CN107136649B - Three-dimensional foot shape measuring device based on automatic track seeking mode and implementation method - Google Patents
Three-dimensional foot shape measuring device based on automatic track seeking mode and implementation method Download PDFInfo
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- CN107136649B CN107136649B CN201710262431.9A CN201710262431A CN107136649B CN 107136649 B CN107136649 B CN 107136649B CN 201710262431 A CN201710262431 A CN 201710262431A CN 107136649 B CN107136649 B CN 107136649B
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
- A43D1/025—Foot-measuring devices comprising optical means, e.g. mirrors, photo-electric cells, for measuring or inspecting feet
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Abstract
The invention discloses a three-dimensional foot shape measuring device based on an automatic track seeking mode and an implementation method, wherein the method comprises the following steps: the method comprises the steps of controlling a first camera to shoot a bottom surface of a foot in real time to obtain a bottom surface contour line, obtaining a bottom surface closed contour line of two feet according to the bottom surface contour line, controlling a second camera to shoot a side photo of the foot at a preset position to obtain a side contour line of the two feet, and establishing a three-dimensional foot shape according to the bottom surface closed contour line and the side contour line. The method of the invention can not be limited by the shooting range of the camera, realizes automatic track seeking and only occupies a small space. Meanwhile, the three-dimensional foot shapes of the two feet can be measured simultaneously, so that the scanning measurement efficiency and the user experience degree are improved.
Description
Technical Field
The invention relates to the fields of three-dimensional scanning technology and metrology measurement. In particular to a three-dimensional foot type measuring device based on an automatic track-seeking mode.
Background
At present, China has become the largest e-commerce market worldwide over the United states, with footwear accounting for the first share of the online shopping market. Along with the rapid growth of the online market of the shoes, the shoe online shopping platform and the vertical e-commerce encounter bottlenecks restricting the development of the industry in the operation process: the online shopping users are lack of effective shopping experience due to the fact that the online shopping users cannot try on, and therefore the phenomena that the consumers are hesitant to deal with online shopping and have high goods return rate after deal are caused easily. The degree of fit between the shoe and the foot determines the degree of comfort when wearing the shoe. Only if the characteristics of the foot are fully known, the shoes which are comfortable to wear can be manufactured and selected for consumers according to the foot shape rule. Nowadays, the rapid development of big data technology and three-dimensional scanning technology provides a method for solving the difficult problems of the shoes.
The three-dimensional scanning technology is a high and new technology integrating light, mechanical, electrical and computer technologies, and is mainly used for scanning the spatial appearance, structure and color of an object to obtain the spatial coordinates of the surface of the object. The method has the important significance that the three-dimensional information of the real object can be converted into the digital signal which can be directly processed by the computer, and a quite convenient and fast means is provided for digitalizing the real object. The three-dimensional scanning technology can realize non-contact measurement and has the advantages of high speed and high precision. And the measurement result can be directly interfaced with various software, which makes the measurement result popular today in the technical applications of CAD, CAM, CIMS and the like which are increasingly popular. In the manufacturing industry of developed countries, three-dimensional scanners are increasingly used as a fast stereo measuring device due to the advantages of fast measuring speed, high precision, non-contact, convenient use and the like. The three-dimensional scanner is used for scanning the hand plate, the sample and the model to obtain the three-dimensional size data of the hand plate, the sample and the model, the data can be directly interfaced with CAD/CAM software, the data can be adjusted, repaired and then sent to a machining center or rapid forming equipment for manufacturing in a CAD system, and the manufacturing period of products can be greatly shortened.
The big data technology has no great difference with the traditional data processing flow, and the main difference lies in that: because large data needs to process a large amount of unstructured data, the large data can be processed in parallel in various processing links by adopting a Map Reduce mode and the like. The large data can improve the processing speed of the data through the parallel processing technology of Map Reduce. The Map Reduce is designed primarily to realize parallel processing of large data through a large number of cheap servers, has low requirements on data consistency, has the outstanding advantages of expansibility and usability, and is particularly suitable for mixed processing of massive structured, semi-structured and unstructured data. Map Reduce performs distributed processing on traditional query, decomposition and data analysis, and distributes processing tasks to different processing nodes, so that the Map Reduce has stronger parallel processing capability. The Map Reduce is a software framework, comprises Map (mapping) and Reduce (simplification) stages, and can perform mass data segmentation, task decomposition and result summarization so as to complete parallel processing of mass data.
