CN101174025A - Vola laser three-dimensional scanning system and method - Google Patents
Vola laser three-dimensional scanning system and method Download PDFInfo
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- CN101174025A CN101174025A CNA200610114152XA CN200610114152A CN101174025A CN 101174025 A CN101174025 A CN 101174025A CN A200610114152X A CNA200610114152X A CN A200610114152XA CN 200610114152 A CN200610114152 A CN 200610114152A CN 101174025 A CN101174025 A CN 101174025A
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Abstract
The invention discloses a three-dimensional scanning system of plantar laser and a method. The system comprises a computer and a laser three-dimensional scanner, wherein, the laser three-dimensional scanner comprises a scanning window, a scanning head used for the plantar scanning and imaging, a linearity slide rail guiding the marching of the scanning head, a direct current motor used to drive the scanning head to move along the linearity slide rail, a movement controller used to control the start of the direct current motor and for the interactive transformation of the data among the computers, an angle sensor used to feedback the rotary information of the direct current motor to the movement controller, and a frame used to pack the scanning window, the scanning head, the movement controller, the direct current motor, the angle sensor and the linearity slide rail. The invention has the advantages of achieving the real-time rapid scanning and imaging of the plantar contour, and providing accurate data and simple ways for manufacturing personalized and comfortable sock linings and the orthopedic treatment.
Description
Technical field
The present invention relates to a kind of scanning system and method, particularly a kind of laser that utilizes carries out non-contact scanning and Vola laser three-dimensional scanning system of measuring and method to people's vola.
Background technology
Under many circumstances, need compare accurate measurement, make foot mould in order to treatment or the like such as the customization shoes, for particular patient people's vola shape.In order to save loaded down with trivial details that manual formula measures, and the error that reduces contact type measurement, need to use special-purpose vola scanner that the vola is scanned and measured.
Existing vola is measured in the scanner, notification number is to disclose a kind of contactless foot scanner in the utility model application file of CN2349989Y, it includes vertical frames, scan components and computer, in the process that this scan components can move at the chute on this frame, the vola that faces this scan components is scanned.In this technical scheme, frame is designed to the shape of go-cart, and volume ratio is bigger, and the people need lie on a bed or be sitting on the chair during use, and occupation space is bigger, and is inconvenient to carry; In addition, the time of this instrument run-down is 20 seconds, needs measured's vola not move in scanning process, and difficulty is bigger.
In addition, publication number is to disclose a kind of foot measurement system and method in the patent application file of CN1344907A, and it comprises and is used to produce the foot data generating apparatus of foot shape data and is used for by analyzing described data to produce the image processing apparatus of foot image.In this technical scheme,, adopted endless glide, thereby made manufacturing cost very high, and the endless glide sweep velocity is slow, be difficult to realize the position of follow scanner in real time, can influence measuring accuracy in order to increase scan area.In addition, described foot data generating apparatus adopts hard materials such as glass, makes the vola suffer oppression and distortion slightly, causes measuring accuracy to descend.
Summary of the invention
For solving above-mentioned the deficiencies in the prior art, one object of the present invention is to propose a kind of Vola laser three-dimensional scanning system, comprises computing machine, laser 3 d scanner.Described laser 3 d scanner comprises: the scanning window that is installed on described laser three bit scan instrument upper surfaces; Be used for scanner head to vola scanning and statue; The linear slide rail of advancing that is used for the boot scan head; Be used for the direct current generator that the driven sweep head moves along linear slide rail; Be used to control the startup of direct current generator and be used for and computing machine between carry out the motion controller that data interaction transmits; Be used for the rotation information of direct current generator is fed back to the angular transducer of motion controller; And the frame that is used to encapsulate scanning window, scanner head, motion controller, direct current generator, angular transducer and linear slide rail.
This system also comprises the vola support component, and described vola support component has flexible surface, is used to vola to be measured that the flexible support that fits tightly is provided.The described flexible vola support component air plenum that light color or water white transparency rubber film and support frame are formed of serving as reasons.
Described scanner head comprises laser instrument and imaging device.
Described scanner head also comprises filtering apparatus.
