CN110179468A - A kind of foot measurement device, various dimensions foot characteristic analysis system and method - Google Patents
A kind of foot measurement device, various dimensions foot characteristic analysis system and method Download PDFInfo
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- CN110179468A CN110179468A CN201910426948.6A CN201910426948A CN110179468A CN 110179468 A CN110179468 A CN 110179468A CN 201910426948 A CN201910426948 A CN 201910426948A CN 110179468 A CN110179468 A CN 110179468A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1074—Foot measuring devices
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Abstract
The invention discloses a kind of foot measurement device, various dimensions foot characteristic analysis system and method, the various dimensions foot characteristic analysis system includes foot measurement device, connector, terminal device；The foot measurement device is for obtaining foot initial data, including point cloud data, RGB data, pressure distribution data and stagnation pressure force data；The connector is connect with foot measurement device and terminal device respectively；Calculating and visualization output of the terminal device for various dimensions foot feature；The method includes relative users operation, the data interaction of foot measurement device and terminal device merges the initial data of the foot measurement device acquisition, extracts various dimensions foot feature.Foot measurement device, various dimensions foot characteristic analysis system and method provided by the invention can obtain the foot data of user, analysis various dimensions foot feature rapidly and efficiently under open environment, and provide automatic calibration and the calibration function of foot measurement device.
Description
Technical field
The present invention relates to foot measurement field more particularly to a kind of foot measurement devices, various dimensions foot signature analysis system
System and method.
Background technique
Existing foot measurement technology is broadly divided into manual measurement and automatic measurement, there are low efficiency, errors for manual measurement greatly,
The defects of measurable parameter is few has gradually been automatically measured technology substitution.
Automatic measurement technology is divided into the sufficient type measuring technique of the three-dimensional based on image mosaic and plantar nervous arch measurement skill again
Art, wherein the sufficient type measuring technique of three-dimensional based on image mosaic only can measure foot outer profile characteristic parameter, measurement accuracy is by phase
The influence of machine installation accuracy, since camera relative position changes so that three-dimensional modeling precision after using after a period of time
It reduces；Plantar nervous arch measuring technique mostly uses dot matrix pressure resistance type flexible force sensitive sensor to acquire plantar nervous arch letter
Breath, the drawbacks such as that there are hysteresis is poor for sensors with auxiliary electrode, the increase of long-time measured pressure value.For this purpose, it is proposed that a kind of foot is surveyed
Measure device, various dimensions foot characteristic analysis system and method.
Summary of the invention
The present invention provides a kind of foot measurement device, various dimensions foot characteristic analysis system and method, provided by the invention
Foot measurement device, various dimensions foot characteristic analysis system and method can obtain the foot data of user under open environment,
Analysis various dimensions foot feature rapidly and efficiently, and provide automatic calibration and the calibration function of foot measurement device.
Specific technical solution provided by the invention is as follows:
The embodiment of the present invention provides a kind of foot measurement device, including depth camera component, foot pressure measuring part, calibration with
Demarcate component and pedestal；The pedestal is used to fix other group parts of foot measurement device, is located at foot measurement device bottom,
Pedestal is evenly arranged in the level meter of foot measurement device surrounding equipped with k at least for 1；The foot pressure measuring part is used
In obtain plantar pressure data, installation on the base, positioned at the center of foot measurement device, and with foot measurement device other
Group parts are not in contact with each other；Foot pressure measuring part includes optical pressure distribution measuring platform and pressure sensor, and optical pressure distribution is surveyed
Amount platform is set on the pedestal, and pressure sensor is embedded in optical pressure distribution measuring platform；The calibration and calibration component
For the automatic calibration joined outside depth camera component and automatic Calibration, under automatic align mode, it is symmetrically arranged in foot pressure measurement
The two sides of component；The depth camera component is symmetrically arranged in the calibration of automatic align mode for obtaining foot point cloud data
Measuring part surrounding is pressed with demarcating component two sides and being evenly arranged in foot；Depth camera component includes camera support column and depth
Camera, depth camera are mounted on camera support column, are directed at the optical pressure distribution measuring platform of foot measurement device, camera branch
Support column installation on the base.