Specifically, the three-dimensional scanning technology can completely collect three-dimensional foot shape data of a consumer, and a pair of comfortable shoes can be found or customized for the consumer according to the three-dimensional foot shape data. The existing three-dimensional foot type scanning technology generally adopts the laser and the structure grating principle to obtain the three-dimensional coordinates of the surface of the foot. The commercial foot-type scanning equipment developed based on the principles has a complex imaging structure, uses a mechanical transmission device to precisely control and move a plurality of groups of grating and high-precision industrial CCD camera combinations, and needs a strong graphic image processing unit, so that the equipment cost is high, which cannot be borne by related enterprises in the shoe industry. Also because of its high cost, only one foot can be measured at a time, greatly reducing the efficiency of scanning and user experience satisfaction. Chinese patent 200310108856.2, a three-dimensional foot shape measuring and modeling method based on specific grid patterns, wears socks printed with grids on the feet, then shoots simultaneously by a plurality of digital cameras or video cameras to ensure that the corner points (corner) of each grid are shot by at least two digital cameras or video cameras, and then recovers the three-dimensional positions of all grid corner points based on the principles of stereoscopic vision and optical imaging; on the basis, three-dimensional grids covering the human feet are fit again by utilizing the three-dimensional positions of the recovered angular points, and finally, a specific three-dimensional foot model is established and parameters of the foot model are calculated according to the spatial position constraint of the three-dimensional grids on the standard feet and through a deformation modeling method. And the three-dimensional grid is obtained based on the corner points of each grid by refitting, so that the calculation complexity is high.
Chinese patent 201010298713.2, three-dimensional foot scanner, which is capable of forming an image or three-dimensional data record of a human foot for use in the manufacture of a shoe last. The three-dimensional foot scanner includes: the foot scanning device is used for shooting an image of the inner side of the foot, an image of the outer side of the foot and an image of the bottom of the foot; and the foot image analysis system is used for analyzing the foot inner side image, the foot outer side image and the foot bottom image to acquire three-dimensional foot data. According to the invention, a plurality of cameras are used for shooting images of the inner side, the outer side and the bottom of the foot, the images are corrected and spliced, complete contours of the inner side, the outer side and the bottom of the foot are extracted, a three-dimensional foot model is generated by combining standard three-dimensional foot data, the cameras are fixed, and more cameras are required to complete shooting of the images of the inner side, the outer side and the bottom of the foot.
In addition, a foot type measuring instrument based on the photographing principle is adopted, a single camera or a plurality of cameras are spliced, and the bottom surface and the side profile of the foot are photographed for measurement. The mode is limited by the shooting range of the camera, and the distance between the camera and the shot object is large in order to shoot the whole foot shape, so that the scanning box body needs to occupy a large space.
Disclosure of Invention
The invention aims to provide a three-dimensional foot-shaped measuring device capable of automatically tracking and photographing and processing images.
The invention provides a three-dimensional foot shape measuring method based on an automatic track-seeking mode, which solves the technical problem and comprises the following steps:
controlling a first camera to shoot the bottom surface of the foot part in real time to obtain a bottom surface contour line,
obtaining the closed contour lines of the bottom surfaces of the two feet according to the contour lines of the bottom surfaces,
controlling a second camera to shoot a picture of the side of the foot part at a preset position to obtain the side contour lines of the feet,
and establishing a three-dimensional foot shape according to the bottom surface closed contour line and the side surface contour line.
Further, the control method of the first camera specifically includes:
adjusting the first camera to a preset initial position,
the first camera starts to take pictures in real time from the initial position according to the selected direction,
selecting a rectangular region with the side length w as an effective processing region by taking a central point p (u, v) as a midpoint from the photos, carrying out image processing on the effective region of each frame of photo obtained after photographing and extracting a foot bottom contour line, photographing at the current position, detecting the bottom contour line and obtaining effective coordinates;
taking the contour point farthest from the effective coordinate in the effective processing area as the next position coordinate along the extending direction of the bottom contour line, moving the camera to the center to coincide with the position coordinate,
all effective coordinates recorded from the initial position are the bottom surface closed contour,
the effective coordinates are: and when the center point of the first camera coincides with one point on the detected contour line or the distance between the center point of the first camera and the detected contour line is smaller than a set threshold, determining the coordinate of the position of the first camera in the track coordinate system XOY.