Described motion controller comprises sensing and sub-circuit, is used for the signal of described angular transducer output is carried out sensing and frequency multiplication segmentation, obtains the direction of motion information and the positional information of scanner head.
Described motion controller comprises the scan-synchronized circuit, be used to receive the synchronizing signal that described scanner head sends, thereby motion controller sends to computing machine with the positional information of described scanner head.
Described motion controller comprises the light intensity control circuit, is used for the intensity of a gated sweep emitted laser.
Described motion controller comprises limit switch, is used for stopping when scanner head moves to the linear slide rail end advancing of scanner head.
Another object of the present invention is, proposes a kind of Vola laser three-dimensional scanning method, may further comprise the steps: use direct current generator to drive scanner head and move on linear slide rail; Use scanner head the vola to be scanned and obtained image information; Scanner sends to computing machine with described image information, sends synchronizing signal to motion controller simultaneously; By angular transducer the direct current generator rotation information that obtains is sent to motion controller; The positional information of the described image that motion controller will be determined according to described synchronizing signal and direct current generator rotation information sends to computing machine; Repeat above-mentioned steps, last computing machine obtains complete vola image.
Described method also comprises the step of using flexible support part to support foot.
Described method also comprises the step of using continuous exposure and mean filter described picture signal to be carried out noise filtering.
Described method also comprises the automatic Light control algolithm, is used for the intensity of an automatic gated sweep emitted laser.
Described method also comprises the measuring error that automatic compensation is introduced by the scanning window.
Described method also comprises the step of described direct current generator rotation information being carried out sensing and frequency multiplication segmentation.
Described method comprises that also when scanner head moved to the linear slide rail end, the gated sweep head stopped to move the also step of return to origin.
Vola laser three-dimensional scanning system of the present invention is simple in structure, volume is little, low cost of manufacture, and sweep time is extremely short, has reduced to keep the vola to stablize motionless difficulty.System and method of the present invention has been realized the in real time quick scanning imagery of vola profile, provides accurate data and simple and direct mode for making personalization, comfortableization shoe-pad and orthopaedic treatment etc.
Description of drawings
Fig. 1 is the composition diagram of Vola laser three-dimensional scanning system of the present invention;
Fig. 2 is the composition structural representation of the laser 3 d scanner among Fig. 1;
Fig. 3 is the synoptic diagram that the laser three bit scan instrument among Fig. 2 use in conjunction with flexible support part;
Fig. 4 is the structural representation of flexible vola support component among Fig. 3;
Fig. 5 is the circuit structure diagram of the laser three-dimensional scanning system among Fig. 1;
Fig. 6 is the structural representation of the scanner head among Fig. 2;
Fig. 7 be the motion controller among Fig. 2 circuit structure and with the connection diagram of other parts;
Fig. 8 is sensing and a sub-circuit structural representation among Fig. 7;
Fig. 9 is the course of work synoptic diagram of scanning system of the present invention;
Figure 10 is the computer software workflow diagram of scanning system of the present invention;
Figure 11 adjusts laser intensity course of work synoptic diagram automatically among Figure 10;
Figure 12 is a foot three-dimensional coordinate z deflection error backoff algorithm synoptic diagram among Figure 10.
Embodiment
Embodiment to Vola laser three-dimensional scanning system of the present invention describes below in conjunction with accompanying drawing.
Fig. 1 is system's composition diagram of the embodiment of Vola laser three-dimensional scanning system of the present invention.As shown in the figure, system is made up of computing machine 11, laser 3 d scanner 12.
Fig. 2 is the composition structural representation of the laser 3 d scanner among Fig. 1.As shown in the figure, this laser 3 d scanner comprises the scanning window 25 that is used to support foot, scanner head 21, motion controller 22, direct current generator 23, angular transducer 24, linear slide rail 26 and frame 27.
Fig. 3 is the synoptic diagram that the laser 3 d scanner among Fig. 1 uses in conjunction with flexible support part.As shown in the figure, flexible support part 3 is positioned on the laser 3 d scanner 12, and is covered on the scanning window 25, is used to measured's foot that flexible support of fitting is provided.