Optionally, the optical pressure distribution measuring platform includes object pad, transparency glass plate, light source, support post, CCD
Imaging sensor and opaque casing；The opaque casing is fixed on the base central, and object pad is covered on opaque machine
To form an opaque accommodation space on shell, the other assemblies of optical pressure distribution measuring platform are all set in accommodation space；
The object pad includes silica gel bed course, light shield layer and reflective layer, and silica gel bed course is located at upper layer, and silica gel bed course printed thereon has standing
Area indicates frame and calibrating block reference line, and the standing place of user's foot, calibrating block base are prompted when standing area prompting frame is used to measure
Directrix is used for the positioning of calibration and calibration component under automatic Calibration state, and light shield layer is located at middle layer, and reflective layer is located at bottom, is close to
On the transparency glass plate；The light source is located at four sides of transparency glass plate, including light-emitting component and lampshade, lampshade are fixed
In the transparent chassis sidewall, the lower edges of transparency glass plate side described in tight, light-emitting component is mounted in lampshade,
Under the package of above-mentioned lampshade, light-emitting component is only capable of irradiating the side of the transparency glass plate；The transparency glass plate is lain in
On support post, the support post is uniformly arranged on the surrounding of transparency glass plate bottom surface；The ccd image sensor is set to
It immediately below transparency glass plate, is horizontally arranged on the pedestal, for receiving the light of object pad reflective layer reflection；The support is vertical
Column is vertically installed on the pedestal, including upper section column and lower section column, and the pressure sensor is clipped in upper section column under
Between Duan Lizhu, for obtaining the total plantar pressure and sole pressure center of user.
Optionally, the calibration and calibration component include demarcation piece, calibration side wall and magnet；The material of demarcation piece is body-centered
Cube ferromagnet, structure is profile shapes, and section is Z-type section；The section includes the first perpendicular target, the second perpendicular target and vertically connects
The lateral target of the first perpendicular target and the second perpendicular target is connect, is equipped with a groove on the first perpendicular target, the second perpendicular target and lateral target, groove
Width is the thickness of profile shapes, and lateral target groove and the second perpendicular target groove communicate and the section of two grooves is overlapped, and first is perpendicular
The section of the section of target groove and the second perpendicular target groove is symmetrical about the central axes of demarcation piece and two groove lateral distances are equal to
The spacing of first perpendicular target and the second perpendicular target；The tow sides of first perpendicular target and the second perpendicular target are calibration target surface, the first perpendicular target
Be respectively provided at left and right sides of calibration target surface be not at least 1 n signature, the calibration target surface left and right sides of the second perpendicular target is respectively provided with
It is not at least 2 n signature, signature is dark annulus, and the center of circle is light color；There are location hole, calibration in demarcation piece
There is corresponding positioning convex point on side wall, magnet is fixed in calibration side wall.
Optionally, the demarcation piece includes upper demarcation piece and lower demarcation piece, the calibration side wall include left calibration side wall and
Right calibration side wall；Upper demarcation piece total height is identical with the total height of lower demarcation piece and the second perpendicular target of upper demarcation piece is than lower demarcation piece
The second perpendicular high profile shapes of target thickness；The location hole of upper demarcation piece is located at the upper left corner, and the location hole of lower demarcation piece is located at
The lower right corner, the positioning convex point of left calibration side wall are located at the upper left corner, and the positioning convex point of right calibration side wall is located at the lower right corner, in automatic school
Under quasi- state, upper demarcation piece is only capable of being mounted on left calibration side wall, and lower demarcation piece is only capable of being mounted on right calibration side wall.
Optionally, there are two types of forms: calibration form with calibration component tool for the calibration: the location hole in demarcation piece is socketed school
The positioning convex point of quasi- side wall, demarcation piece are adsorbed under the influence of a magnetic field on calibration side wall；Demarcate form: two demarcation pieces are from school
It is taken out on quasi- side wall, upper demarcation piece is upper, and lower demarcation piece is under, 90 ° of intersections, vertically to " ten " font is inserted into, along calibrating block base
Directrix is placed on object pad upper face center, and each calibration target surface is made to be directed at a depth camera.
Optionally, there are two types of forms: calibration form with calibration component tool for the calibration: the location hole in demarcation piece is socketed school
The positioning convex point of quasi- side wall, demarcation piece are adsorbed under the influence of a magnetic field on calibration side wall；Demarcate form: two demarcation pieces are from school
It is taken out on quasi- side wall, upper demarcation piece is upper, and lower demarcation piece is under, 90 ° of intersections, vertically to " ten " font is inserted into, along calibrating block base
Directrix is placed on object pad upper face center, and each calibration target surface is made to be directed at a depth camera.
Optionally, the embodiment of the invention also provides a kind of various dimensions foot characteristic analysis systems, including above-mentioned foot to survey
Measure device, connector and terminal device, in which: the connector connects foot measurement device as intermediate equipment and terminal is set
Standby, the data acquisition control of receiving terminal apparatus instructs and controls each group parts of foot measurement device according to data acquisition control
System instruction obtains initial data, receives the initial data that foot measurement device obtains and is uploaded to terminal device, realizes that foot is surveyed
Measure the data interaction between device and terminal device；The terminal device includes data processing module and display module, and terminal is set
The standby initial data that foot measurement device acquisition is received by connector, and carry out data fusion, three-dimensional reconstruction, feature extraction and
Report display realizes the measurement and visualization output of various dimensions foot feature.