Furthermore, if the bottom contour of the foot is not detected, the first camera continues to move in the selected direction until the position corresponding to the first picture with the bottom contour is detected.
Furthermore, the method for obtaining the side contour lines of the two feet by controlling the second camera to shoot the side pictures of the feet at the preset position specifically comprises the following steps:
adjusting the second camera to a preset initial position, and taking a first picture by the second camera from the initial position;
moving the second camera to a second position according to the selected direction, taking a picture, splicing the two taken pictures, performing image processing, and extracting the outline of the side face;
and the overlapping area of the pictures shot by the second camera at the initial position and the second position is used for image splicing by a characteristic detection method, and the range of the physical space covered by the pictures shot by the second camera at the initial position and the second position is larger than the maximum foot length required to be measured.
Further, the first camera is configured as a camera for photographing the bottom surface of the foot, the second camera is configured as a camera for photographing the side surface of the foot,
further comprising: the device comprises a bidirectional guide rail used for enabling the first camera and/or the second camera to move according to a track and a stepping motor used for controlling the first camera and/or the second camera to move on the bidirectional guide rail.
Based on the above, the present invention further provides a three-dimensional foot shape measuring device based on the automatic track-seeking mode, comprising: a bearing unit, a bottom contour system, a side contour system and a processing unit,
the bearing unit is used for bearing the feet and is used as the plane of the outline of the sole,
the bottom surface contour system is used for controlling the first camera to shoot the bottom surface of the foot part in real time to obtain bottom surface contour lines and obtaining closed contour lines of the bottom surfaces of the two feet according to the bottom surface contour lines,
the side contour line system is used for controlling the second camera to shoot a picture of the side of the foot part at a preset position to obtain the side contour lines of the two feet,
the processing unit is used for carrying out image processing modes of image correction, image denoising, edge detection and edge extraction on the pictures shot in the process, and establishing a three-dimensional foot shape according to the bottom surface closed contour line and the side surface contour line.
Still further, the floor profiling system comprises: an automatic tracking photographing unit, an image recognition unit,
the automatic tracking photographing unit is used for controlling a camera on the guide rail to flexibly address and photograph through the stepping motor;
the image recognition unit is used for preprocessing the image shot by the camera, extracting the image outline and measuring the photos meeting the requirements.
Still further, the load-bearing unit includes: the supporting plate comprises a bearing plate and a base, a hollow cavity is formed between the base and the bearing plate, and a plurality of supporting parts used for connecting the bearing plate and the base in a pairwise mode are installed in the cavity.
The invention also provides a three-dimensional foot-type measuring device based on the automatic track-seeking mode, which operates according to the method and further comprises the following steps:
a load-bearing platform, be provided with on the load-bearing platform: a transparent bearing plate for bearing and measuring the two feet, a longitudinal guide rail and a transverse guide rail for providing a sliding track,
the longitudinal guide rail and the transverse guide rail are both provided with a camera for shooting the side surface of the foot part and a camera for shooting the bottom surface of the foot part,
and a stepping motor for controlling the camera to move and shoot the side surface or the bottom surface of the foot part,
the transparent bearing plate is located on a first horizontal plane, the picture of the bottom surface of the foot, shot by the camera, is located on a third horizontal plane, the moving track of the camera is located on a second horizontal plane, and the camera used for shooting the side surface of the foot is located on a fourth horizontal plane.
The control method of the three-dimensional foot shape measuring method comprises the following steps:
the addressing of the bidirectional guide rail is carried out by the camera driven by the stepping motor,
obtaining a bottom surface closed contour line according to the addressing acquisition,
and splicing and obtaining the side contour line according to the multi-point continuous images.
The invention has the beneficial effects that:
according to the three-dimensional foot shape measuring method based on the automatic track seeking mode, the bottom surface contour lines are obtained by controlling the first camera to shoot the bottom surfaces of the feet in real time, the closed contour lines of the bottoms of the two feet are obtained according to the bottom surface contour lines, the side pictures of the feet are obtained by controlling the second camera to shoot the side faces of the feet at the preset position, the side contour lines of the two feet are obtained, and the three-dimensional foot shape is obtained according to the closed contour lines of the bottoms and the side contour lines. The device is not limited by the range of the shooting range of the camera and only occupies a small space. Meanwhile, the three-dimensional foot shapes of the two feet can be measured simultaneously, so that the scanning measurement efficiency and the user experience degree are improved.