Fig. 4 is the structural representation of flexible vola support component among Fig. 3.As shown in the figure, flexible support part 3 is made of the resinous framework 32 of light color or water white rubber film 31 and support rubber film.Flexible support part 3 makes rubber film form a curved surface according to the resinous framework of people's pin shape particular design, guarantees the closely evenly applying of vola and rubber diaphragm.
Vola laser three-dimensional scanning system of the present invention has three kinds of modes in use.A kind of mode is that the measured is directly stepped on foot in the 25 enterprising line scannings of scanning window, the shape in vola slightly distortion owing to body weight at this moment; The second way is not contact scanning of a measured vola window 25, and the vola is sagging naturally directly over scanning window 25, and this moment, there was not distortion in the vola; The third mode is that the measured will be ridden on flexible vola support component 3, this flexibility vola support component 3 can provide flexible support, and fit tightly on the skin in vola, make the vola in scanning process, be out of shape seldom, so both guaranteed accurate measurement to the vola state of nature, comfortable support is provided again, and has been easy to keep the stable of foot.
Fig. 5 is the circuit structure diagram of the laser three-dimensional scanning system among Fig. 1.As shown in the figure, laser 3 d scanner is by computer starting and control.During use, the measured will be ridden on scanning window or flexible vola support component, send order by computing machine to motion controller, motion controller then starts the laser instrument in the scanner head, controlling direct current generator simultaneously rotates, drive scanner head and move, motion controller is measured the current location of scanner head by angular transducer simultaneously.
Scanner head is when moving, and imaging device begins images acquired, by sending synchronizing signal notice motion controller the positional information that angular transducer measures is returned to computing machine simultaneously.
Filtering apparatus is optional hardware, be used for neighbourhood noise is filtered, and be used for the imaging time of imaging device and the time of laser instrument emission laser are carried out synchronously, thereby the gated sweep head can obtain two width of cloth images in a short period of time.
Fig. 6 is the structural representation of the scanner head among Fig. 2.As shown in the figure, scanner head comprises laser instrument 62, camera 63, camera lens 61, housing 65 and optical filter 64, and wherein, camera 63 and camera lens 61 are formed imaging device.
The visible light of laser instrument 62 emission specific wavelengths is through the diffuse reflection of testee, at the laser rays image through formation is adjusted through body form in camera 63 after the focusing of camera lens 61.The centre wavelength of optical filter 64 is identical with laser instrument 62 wavelength of light emitted, and effect is the surround lighting of other wavelength of filtering influence measurement.
The optical axis of the optical axis of laser instrument 62 and camera lens 61 forms included angle B, and this angle constitutes a basic parameter of measuring.As seen from the figure, the distance of the optical axes crosspoint of laser instrument 62 and camera lens 61 and laser instrument 62 is the operating distance of scanner head.
Fig. 7 be the motion controller among Fig. 2 circuit structure and with the connection diagram of other parts.The circuit of motion controller is responsible for control function by single-chip microcomputer, the usb data passage is used for the data interaction between single-chip microcomputer and the computing machine, send control commands such as startup, translational speed as: computing machine, single-chip microcomputer is the current location of feedback scan head and status information etc. then.
Single-chip microcomputer sends drive signal to dc driver by motor-drive circuit, and the motion of control direct current generator is moved thereby drive scanner head.The positional information that scanner head moves feeds back to motion controller by angular transducer.
Sensing in the motion controller and sub-circuit are that the square wave that angular transducer sends is carried out sensing, determine direction of motion, and segment computing, to improve the precision of positional information.
Limit switch is installed on linear slide rail.In the moving process of scanner head, if scanner head has arrived the terminal position of linear slide rail, this limit switch relies on rubber buffer protection scanner head, sends switching signal to single-chip microcomputer simultaneously, and the notice single-chip microcomputer stops the motion of direct current generator.
Single-chip microcomputer is responsible for the light intensity regulating of laser output enable and laser simultaneously, receives the synchronizing signal that scanner head transmits, and scanner head positional information that will this moment sends back computing machine.
Fig. 8 is sensing and the sub-circuit structural representation among Fig. 7.As shown in the figure, the rotation information of direct current generator is gathered by angular transducer, and converts the square-wave signal of two-way phase phasic difference 90 degree to.Behind this square-wave signal process RC filtering circuit and the shaping circuit, carry out sensing and carry out the segmentation of 4 frequencys multiplication, obtain to be used for the direction signal and the pulse signal of rolling counters forward by 4 times of sub-circuits by the sensing circuit.