Optionally, the embodiment of the invention also provides a kind of various dimensions foot characteristic analysis methods, including system initialization
Join scaling method and various dimensions foot feature extracting method outside method, depth camera component；Join calibration side outside the depth camera
Method the following steps are included:
Step C100: adjusting the position of foot measurement device, and each level meter on pedestal is made to keep horizontality as far as possible；
Step C200: will calibrate and calibration component is set to calibration form, it is ensured that without other sundries on foot measurement device, give
Various dimensions foot characteristic analysis system powers on；
Step C300: world coordinate system O is established as origin using the reference-calibrating line focus of object pad upper surfacew- XYZ, will
Depth camera number consecutively is i (i=1,2,3,4)；It is j by each signature central point number consecutively in two demarcation pieces
(j=1,2 ..., m), world coordinates of each signature center in world coordinate system is
Step C400: terminal device issues data acquisition instructions to connector, and connector is wanted according to data acquisition instructions
It asks the depth camera component of control foot measurement device to acquire one group of point cloud data and RGB data, then initial data is uploaded to
Terminal device.
Step C500: terminal device obtains the location of pixels of signature central point j according to the RGB image of camera i, then
The camera coordinates of signature central point j are found in the point cloud data of camera iFurther according to each signature central point
J is in world coordinate system OwWorld coordinates in-XYZCalculate the conversion rotation between the world coordinates of point j and corresponding camera coordinates
Torque battle array RiWith translation matrix Ti, this RiAnd TiThe as calibration matrix of camera i；
Step C600: saving system configuration, completes calibration.
Optionally, the system initialization method the following steps are included:
Step Z100: adjusting the position of foot measurement device, and each level meter on pedestal is made to keep horizontality as far as possible；
Step Z200: will calibrate and calibration component is set to calibration form, it is ensured that more when no-sundries on foot measurement device
Dimension foot characteristic analysis system powers on；
Step Z300: world coordinate system O is established as origin using the reference-calibrating line focus of object pad upper surfacew- XYZ, will
Depth camera number consecutively is i (i=1,2,3,4), by camera calibration matrix RiAnd TiObtained each depth camera i is in the world
Calibration coordinate in coordinate system isThe each signature central point number consecutively that will be exposed in two demarcation pieces
For j (j=1,2 ..., m), actual coordinate of each signature center in world coordinate system is
Step Z400: terminal device issues data acquisition instructions to connector, and connector is wanted according to data acquisition instructions
The each group parts for controlling the foot measurement device are asked to acquire one section of initial data, comprising: the point that each depth camera obtains
The pressure data of cloud data and RGB data, the grayscale image of ccd image sensor capture and the acquisition of each pressure sensor；
Step Z500: the initial data that foot measurement device obtains is uploaded to terminal device by connector；
Step Z600: terminal device merges zero point value of the multiframe grayscale image as optical pressure distribution measuring platform, calculates each
Zero point value of the mean value of frame pressure data as each pressure sensor；
Step Z700: terminal device obtains the location of pixels of signature central point j according to the RGB image of camera i, then
The camera coordinates of signature central point j are found in the point cloud data of camera iFurther according to four depth cameras in the world
Coordinate system OwCalibration coordinate in-XYZCoordinate system conversion is carried out, obtains signature central point j in world coordinate system
OwzCalibration coordinate in-XYZ
Step Z800: the signature central point j actual coordinate in world coordinate systemWith calibration coordinate
Between offset distance be lj,The offset distance mean value for taking all signature central points is comprehensive deviation
L, L=E (l1,l1,...,lm)；
Step Z900: when comprehensive deviation L is greater than given threshold value, illustrate camera calibration matrix RiAnd TiIt is no longer valid, this
When, prompt user to need to re-scale to depth camera component in the display module of terminal device.
Optionally, the various dimensions foot feature extracting method needs to execute after system initialization method completion, wraps
Include following steps:
Step S100: after completing system initialization, the display module prompt user of terminal device sloughs footgear, barefoot
It stands in the standing area prompting frame of object pad；
Step S200: user, which clicks, starts scan button, and the operation of terminal device relative users issues data to connector and adopts
Collection instruction, connector acquire 15s's according to each group parts that the requirement of data acquisition instructions controls the foot measurement device
Foot initial data, and send foot initial data to the data processing module of terminal device；
Step S300: data processing module carries out processing analysis to foot initial data, reconstructs the sufficient type of three-dimensional of user,
Extract the characteristic parameter of sufficient type and plantar nervous arch；
Step S400: display module shows the analysis result of foot data.