Drawings
FIG. 1 is a flowchart of a three-dimensional foot measurement method based on an auto-tracking mode according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling the first camera of FIG. 1;
FIG. 3 is a schematic structural diagram of an automatic tracking mode-based three-dimensional foot-type measuring device according to an embodiment of the present invention;
FIG. 4 is a schematic horizontal coordinate diagram of the apparatus of FIG. 3;
FIG. 5 is an effective processing area of a photograph taken by the bottom camera taken in FIG. 3;
fig. 6 is a schematic diagram of a three-dimensional foot-type measuring device based on an automatic tracking mode according to a preferred embodiment of the invention.
Detailed Description
The principles of the present disclosure will now be described with reference to a few exemplary embodiments. It is understood that these examples are described solely for the purpose of illustration and to assist those of ordinary skill in the art in understanding and working the disclosure, and are not intended to suggest any limitation as to the scope of the disclosure. The disclosure described herein may be implemented in various ways other than those described below.
As used herein, the term "include" and its various variants are to be understood as open-ended terms, which mean "including, but not limited to. The term "based on" may be understood as "based at least in part on". The term "one embodiment" may be understood as "at least one embodiment". The term "another embodiment" may be understood as "at least one other embodiment".
Fig. 1 is a flowchart of a three-dimensional foot shape measuring method based on an automatic tracking mode according to an embodiment of the present invention, in which step S100 controls a first camera to photograph a bottom surface of a foot in real time to obtain a bottom contour line, step S101 obtains a bottom closed contour line of two feet according to the bottom contour line, step S102 controls a second camera to photograph a side surface of the foot at a preset position to obtain a side contour line of the two feet, and step S103 establishes a three-dimensional foot shape according to the bottom closed contour line and the side contour line. In step S100, the bottom contour line may be obtained by photographing the bottom surface of the foot by controlling the first camera to move to a different position. In step S101, the closed contour lines of both the left and right feet are obtained, and the closed contour lines can be obtained for each of the left and right feet. In step S102, the side contour lines of the left and right feet are measured, and data in the vertical direction is obtained. In step S103, the closed contour line of the bottom surface and the side contour line obtained from the measurements in step S101 and step S102 are used.
As a preference in this embodiment, fig. 2 is a flowchart of a control method for the first camera in fig. 1, and the control method for the first camera specifically includes:
step S200 adjusts the first camera to a preset initial position,
step S201 is that the first camera starts to take a real-time picture from the initial position,
step S202 processes each frame of the photographed photos and extracts the photos of the foot bottom contour line, and if the foot bottom contour is not detected, the first camera continues to move in the selected direction until the position corresponding to the first photo with the foot bottom contour is detected.
In step S203, the central point p (u, v) is selected as the middle point and the rectangular region with the side length w is selected as the effective processing region, and the central point p (u, v) is selected as the middle point and the rectangular region with the side length w is selected as the effective processing region in the current photo determined as the bottom surface profile. The contour point farthest from the center point in this area is recorded as the next position coordinate and sent to the stepping motor for controlling the camera to move in the horizontal and vertical directions. The bottom camera is moved to this position by a stepper motor driven through transverse and longitudinal rails.
Step S204, using the contour point in the effective processing area farthest from the central point as a next position coordinate, determining to obtain a current position according to the position coordinate, and if the minimum distance between the contour line and the central point of the current photo in the photos is larger than a set threshold, moving the first camera to the direction of the contour point with the minimum distance so that the central point of the first camera coincides with the contour point;
and if the minimum distance between the contour line and the center of the current photo is smaller than a set threshold value, continuing to take the photo and extracting the photo.
Step S205, photographing at the current position, detecting the bottom contour line, obtaining an effective coordinate, and finding out the effective coordinate along the extending direction of the bottom contour line to form a closed contour line; the direction in which the contour lines extend is repeated until the found valid coordinates form a closed contour line.
In step S206, the effective coordinates are: and when the center point of the first camera is coincided with one point on the detected contour line, determining the coordinate of the position of the first camera in the track coordinate system XOY.
