a and the second camera 912b are arranged in a direction vertical to the leftward and rightward direction that is the same as the stripe-extending direction of the second pattern. Accordingly, in the three-dimensional scanner <NUM> projecting a single pattern, with rotational operation of the rotation plate <NUM>, at least two different pattern may also be projected onto the target object O. The user can advantageously acquire the compensated three-dimensional model at a high completeness level in which the non-scan region that is possibly generated along the stripe-extending direction of the pattern is minimized.

A detailed configuration of the control unit <NUM> will be described below.

The control unit <NUM> may include a database unit <NUM>. The database unit <NUM> may be at least one of general-purpose storage devices that include a hard disk drive, a solid state drive, and a flash drive. The plurality of initial scan shots and at least one compensated scan shot that are acquired while the three-dimensional scanner <NUM> performs scanning may be stored in the database unit <NUM>. Stored in the database unit <NUM> may be various logics that include a logic for aligning the scan shots, a logic for detecting the non-scan region, a three-dimensional modeling logic, and a logic for controlling the three-dimensional scanner <NUM>.

The control unit <NUM> may include the three-dimensional scanner controller <NUM>. In Step S110 of performing initial scanning, the three-dimensional scanner controller <NUM> may control the jig <NUM> in order to arrange the target object O to a predetermined angle. In addition, in Step S110 of performing initial scanning, the three-dimensional scanner controller <NUM> may control the pattern projected by the optical projector <NUM> on the target object O when acquiring the plurality of initial scan shots. In addition, in Step S110 of performing initial scanning, the three-dimensional scanner controller <NUM> may activate at least one camera <NUM> for operation when acquiring the plurality of initial scan shots. In addition, in Step S130 of performing compensative scanning, the three-dimensional scanner controller <NUM> may control operation of each of the optical projector <NUM>, the camera <NUM>, the jig <NUM>, and the rotation plate <NUM> in order to acquire at least one compensated scan shot.

The control unit <NUM> may include the alignment unit <NUM>. The alignment unit <NUM> may align the plurality of initial scan shots and/or at least one compensated scan shot. A known data alignment technique may be used in order to align the plurality of initial scan shots and/or at least one compensated scan shot. As an example, the alignment unit <NUM> may align the plurality of initial scan shots and/or at least one compensated scan shot using an iterative closest point (ICP) technique, but is not necessarily limited to this technique.

The control unit <NUM> may include the three-dimensional modeling unit <NUM>. The three-dimensional modeling unit <NUM> may merge the plurality of initial scan shot aligned and/or at least one compensated scan shot and thus may generate the three-dimensional model. As an example, the three-dimensional modeling unit <NUM> may merge the plurality of initial scan shots aligned and thus may generate the initial three-dimensional model. In addition, the three-dimensional modeling unit <NUM> may additionally merge at least one compensated scan shot to the already-generated initial three-dimensional model and thus may generate the compensated three-dimensional model. In addition, the three-dimensional modeling unit <NUM> may merge the plurality of initial scan shots and at least one compensated scan shot together and thus may generate the compensated three-dimensional model.

The control unit <NUM> may include the non-scan region detection unit <NUM>. The non-scan region detection unit <NUM> may detect the non-scan region in the initial three-dimensional model generated by the three-dimensional modeling unit <NUM> or in the plurality of initial scan shots acquired by the three-dimensional scanner <NUM>. In addition, the non-scan region detection unit <NUM> may determine the initial scan shot subject to compensation corresponding to the non-scan region. When the non-scan region detection unit <NUM> determines the initial scan shot subject to compensation, the three-dimensional scanner controller <NUM> may control the jig <NUM> of the three-dimensional scanner <NUM> in such a manner that the target object O is moved in a straight line, rotated, and tilted so that the compensation recommendation portion of the target object O that corresponds to the initial scan shot subject to compensation is clearly viewed, and the three-dimensional scanner <NUM> may acquire an additional compensated scan shot. The three-dimensional modeling unit <NUM> may generate the compensated three-dimensional model on the basis of the compensated scan shot acquired by the three-dimensional scanner <NUM>.

Since the compensated three-dimensional model is generated in this manner, the user can design the precise orthodontic treatment object using the compensated three-dimensional model in which the non-scan region is minimized. Thus, the advantage of possibly providing an optimal treatment on the patient can be achieved.

The display unit <NUM> may visually display at least one portion of a control process performed by the control unit <NUM>. As an example, the display unit <NUM> may be at least one of general-purpose visual display devices that include a monitor, a tablet screen, a touch screen, and a projection screen. Displayed on the display unit <NUM> may be visually a three-dimensional model (the three-dimensional model may include at least one of the initial three-dimensional model and the compensated three-dimensional model) of the target object O that is generated on the basis of the plurality of initial scan shots and at least one compensated scan shot that are acquired through the three-dimensional scanner <NUM>. Accordingly, the user can easily check whether or not the three-dimensional model is precisely acquired, can design the orthodontic treatment object to be used in the patient's oral cavity using the three-dimensional model, and can provide the optimal treatment to the patient.

Claim 1:
A method of compensating data, the method comprising:
a) acquiring (S110), by a three-dimensional scanner (<NUM>, <NUM>), a plurality of initial scan shots (<NUM>-<NUM>, <NUM>-<NUM>) by scanning a target object onto which a predetermined pattern (<NUM>) including a stripe pattern which has stripe-extending direction is projected;
b) detecting (S120), by a control unit (<NUM>, <NUM>), a non-scan region (HB, VB, u) on the basis of the plurality of initial scan shots (<NUM>-<NUM>, <NUM>-<NUM>); and
c) acquiring (S130; S132), by the three-dimensional scanner (<NUM>, <NUM>), at least one compensated scan shot (<NUM>, <NUM>) by additionally scanning at least one portion of the target object when the non-scan region is detected by the control unit (<NUM>, <NUM>);
d1) wherein the non-scan region (HB, VB, u) is generated by the stripe-extending direction of the stripe pattern,
d2) wherein in the acquiring step c), by the three-dimensional scanner (<NUM>, <NUM>), at least one compensated scan shot (<NUM>, <NUM>), in a state of setting the target object in the same direction and from the same angle as when the initial scan shot subject to compensation having the non-scan region (HB, VB, u) is acquired in step a), the compensated scan shot (<NUM>, <NUM>) is acquired by projecting the stripe pattern which has different stripe-extending direction from the predetermined pattern (<NUM>) projected in the acquiring step a) by the three-dimensional scanner (<NUM>, <NUM>) of the plurality of initial scan shots (<NUM>-<NUM>, <NUM>-<NUM>).