Beneficial effects of the present invention are as follows:
1, it is integrated with calibration and calibration component in foot measurement device of the present invention, is held in various dimensions foot characteristic analysis system
System initialization method is first carried out before row various dimensions foot feature extracting method, is calibrated automatically to joining outside depth camera group, if
Comprehensive deviation L is greater than given threshold value and then determines that camera calibration matrix fails, and prompts user to execute depth camera in terminal device
Join scaling method outside component, recalculates Camera extrinsic calibration matrix, ensure that the precision of sufficient type three-dimensional modeling, solve and be based on
The sufficient type measuring device of the three-dimensional of image mosaic leads to three since camera relative position changes after use after a period of time
Tie up the problem of modeling accuracy reduces.
2, the material of demarcation piece is body-centred cubic ferromagnet, and structure is profile shapes, and section is Z-type section, calibration and mark
Determining component has two kinds of forms of calibration and calibration, and the demarcation piece calibrated under form is adsorbed on by location hole under the influence of a magnetic field
It calibrates on side wall, demarcates 90 ° of two demarcation pieces intersections under form, vertically to being inserted into " ten " font.Due to being inserted using this
It connects, detachable demarcation piece, so that foot measurement device can be filled with self-calibrating and automatic Calibration without individually designed calibration
It sets, solves the problems, such as that the sufficient type measuring device caliberating device of three-dimensional based on image mosaic is not readily portable.
3, optical pressure distribution measuring platform utilizes the refraction principle of light, when object pad is not by pressure, the light of light source sending
It injects in glass plate, is totally reflected at the upper and lower surfaces of glass plate, light can not from the side of transparency glass plate
The upper and lower surfaces for projecting glass plate, when object pad is pressurized, the reflective layer of object pad forms one with glass plate upper surface and contacts
Face, the interface at contact surface becomes glass-reflective layer by glass-air, so that light is reflected in contact surface, reflects light
Line projects glass sheet lower surface after reflective layer reflects, and the ccd image sensor being located at immediately below glass plate captures.Due to adopting
With optics pressure distribution measurement platform, the hysteresis for solving dot matrix pressure resistance type flexible force sensitive sensor is poor, measurement pressure for a long time
Value increases, reticular density is difficult to the problems such as further increasing.
4, pressure sensor is embedded in optical pressure distribution measuring platform, so that pressure sensor and optical pressure distribution are surveyed
Platform synchronous acquisition user plantar pressure data are measured, in data handling, pressure sensor data and optical pressure distribution measuring platform
Data fusion, the stagnation pressure force value and the track COP that are calculated using pressure sensing data remove optimization optical pressure distribution measuring platform
Data, it is ensured that the accuracy and reliability of the plantar nervous arch data of optical pressure distribution measuring platform measurement.
5, various dimensions foot characteristic analysis system is fitted foot when three-dimensional sufficient type models using plantar nervous arch information
Bed die type solves the problems, such as that the sufficient type measuring device blind area modeling of three-dimensional based on image mosaic is ropy.Various dimensions foot
Portion's characteristic analysis system has the function of three-dimensional sufficient type modeling and the measurement of foot outer profile characteristic parameter, and has static and dynamic
Plantar nervous arch measures function, and Overall Acquisition foot morphology, dynamics and kinematics parameters realize various dimensions foot form
The measurement of feature, biomechanical characterization constructs foot characteristic parameter collection.Solves the single sufficient type of the three-dimensional based on image mosaic
Measuring device is only capable of measuring foot outer profile characteristic parameter, single is only capable of measuring vola based on plantar nervous arch measuring technique
The problem of Pressure Distribution.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the overall structure diagram of foot measurement device provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of foot pressure measuring part provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of demarcation piece provided in an embodiment of the present invention；
Fig. 4 is provided in an embodiment of the present invention calibrates with demarcation piece in the calibration form of calibration component to slotting schematic diagram；
Fig. 5 is the structure connection block diagram of various dimensions foot characteristic analysis system provided in an embodiment of the present invention；
Fig. 6 is the flow diagram for joining scaling method outside depth camera component provided in an embodiment of the present invention；
Fig. 7 is the flow diagram of system initialization method provided in an embodiment of the present invention；
Fig. 8 is the flow diagram of various dimensions foot feature extracting method provided in an embodiment of the present invention；
Fig. 9 is the sub-step flow diagram of step S300 in Fig. 8.