In the above-mentioned step S200 to step S206, the first camera is configured as a camera for photographing the bottom surface of the foot, the second camera is configured as a camera for photographing the side surface of the foot,
further comprising: the device comprises a bidirectional guide rail used for enabling the first camera and/or the second camera to move according to a track and a stepping motor used for controlling the first camera and/or the second camera to move on the bidirectional guide rail.
Specifically, the first camera may be adjusted to a preset initial position, the first camera starts to photograph in real time from the initial position according to a selected direction, a rectangular region with a center point p (u, v) as a midpoint and a side length w as an effective processing region is selected from the photographs, an effective region of each frame of photograph obtained after photographing is subjected to image processing and a foot bottom contour line is extracted, and a photograph is taken at the current position and a bottom contour line is detected and an effective coordinate is obtained; taking the contour point farthest from the effective coordinate in the effective processing area as the next position coordinate along the extending direction of the bottom contour line, moving the camera to the position where the center of the camera coincides with the position coordinate, wherein all the effective coordinates recorded from the initial position are the bottom closed contour, and the effective coordinates are as follows: and when the center point of the first camera coincides with one point on the detected contour line or the distance between the center point of the first camera and the detected contour line is smaller than a set threshold, determining the coordinate of the position of the first camera in the track coordinate system XOY.
Fig. 3 is a schematic structural diagram of an automatic tracking mode-based three-dimensional foot shape measuring device according to an embodiment of the present invention, wherein the automatic tracking mode-based three-dimensional foot shape measuring device includes: a load-bearing unit 100, a floor profiling system 200, a side profiling system 300 and a processing unit 400,
the bearing unit 100 is used for bearing both feet and is used as a plane where the outline of the sole of the foot is located,
the bottom surface contour system 200 is used for controlling the first camera to shoot the bottom surface of the foot part in real time to obtain the bottom surface contour lines and obtaining the closed contour lines of the bottom surfaces of the two feet according to the bottom surface contour lines,
the side contour line system 300 is used for controlling the second camera to take pictures of the side surfaces of the feet at a preset position to obtain the side contour lines of the two feet,
in the side contour line system 300, the method for controlling the second camera to take the picture of the side of the foot at the preset position to obtain the side contour lines of the two feet specifically comprises the following steps:
adjusting the second camera to a preset initial position, and taking a first picture by the second camera from the initial position;
moving the second camera to a second position according to the selected direction, taking a picture, splicing the two taken pictures, performing image processing, and extracting the outline of the side face;
and the overlapping area of the pictures shot by the second camera at the initial position and the second position is used for image splicing by a characteristic detection method, and the range of the physical space covered by the pictures shot by the second camera at the initial position and the second position is larger than the maximum foot length required to be measured.
The processing unit 400 is configured to establish a three-dimensional foot shape according to the bottom surface closed contour line and the side surface contour line.
As a preference in the present embodiment, fig. 5 shows effective processing areas of the photographs taken by the bottom surface camera selected in fig. 3, and as shown in fig. 5, a rectangular area with a center point p (u, v) as a midpoint and a side length w is selected as an effective processing area in the photograph currently determined as the bottom surface contour. The contour point farthest from the center point in this area is recorded as the next position coordinate and simultaneously sent to the stepper motor. The bottom camera is moved to this position by a stepper motor driven through transverse and longitudinal rails.
As a preference in this embodiment, the floor profiling system 200 comprises: the automatic tracking shooting unit is used for controlling a camera on the stepping motor to shoot and mechanically address; the image recognition unit is used for preprocessing the image shot by the camera, extracting the image outline and measuring the photos meeting the requirements.
In some embodiments, the auto-tracking camera unit is further configured to compensate for the illumination when the light is poor.
The load bearing unit 100 includes: the supporting plate comprises a bearing plate and a base, a hollow cavity is formed between the base and the bearing plate, and a plurality of supporting parts used for connecting the bearing plate and the base in a pairwise mode are installed in the cavity.
In some embodiments, the bearing plate is tempered glass.
In some embodiments, the bearing plate is transparent glass.