Wherein the sensing circuit is a sequential circuit, is used to judge the sense of rotation of angular transducer, so that the counting direction of control counter.4 times of sub-circuits are the signal subdivision of angular transducer, system can be improved 4 times to the measuring accuracy of scanner head positional information.
Fig. 9 is the course of work synoptic diagram of scanning system of the present invention.As shown in the figure, computing machine is by the single-chip microcomputer scanning beginning in the usb data passage notice motion controller.Single-chip microcomputer sends the motion of drive direct current generator, drives scanner head and moves on linear slide rail, and scanner head just can move along the direction that is parallel to the vola like this.
The light signal of being modulated by the vola is reflected to the imaging device in the scanner head.After this imaging device received the images acquired instruction that computing machine sends, the beginning images acquired sent simultaneously and gathers synchronizing signal to the scan-synchronized circuit in the motion controller.
Imaging device converts light signal to electric signal, and the conversion become digital signal, send to computing machine by the usb data passage.Computing machine has just obtained the image of a width of cloth vola information like this.
The scan-synchronized circuit receives to be gathered after the synchronizing signal, sends the sync break signal to single-chip microcomputer.Single-chip microcomputer goes out the positional information of scanner head and sends to computing machine according to the information calculations of angular transducer output.Computing machine has just obtained the data and the position of a line in vola like this, by repeatedly gathering the data that just obtained whole vola shape.
Figure 10 is the computer software workflow diagram of scanning system of the present invention.
As shown in the figure, computing machine sends instruction to start with to motion controller; The automatic adjustment module S0 of routine call laser intensity; The step S1 that is drive motor then, scanner head is moved on linear slide rail continuously; Scanner head is opened LASER Light Source when moving on linear slide rail, to plantar surface emission light, and with the step S2 of the image of camera one width of cloth plantar reflex light; After closing laser instrument, the step S3 of computing machine given catoptrical image transfer by camera.
1 millisecond delay of step S4, be optional step as step S5 and these three steps of S6 of the repetition of step S2 and step S3, the effective ambient light noise that occurs at random of filtering, only under the ambient light noise condition with higher, adopt, and increase these three steps and can increase treatment of picture time and hardware cost.
Step S7 is for to send the position of scanner head on linear slide rail to computing machine, and step S8 is for to carry out Filtering Processing such as mean filter and priority filtering to reflected light image, and step S9 will be for will be converted into the vola three-dimensional data through the image of filtering.Step S10 carries out obtaining accurate vola three-dimensional data after the error compensation according to the computing formula hereinafter for the vola three-dimensional data that step S9 is obtained.
Whether step S11 runs to terminal point for detecting linear slide rail by motion controller, if linear slide rail does not run to terminal point, repeats the step of s2-s10; If linear slide rail has moved to terminal point, then step S12 will combine via the vola three-dimensional data that step S10 obtains among the step S13 and construct the vola three-dimensional model for control linear slide rail return to origin.
Figure 11 adjusts laser intensity course of work synoptic diagram automatically among Figure 10, the reflectivity difference of scanned object when scanning, and the intensity of reflected light difference that causes camera to receive, and then have influence on scanning effect and precision.Automatically adjust the laser intensity function and can adjust the output laser intensity of laser instrument before each scanning, the image that camera is received remains on optimum condition.Its course of work is: step S14 guarantees that for the driven sweep head moves to scanning window central authorities laser rays can shine the vola; Step S15 is to plantar surface emission laser, and passes through the image of imaging device detection of reflected light; Step S16 is transferred to computing machine for closing laser instrument with catoptrical image; Step S17 is for analyzing laser linewidth; Step S18 is for to judge whether laser linewidth equals normal width, if the result is a "No", regulates laser intensity, repeating step S15-18, if the result is a "Yes", then expression has obtained suitable laser intensity, withdraws from this module.