In figure: 10, various dimensions foot characteristic analysis system；100, foot measurement device；110, pedestal；111, level meter；
120, foot pressure measuring part；120-1, optical pressure distribution measuring platform；120-2, pressure sensor；121, object pad；1211, silicon
Rubber mat layer；1212, light shield layer；1213, reflective layer；122, transparency glass plate；123, light source；1231, lampshade；1232, shine member
Part；124, opaque casing；125, support post；1251, upper section column；1252, lower section column；126, ccd image sensor；
130, depth camera component；131, camera support column；132, depth camera；140, calibrate and demarcate component；141, side is calibrated
Wall；142, demarcation piece；142-1, upper demarcation piece；142-2, lower demarcation piece；1421, the first perpendicular target；1422, lateral target；1423,
Two perpendicular targets；1424, location hole；1425, signature；200, connector；300, terminal device.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
A kind of foot measurement device, various dimensions foot signature analysis below in conjunction with FIG. 1 to FIG. 9 to the embodiment of the present invention
System and method is described in detail.
Referring to Fig. 1, the embodiment of the invention provides a kind of foot measurement device 100, the foot measurement device 100 includes
Pedestal 110, foot pressure measuring part 120, depth camera component 130 and calibration and calibration component 140.Pedestal 110 is used for fixing foot
Other group parts of portion's measuring device 100, are located at 100 bottom of foot measurement device, and pedestal is equipped at least not a for 1 k
The even level meter 111 for being arranged in 100 surrounding of foot measurement device.Foot pressure measuring part 120 is pacified for obtaining plantar pressure data
On pedestal 110, positioned at the center of foot measurement device 100, and mutually not with other group parts of foot measurement device 100
Contact；Referring to fig. 2, foot pressure measuring part 120 includes optical pressure distribution measuring platform 120-1 and pressure sensor 120-2, optics
Pressure distribution measurement platform 120-1 is set on the pedestal 110, and pressure sensor 120-2 is embedded in optical pressure distribution measuring
In platform 120-1.The automatic calibration and automatic Calibration that calibration is used to join outside depth camera component 130 with calibration component 140, automatic
Under align mode, it is symmetrically arranged in the two sides of foot pressure measuring part 120.Depth camera component 130 is for obtaining foot point cloud number
According to, be symmetrically arranged in automatic align mode calibration and calibration 140 two sides of component and be evenly arranged in foot pressure measuring part 120
Surrounding；Depth camera component 130 includes camera support column 131 and depth camera 132, and depth camera 132 is mounted on camera branch
It supports on column 131, is directed at the optical pressure distribution measuring platform 120-1 of foot measurement device 100, camera support column 131 is installed
On pedestal 110.
Referring to fig. 2, optical pressure distribution measuring platform 120-1 includes object pad 121, transparency glass plate 122, light source 123, branch
Support column 125, ccd image sensor 126 and opaque casing 124；Opaque casing 124 is fixed on 110 center of pedestal,
Object pad 121 is covered on opaque casing 124 to form an opaque accommodation space, optical pressure distribution measuring platform 120-
1 other assemblies are all set in accommodation space.Object pad 121 includes silica gel bed course 1211, light shield layer 1212 and reflective layer
1213, silica gel bed course 1211 is located at upper layer, and 1211 printed thereon of silica gel bed course has standing area instruction frame and calibrating block reference line, stands
Vertical region prompting frame prompts the standing place of user's foot when being used to measure, calibrating block reference line is used under automatic Calibration state calibrate
With the positioning of calibration component 140, light shield layer 1212 is located at middle layer, and reflective layer 1213 is located at bottom, is tightly attached to transparency glass plate
On 122.Light source 123 is located at 122 4 sides of transparency glass plate, including light-emitting component 1232 and lampshade 1231, and lampshade 1231 is solid
It is scheduled on the transparent chassis sidewall, the lower edges of 122 side of tight transparency glass plate, light-emitting component 1232 is mounted on lamp
In cover 1231, under the package of above-mentioned lampshade 1231, light-emitting component 1232 is only capable of irradiating the side of the transparency glass plate 122
Face.Transparency glass plate 122 is lain on support post 125, and the support post 125 is uniformly arranged on 122 bottom of transparency glass plate
The surrounding in face；Ccd image sensor 126 is set to immediately below transparency glass plate 122, is horizontally arranged on the pedestal 110,
For receiving the light of 121 reflective layer 1213 of object pad reflection.Support post 125 is vertically installed on the pedestal 110, including upper
Duan Lizhu 1251 and lower section column 1252, the pressure sensor 120-2 be clipped in upper section column 1251 and lower section column 1252 it
Between, for obtaining the total plantar pressure and sole pressure center of user.