FIG. 4 is a schematic horizontal coordinate diagram of the apparatus of FIG. 3, wherein B01 is a load-bearing tempered glass, the upper surface is a plane of the sole contour, and a coordinate system UOV is provided; b02 is a plane where the track of the bottom camera moves, and is set as a track coordinate system XOY; b03 is the image plane of the picture taken by the first camera, which is the bottom camera, and is set as the image coordinate system uov; b04 is the first camera as the bottom camera in the present apparatus.
Fig. 6 is a schematic diagram of a three-dimensional foot-type measuring device based on an automatic tracking mode in a preferred embodiment of the invention, and a carrying platform 8, where: a transparent bearing plate 5 for bearing and measuring the feet, a longitudinal guide rail 3 and a transverse guide rail 4 for providing a sliding track,
a camera 6 for shooting the side surface of the foot part and a camera 7 for shooting the bottom surface of the foot part are arranged on the longitudinal guide rail 3 and the transverse guide rail 4,
and stepping motors (1,2) for controlling the camera to transversely move to shoot the side surface or the bottom surface of the foot part,
the transparent bearing plate 5 is located on a first horizontal plane, the picture of the bottom surface of the foot part shot by the camera is located on a third horizontal plane, the moving track of the camera is located on a second horizontal plane, and the camera used for shooting the side surface of the foot part is located on a fourth horizontal plane.
The specific operation method comprises the following steps:
and initializing the position of the camera on the bottom surface. The camera 6 for photographing the side surface of the foot and the camera 7 for photographing the bottom surface of the foot are sent to the defined initial positions by the driving motor 1 and the driving motor a02 shown in fig. 3.
In some embodiments, the defined initial position is: a certain point specified in the coordinate plane may be any point as the 0 point (origin) of the coordinate. In the present embodiment, a starting point is selected according to the content of the specific scan (for example, the outline of the foot) so that the camera walking route is shortest (or the time taken to address the route is optimal). The initial position and the direction of the initial movement are determined, and the particular method of determining the first contour point is determined (since the image taken at the initial position and the image taken from this position in the direction of the first contour require significantly different features).
The bottom camera starts to photograph in real time from an initial position, and the image processing module processes each frame of picture and extracts the outline of the sole surface. If the outline is not detected, the bottom camera moves towards the selected direction until the position of the first picture with the bottom outline is detected. The condition for determining the contour is that the center point of the camera coincides with a point on the detected contour line (i.e., the contour line passes through the center point of the image). The coordinates of the position of the camera in the trajectory coordinate system XOY corresponding to this situation are recorded as effective coordinate values.
As shown in fig. 5, in the photograph currently determined as the bottom surface contour, a rectangular region having a side length w and a center point p (u, v) as a midpoint is selected as an effective processing region. The contour point farthest from the center point in this area is recorded as the next position coordinate and simultaneously sent to the stepper motor. The bottom camera is moved to this position by a stepper motor driven through transverse and longitudinal rails. The stepper motor may be a 28 stepper motor.
Taking a picture at the current position and detecting the bottom surface contour, if the minimum distance between the contour line and the center of the current picture is more than a threshold value, moving the camera to the direction of the contour point with the minimum distance until the center point of the camera is coincided with the contour point; if the minimum distance between the contour line and the center of the current photo is less than the threshold, the step of finding the contour line position is repeated, and the coordinates of the position are recorded as valid coordinate values.
The above steps are repeated along the direction in which the contour lines extend until the found valid coordinates form a closed contour line.
And repeating the steps to find all effective coordinates of the other foot to form a closed contour line.
The side camera is moved to the initialized position. The side photographs of the foot are taken at each preset position according to a certain step length. And the side profiles are stitched and extracted through image processing.
In this embodiment, the step size is defined as the distance of each camera movement, which is determined by the effective size of the image taken each time (as mentioned above, a certain size of area taken in the whole image taken is generally a block of image area centered on the center of the camera). Because the outline image of the side surface is formed by splicing 2-3 photos, the step length is generally smaller than the width of the image, so that an overlapping area is formed between two adjacent images, and splicing is facilitated. Preferably, the area after stitching of 2-3 images exceeds the maximum foot length.
Based on the stored standard foot model, the new three-dimensional foot shape can be established through the bottom surface contour and the side surface contour obtained in the steps, and the measured values of all key parts of the foot are automatically obtained through a defined algorithm.