Figure 12 is a foot three-dimensional coordinate z deflection error backoff algorithm synoptic diagram among Figure 10, the direction of propagation of laser rays is represented by arrow, scanner head institute emitted laser is passed the scanning window, after the testee surface reflection, passes the scanning window once more and enters the interior camera of scanner head.Because it is vertical incidence that laser first passes the scanning window, so can not produce the skew of light.Pass through for the second time the scanning window, incident angle is greater than zero degree, because the refraction action of glass, light before entering the camera of scan components skew has taken place.Caused d on the Z direction
zMeasuring error.The numerical value of dz can be provided by computing formula hereinafter, the n in this formula for the scanning glass pane to the refractive index of laser, H is scanning glass pane thickness, β be the camera incident ray with the scanning windowpane method to angle.
Measuring error d
zComputing formula be:
It more than is the preferred embodiment of Vola laser three-dimensional scanning system of the present invention; but the present invention is not limited to above-mentioned particular implementation example; do not deviating under spirit of the present invention and the real situation thereof; skilled personnel can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong within the claims protection domain of the present invention.
Claims (16)
1. a Vola laser three-dimensional scanning system comprises computing machine, laser 3 d scanner, it is characterized in that, described laser 3 d scanner comprises:
The scanning window, it is installed on the upper surface of described laser three bit scan instrument;
Scanner head is used for vola scanning and imaging;
Linear slide rail is used for advancing of boot scan head;
Direct current generator is used for the driven sweep head and moves along described linear slide rail;
Motion controller, be used to control the startup of direct current generator and be used for and computing machine between carry out data interaction and transmit;
Angular transducer is used for the rotation information of direct current generator is fed back to motion controller;
Frame is used for encapsulation scanning window, scanner head, motion controller, direct current generator, angular transducer and linear slide rail.
2. Vola laser three-dimensional scanning system as claimed in claim 1 is characterized in that this system also comprises the vola support component, and described vola support component has flexible surface, is used to vola to be measured that the flexible support that fits tightly is provided.
3. Vola laser three-dimensional scanning system as claimed in claim 1 is characterized in that, the described flexible vola support component air plenum that light color or water white transparency rubber film and support frame are formed of serving as reasons.
4. Vola laser three-dimensional scanning system as claimed in claim 1 is characterized in that described scanner head comprises laser instrument and imaging device.
5. Vola laser three-dimensional scanning system as claimed in claim 4 is characterized in that described scanner head also comprises filter.
6. Vola laser three-dimensional scanning system as claimed in claim 1, it is characterized in that, described motion controller comprises sensing and sub-circuit, is used for the signal of described angular transducer output is carried out sensing and frequency multiplication segmentation, obtains the direction of motion information and the positional information of scanner head.
7. Vola laser three-dimensional scanning system as claimed in claim 6, it is characterized in that, described motion controller comprises the scan-synchronized circuit, be used to receive the synchronizing signal that described scanner head sends, thereby motion controller sends to computing machine with the positional information of described scanner head.
8. Vola laser three-dimensional scanning system as claimed in claim 1 is characterized in that described motion controller comprises the light intensity control circuit, is used for the intensity of a gated sweep emitted laser.
9. Vola laser three-dimensional scanning system as claimed in claim 1 is characterized in that described motion controller comprises limit switch, is used for stopping when scanner head moves to the linear slide rail end advancing of scanner head.
10. Vola laser three-dimensional scanning method may further comprise the steps:
Using direct current generator to drive scanner head moves on linear slide rail;
Use scanner head the vola to be scanned and obtained image information;
Scanner sends to computing machine with described image information, sends synchronizing signal to motion controller simultaneously;
By angular transducer the direct current generator rotation information that obtains is sent to motion controller;
The positional information of the described image that motion controller will be determined according to described synchronizing signal and direct current generator rotation information sends to computing machine;
Repeat above-mentioned steps, last computing machine obtains complete vola image.
11. Vola laser three-dimensional scanning method as claimed in claim 10 is characterized in that, also comprises the step of using flexible support part to support foot.
12. Vola laser three-dimensional scanning method as claimed in claim 10 is characterized in that, also comprises the step of using continuous exposure and mean filter described picture signal to be carried out noise filtering.
13. Vola laser three-dimensional scanning method as claimed in claim 10 is characterized in that, also comprises the step of described direct current generator rotation information being carried out sensing and frequency multiplication segmentation.