Calibration includes demarcation piece 142, calibration side wall 141 and magnet with calibration component 140；
Referring to Fig. 3, the material of demarcation piece 142 is body-centred cubic ferromagnet, and structure is profile shapes, and section is Z-type section；
The section includes the cross of the first perpendicular target 1421 and the second perpendicular target 1423 of the first perpendicular target 1421, the second perpendicular target 1423 and vertical connection
To target 1422, it is equipped with a groove on the first perpendicular target 1421, the second perpendicular target 1423 and lateral target 1422, the width of groove is
The thickness of profile shapes, lateral 1422 groove of target and the second perpendicular 1423 groove of target communicate and the section of two grooves is overlapped, and first is perpendicular
The section of the section of 1421 groove of target and the second perpendicular 1423 groove of target is symmetrical about the central axes of demarcation piece 142 and two groove cross
It is equal to the spacing of the first perpendicular target 1421 and the second perpendicular target 1423 to distance.
Referring to Fig. 3, the tow sides of the first perpendicular target 1421 and the second perpendicular target 1423 are calibration target surface, the first perpendicular target 1421
Calibration target surface at left and right sides of be respectively provided at least be not 1 n signature 1425, the calibration target surface or so of the second perpendicular target 1423
Two sides be respectively provided at least be not 2 n signature 1425, signature 1425 is dark annulus, and the center of circle is light；Calibration
There is location hole 1424 on piece 142, have a corresponding positioning convex point on calibration side wall 141, magnet is fixed on calibration side wall 141
It is interior.Demarcation piece 142 includes upper demarcation piece 142-1142 and lower demarcation piece 142-2142, and the calibration side wall 141 includes left calibration
Side wall 141 and right calibration side wall 141.Upper demarcation piece 142-1142 total height is identical with the total height of lower demarcation piece 142-2142
And the second 1423 high profile shapes of perpendicular target of the second perpendicular target 1423 of upper demarcation piece 142-1142 than lower demarcation piece 142-2142
Thickness；The location hole 1424 of upper demarcation piece 142-1142 is located at the upper left corner, and location hole 1424 of lower demarcation piece 142-2142
In the lower right corner, the positioning convex point of left calibration side wall 141 is located at the upper left corner, and the positioning convex point of right calibration side wall 141 is located at the lower right corner,
Under automatic align mode, upper demarcation piece 142-1142 is only capable of being mounted on left calibration side wall 141, lower demarcation piece 142-2142
It is only capable of being mounted on right calibration side wall 141.
There are two types of forms with calibration component tool for calibration:
Calibrate form: referring to Fig. 1, the positioning convex point of side wall 141, mark are calibrated in the socket of location hole 1424 in demarcation piece 142
Stator 142 is adsorbed under the influence of a magnetic field on calibration side wall 141.
Demarcate form: referring to fig. 4, two demarcation pieces 142 are taken out from calibration side wall 141, and upper demarcation piece 142-1142 exists
On, under, 90 ° intersect, vertically to " ten " font is inserted into lower demarcation piece 142-2142, are placed on object pad along calibrating block reference line
121 upper face centers make each calibration target surface be directed at a depth camera 132.
Referring to Fig. 5, the embodiment of the invention also provides a kind of various dimensions foot characteristic analysis systems 10, including above-mentioned foot
Measuring device 100, connector 200 and terminal device 300, in which: connector 200 connects foot measurement device as intermediate equipment
100 and terminal device 300, the data acquisition control of receiving terminal apparatus 300 instruct and control each of foot measurement device 100
Group parts according to data acquisition control instruct obtain initial data, receive foot measurement device 100 obtain initial data and on
It is transmitted to terminal device 300, realizes the data interaction between foot measurement device 100 and terminal device 300.Terminal device 300 wraps
Data processing module and display module are included, terminal device 300 receives the original that foot measurement device 100 obtains by connector 200
Beginning data, and carry out data fusion, three-dimensional reconstruction, feature extraction and report display, realize various dimensions foot feature measurement and
Visualization output.
The embodiment of the invention also provides a kind of various dimensions foot characteristic analysis methods, including system initialization method, depth
It spends and joins scaling method and various dimensions foot feature extracting method outside photomoduel 130.