Although the disclosure has been described in language specific to structural features and/or methodological acts, it is to be understood that the disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (8)
1. A three-dimensional foot shape measuring method based on an automatic track seeking mode is characterized by comprising the following steps:
adjusting the first camera to a preset initial position,
the first camera starts to take pictures in real time from the initial position according to the selected direction,
selecting a rectangular region with a center point p as a middle point and side length w as an effective processing region from the shot pictures, performing image processing on the effective region of each frame of picture obtained after shooting, extracting a foot bottom contour line, shooting at the current position, detecting the bottom contour line and obtaining effective coordinates;
taking the contour point farthest from the effective coordinate in the effective processing area as the next position coordinate along the extending direction of the bottom contour line, moving the first camera to the position where the center of the first camera coincides with the position coordinate,
all effective coordinates recorded from the initial position are the bottom surface closed contour line,
the effective coordinates are: when the center point of the first camera is coincident with a point on the detected contour line or the distance between the center point of the first camera and the detected point is less than a set threshold value, the coordinate of the position of the first camera in the track coordinate system XOY,
controlling the second camera to shoot the side pictures of the feet at the preset position to obtain the side contour lines of the feet,
and establishing a three-dimensional foot shape according to the bottom surface closed contour line and the side surface contour line.
2. The method of claim 1, wherein if no foot floor contour is detected, the first camera continues to move in the selected direction until a corresponding position of a first photograph having a floor contour is detected.
3. The method for measuring the three-dimensional foot shape according to claim 1, wherein the method for controlling the picture of the side surface of the foot taken by the second camera at the preset position to obtain the side contour lines of the feet specifically comprises the following steps:
adjusting the second camera to a preset initial position, and taking a first picture by the second camera from the initial position;
moving the second camera to a second position according to the selected direction, taking a picture, splicing the two taken pictures, performing image processing, and extracting the outline of the side face;
and the overlapping area of the pictures shot by the second camera at the initial position and the second position is used for image splicing by a characteristic detection method, and the range of the physical space covered by the pictures shot by the second camera at the initial position and the second position is larger than the maximum foot length required to be measured.
4. The three-dimensional foot shape measuring method according to claim 1, wherein the first camera is configured as a camera for photographing a bottom surface of the foot, the second camera is configured as a camera for photographing a side surface of the foot,
the measurement method further comprises: configuring a bidirectional guide rail for the first camera and/or the second camera to move according to a track; and a stepping motor configured to control the first camera and/or the second camera to move on the bidirectional guide rail.
5. A three-dimensional foot-type measuring device based on an automatic track-seeking mode is characterized by comprising: a bearing unit, a bottom contour system, a side contour system and a processing unit,
the bearing unit is used for bearing the feet and is used as the plane of the outline of the sole,
the bottom surface profile system is used for adjusting the first camera to a preset initial position,
the first camera starts to take pictures in real time from the initial position according to the selected direction,
selecting a rectangular region with a center point p as a middle point and side length w as an effective processing region from the shot pictures, performing image processing on the effective region of each frame of picture obtained after shooting, extracting a foot bottom contour line, shooting at the current position, detecting the bottom contour line and obtaining effective coordinates;
taking the contour point farthest from the effective coordinate in the effective processing area as the next position coordinate along the extending direction of the bottom contour line, moving the first camera to the position where the center of the first camera coincides with the position coordinate,
all effective coordinates recorded from the initial position are the bottom surface closed contour line,
the effective coordinates are: when the center point of the first camera is coincident with a point on the detected contour line or the distance between the center point of the first camera and the detected point is less than a set threshold value, the coordinate of the position of the first camera in the track coordinate system XOY,
the side contour line system is used for controlling the second camera to shoot a picture of the side of the foot part at a preset position to obtain the side contour lines of the two feet,
the processing unit is used for carrying out image correction, image denoising, edge detection and edge extraction on the pictures shot by the first camera and the second camera, and establishing a three-dimensional foot shape according to the bottom surface closed contour line and the side surface contour line.
6. The three-dimensional foot shape measuring device according to claim 5, wherein said bottom surface profile system comprises: an automatic tracking photographing unit, an image recognition unit,
the automatic tracking photographing unit is used for controlling the first camera and/or the second camera on the guide rail to carry out motor addressing and photographing through the stepping motor;
the image recognition unit is used for preprocessing and extracting the image contour of the image shot by the first camera and/or the second camera and measuring the picture meeting the requirement.