14. Vola laser three-dimensional scanning method as claimed in claim 10 is characterized in that, comprises that also when scanner head moved to the linear slide rail end, the gated sweep head stopped to move the also step of return to origin.
15. Vola laser three-dimensional scanning method as claimed in claim 10 is characterized in that, also comprises the automatic Light control algolithm, is used for the intensity of an automatic gated sweep emitted laser.
16. Vola laser three-dimensional scanning method as claimed in claim 10 is characterized in that, system software compensates the measuring error of being introduced by the scanning window automatically.
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| CNB200610114152XA CN100510837C (en) | 2006-10-31 | 2006-10-31 | Vola laser three-dimensional scanning system and method thereof |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101889753A (en) * | 2010-07-16 | 2010-11-24 | 武汉大学 | Interactive deformation and measurement simulation method for manually measuring girth of nonrigid limb |
| CN102178373A (en) * | 2011-03-03 | 2011-09-14 | 吴立俊 | Foot shape measuring method and special measurement device for foot shape |
| CN103478989A (en) * | 2013-09-26 | 2014-01-01 | 北京博维恒信科技发展有限公司 | Foot shape gauge |
| CN103961197A (en) * | 2014-04-13 | 2014-08-06 | 北京工业大学 | Insole making system special for spine rehabilitation adjustment |
| CN104013160A (en) * | 2014-04-24 | 2014-09-03 | 江西龙展机械制造有限公司 | Position measuring device of upper and sole |
| CN105054494A (en) * | 2015-07-29 | 2015-11-18 | 温州职业技术学院 | Method or wearing design of personalized shoes for the aged |
| CN105455310A (en) * | 2015-12-30 | 2016-04-06 | 上海衣得体信息科技有限公司 | Foot scanning instrument and foot scanning method thereof |
| CN105510050A (en) * | 2016-01-06 | 2016-04-20 | 厦门理工学院 | Portable driver visual field test detection device and driver visual field test detection method |
| CN106820449A (en) * | 2017-02-09 | 2017-06-13 | 重庆凯闻思健康科技有限公司 | Scanner, foot information analysis system and method |
| CN108078542A (en) * | 2017-11-10 | 2018-05-29 | 上海康奥实业发展有限公司 | High-precision wide visual field imaging spectrometer apparatus |
| CN108433704A (en) * | 2018-04-10 | 2018-08-24 | 西安蒜泥电子科技有限责任公司 | A kind of 3D anthropometric scanning equipment |
| CN108670257A (en) * | 2018-06-04 | 2018-10-19 | 浙江树人学院 | A kind of panoramic human body three-dimensional scanning means |
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| CN101889753B (en) * | 2010-07-16 | 2013-03-20 | 武汉大学 | Interactive deformation and measurement simulation method for manually measuring girth of nonrigid limb |
| CN101889753A (en) * | 2010-07-16 | 2010-11-24 | 武汉大学 | Interactive deformation and measurement simulation method for manually measuring girth of nonrigid limb |
| CN102178373A (en) * | 2011-03-03 | 2011-09-14 | 吴立俊 | Foot shape measuring method and special measurement device for foot shape |
| CN102178373B (en) * | 2011-03-03 | 2013-04-24 | 吴立俊 | Foot shape measuring method and special measurement device for foot shape |
| CN103478989A (en) * | 2013-09-26 | 2014-01-01 | 北京博维恒信科技发展有限公司 | Foot shape gauge |
| CN103961197A (en) * | 2014-04-13 | 2014-08-06 | 北京工业大学 | Insole making system special for spine rehabilitation adjustment |
| CN103961197B (en) * | 2014-04-13 | 2016-01-13 | 北京工业大学 | Spine recovering adjustment Special shoe pad manufacturing system |
| CN104013160A (en) * | 2014-04-24 | 2014-09-03 | 江西龙展机械制造有限公司 | Position measuring device of upper and sole |
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| CN105054494B (en) * | 2015-07-29 | 2017-10-31 | 温州职业技术学院 | A kind of personalized old footwear wear design method |
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| CN108433704B (en) * | 2018-04-10 | 2024-05-14 | 西安维塑智能科技有限公司 | Three-dimensional human body scanning equipment |
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