Join scaling method referring to Fig. 6, outside depth camera 132 the following steps are included:
Step C100: the position of adjustment foot measurement device 100 keeps each level meter 111 on pedestal 110
Horizontality；
Step C200: calibration and calibration component 140 are set to calibration form, it is ensured that without other on foot measurement device 100
Sundries is powered on to various dimensions foot characteristic analysis system 10；
Step C300: world coordinate system O is established as origin using the reference-calibrating line focus of 121 upper surface of object padw- XYZ,
It is i (i=1,2,3,4) by 132 number consecutively of depth camera；By 1425 center of each signature in two demarcation pieces 142
Point number consecutively is j (j=1,2 ..., m), and world coordinates of each 1425 center of signature in world coordinate system is
Step C400: terminal device 300 issues data acquisition instructions to connector 200, and connector 200 is adopted according to data
132 component 130 of depth camera of the requirement control foot measurement device 100 of collection instruction acquires one group of point cloud data and RGB data,
Initial data is uploaded to terminal device 300 again；
Step C500: terminal device 300 obtains the pixel position of 1425 central point j of signature according to the RGB image of camera i
It sets, the camera coordinates of 1425 central point j of signature is then found in the point cloud data of camera iFurther according to each spy
1425 central point j of label is levied in world coordinate system OwWorld coordinates in-XYZCalculate the world coordinates and correspondence of point j
Conversion spin matrix R between camera coordinatesiWith translation matrix Ti, this RiAnd TiThe as calibration matrix of camera i；
Step C600: saving system configuration, completes calibration.
Referring to Fig. 7, system initialization method the following steps are included:
Step Z100: the position of adjustment foot measurement device 100 keeps each level meter 111 on pedestal 110
Horizontality；
Step Z200: will calibrate and calibration component 140 is set to calibration form, it is ensured that no-sundries on foot measurement device 100
When powered on to various dimensions foot characteristic analysis system 10；
Step Z300: world coordinate system O is established as origin using the reference-calibrating line focus of 121 upper surface of object padw- XYZ,
It is i (i=1,2,3,4) by 132 number consecutively of depth camera, by camera calibration matrix RiAnd TiObtained each depth camera
Calibration coordinate of the 132i in world coordinate system beThe each signature that will be exposed in two demarcation pieces 142
1425 central point number consecutivelies are j (j=1,2 ..., m), practical seat of each 1425 center of signature in world coordinate system
It is designated as
Step Z400: terminal device 300 issues data acquisition instructions to connector 200, and connector 200 is adopted according to data
Each group parts that the requirement of collection instruction controls the foot measurement device 100 acquire one section of initial data, comprising: each depth
The grayscale image and each pressure sensor of point cloud data and RGB data, the capture of ccd image sensor 126 that camera 132 obtains
The pressure data of 120-2 acquisition；
Step Z500: the initial data that foot measurement device 100 obtains is uploaded to terminal device 300 by connector 200；
Step Z600: terminal device 300 merges zero point of the multiframe grayscale image as optical pressure distribution measuring platform 120-1
Value, calculates zero point value of the mean value of each frame pressure data as each pressure sensor 120-2；
Step Z700: terminal device 300 obtains the pixel position of 1425 central point j of signature according to the RGB image of camera i
It sets, the camera coordinates of 1425 central point j of signature is then found in the point cloud data of camera iFurther according to four depths
Camera 132 is spent in world coordinate system OwCalibration coordinate in-XYZCoordinate system conversion is carried out, is obtained in signature 1425
Heart point j is in world coordinate system OwzCalibration coordinate in-XYZ
Step Z800: 1425 central point j of the signature actual coordinate in world coordinate systemWith calibration coordinateBetween offset distance be lj,Take the offset distance mean value of all 1425 central points of signature
For comprehensive deviation L, L=E (l1,l1,...,lm)；
Step Z900: when comprehensive deviation L is greater than given threshold value, illustrate camera calibration matrix RiAnd TiIt is no longer valid, this
When, prompt user to need to re-scale to 132 component 130 of depth camera in the display module of terminal device 300.
Referring to Fig. 8, various dimensions foot feature extracting method needs to execute after system initialization method completion, including with
Lower step:
Step S100: after completing system initialization, the display module prompt user of terminal device 300 sloughs footgear,
It stands in the standing area prompting frame of object pad 121 barefoot；
Step S200: user, which clicks, starts scan button, and the operation of 300 relative users of terminal device is issued to connector 200
Data acquisition instructions, connector 200 control each group of portion of the foot measurement device 100 according to the requirement of data acquisition instructions
Part acquires the foot initial data of 15s, and sends foot initial data to the data processing module of terminal device 300；
Step S300: data processing module carries out processing analysis to foot initial data, reconstructs the sufficient type of three-dimensional of user,
Extract the characteristic parameter of sufficient type and plantar nervous arch；
Step S400: display module shows the analysis result of foot data.