7. The three-dimensional foot shape measuring device according to claim 5, wherein said load bearing unit comprises: the supporting plate comprises a bearing plate and a base, a hollow cavity is formed between the base and the bearing plate, and a plurality of supporting parts used for connecting the bearing plate and the base in a pairwise mode are installed in the cavity.
8. A three-dimensional foot-form measuring device based on an automatic tracking mode, operating according to the method of claim 1, further comprising:
a load-bearing platform, be provided with on the load-bearing platform: a transparent bearing plate for bearing and measuring the two feet, a longitudinal guide rail and a transverse guide rail for providing a sliding track,
a second camera used for shooting the side surface of the foot part and a first camera used for shooting the bottom surface of the foot part are arranged on the longitudinal guide rail and the transverse guide rail respectively,
and a stepping motor for controlling the second camera or the first camera to move and shoot the side surface or the bottom surface of the foot part,
the transparent bearing plate is positioned on a first horizontal plane, a picture of the bottom surface of the foot shot by the first camera is positioned on a third horizontal plane, the moving track of the first camera is positioned on a second horizontal plane, the second camera used for shooting the side surface of the foot is positioned on a fourth horizontal plane, the first camera is positioned at a preset initial position, so that the subsequent real-time shooting is carried out from the initial position through the first camera according to a selected direction, in the shot picture, a rectangular area with a central point p as a middle point and side length w as an effective processing area is selected, the effective area of each frame of shot picture obtained after the shooting is subjected to image processing, a foot bottom contour line is extracted, and the shot picture is taken at the current position, the bottom contour line is detected and effective coordinates are obtained; taking the contour point which is farthest from the effective coordinate in the effective processing area as the next position coordinate along the extending direction of the bottom surface contour line, moving the first camera to the position where the center of the first camera coincides with the position coordinate, wherein all the effective coordinates recorded from the initial position are the bottom surface closed contour line,
the effective coordinates are: and when the center point of the first camera coincides with one point on the detected contour line or the distance between the center point of the first camera and the detected contour line is smaller than a set threshold, determining the coordinate of the position of the first camera in the track coordinate system XOY.
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| CN109008077A (en) * | 2018-07-10 | 2018-12-18 | 北京三体高创科技有限公司 | Scan method and scanning means |
| CN109171109A (en) * | 2018-07-10 | 2019-01-11 | 北京三体高创科技有限公司 | Double-legged foot shape-measuring device and measurement method |
| CN109171744A (en) * | 2018-08-28 | 2019-01-11 | 北京中科启上科技有限公司 | Collecting method and device for lower limb |
| CN113989094A (en) * | 2021-11-05 | 2022-01-28 | 北京九思拓扑科技有限公司 | Dynamic three-dimensional foot scanning method |
| JP7285304B1 (en) | 2021-12-06 | 2023-06-01 | 東友科技股▲ふん▼有限公司 | Scanner and its load-bearing structure |
| TWI804088B (en) | 2021-12-06 | 2023-06-01 | 東友科技股份有限公司 | Scanner and load bearing structure thereof |
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| FR2679327B1 (en) * | 1991-07-15 | 1996-12-27 | Cebelor | NON-CONTACT THREE-DIMENSIONAL MEASUREMENT METHOD OF THE ENVELOPE OF AN OBJECT, IN PARTICULAR A FOOT, AND MEASURING APPARATUS FOR CARRYING OUT THE METHOD. |
| IT1287977B1 (en) * | 1996-10-31 | 1998-09-10 | Label Elettronica Srl | UNIT FOR THE CREATION OF PERSONALIZED SHOES FOR HANDICAP HOLDERS AT THE LOWER ENDS |
| CN100348949C (en) * | 2003-11-25 | 2007-11-14 | 浙江大学 | Three-dimensional foot type measuring and modeling method based on specific grid pattern |
| CN1266655C (en) * | 2004-12-09 | 2006-07-26 | 上海交通大学 | Human limb three-dimensional model building method based on image cutline |
| CN102034264B (en) * | 2010-09-30 | 2013-01-30 | 香港理工大学 | Three-dimensional foot scanner |
| CN101986350B (en) * | 2010-10-22 | 2012-03-28 | 武汉大学 | Monocular structured light-based three-dimensional modeling method |
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