Referring to Fig. 9, step S300 may include tetra- sub-steps of step S310-S340:
Step S310: the foot initial data that foot measurement device 120 acquires is received；
Step S320: foot point cloud data is filtered, coordinate transform, the processing such as three-dimensional reconstruction；Use pressure sensor
The plantar nervous arch data that the pressure data optimization ccd image sensor 126 of 120-2 acquisition captures；To plantar nervous arch
Data carry out the processing such as foot pressure subregion, characteristics extraction；
Step S330: fusion plantar nervous arch data and treated foot point cloud data fit depth camera 132
The threedimensional model of blind area sole portion, then extract the outer profile characteristic parameter of three-dimensional sufficient type；
Step S340: foot data analysis result is sent to the display module of terminal device 300.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
It should be noted that the present invention is a kind of foot measurement device, various dimensions foot characteristic analysis system and method, packet
Include various dimensions foot characteristic analysis system 10, foot measurement device 100, pedestal 110, level meter 111, foot pressure measuring part 120,
It is optical pressure distribution measuring platform 120-1, pressure sensor 120-2, object pad 121, silica gel bed course 1211, light shield layer 1212, anti-
Photosphere 1213, transparency glass plate 122, light source 123, lampshade 1231, light-emitting component 1232, opaque casing 124, support post
125, upper section column 1251, lower section column 1252, ccd image sensor 126, depth camera component 130, camera support column
131, depth camera 132, calibration and calibration component 140, calibration side wall 141, demarcation piece 142, upper demarcation piece 142-1, lower calibration
Piece 142-2, the first perpendicular target 1421, lateral target 1422, the second perpendicular target 1423, location hole 1424, signature 1425, connector
200 and terminal device 300, component is universal standard part or component as known to those skilled in the art, and structure and principle are all
It can be learnt by technical manual for this technology personnel or be known by routine experiment method.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of foot measurement device, which is characterized in that including depth camera component, foot pressure measuring part, calibration and calibration group
Part and pedestal；Wherein: the pedestal is used to fix other group parts of foot measurement device, is located at foot measurement device bottom,
Pedestal is evenly arranged in the level meter of foot measurement device surrounding equipped with k at least for 1；The foot pressure measuring part is used
In obtain plantar pressure data, installation on the base, positioned at the center of foot measurement device, and with foot measurement device other
Group parts are not in contact with each other；Foot pressure measuring part includes optical pressure distribution measuring platform and pressure sensor, and optical pressure distribution is surveyed
Amount platform is set on the pedestal, and pressure sensor is embedded in optical pressure distribution measuring platform；The calibration and calibration component
For the automatic calibration joined outside depth camera component and automatic Calibration, under automatic align mode, it is symmetrically arranged in foot pressure measurement
The two sides of component；The depth camera component is symmetrically arranged in the calibration of automatic align mode for obtaining foot point cloud data
Measuring part surrounding is pressed with demarcating component two sides and being evenly arranged in foot；Depth camera component includes camera support column and depth
Camera, depth camera are mounted on camera support column, are directed at the optical pressure distribution measuring platform of foot measurement device, camera branch
Support column installation on the base.
2. foot measurement device according to claim 1, which is characterized in that the optical pressure distribution measuring platform includes carrying
Object pad, transparency glass plate, light source, support post, ccd image sensor and opaque casing；Wherein: the opaque casing is solid
It is scheduled on the base central, object pad is covered on opaque casing to form an opaque accommodation space, optical pressure point
The other assemblies of cloth test desk are all set in accommodation space；The object pad includes silica gel bed course, light shield layer and reflective layer, silicon
Rubber mat layer is located at upper layer, and silica gel bed course printed thereon has standing area instruction frame and calibrating block reference line, and standing area prompting frame is used
The standing place of user's foot is prompted when measurement, calibrating block reference line is used to calibrate under automatic Calibration state and demarcates determining for component
Position, light shield layer are located at middle layer, and reflective layer is located at bottom, is tightly attached on the transparency glass plate；The light source is located at transparent glass
Four sides of plate, including light-emitting component and lampshade, lampshade are fixed on the transparent chassis sidewall, transparent glass described in tight
The lower edges of plate side, light-emitting component are mounted in lampshade, and under the package of above-mentioned lampshade, light-emitting component is only capable of described in irradiation
The side of transparency glass plate；The transparency glass plate is lain on support post, and the support post is uniformly arranged on transparent glass
The surrounding of glass plate bottom surface；The ccd image sensor is set to immediately below transparency glass plate, is horizontally arranged on the pedestal,
For receiving the light of object pad reflective layer reflection；The support post is vertically installed on the pedestal, including upper section column and
Lower section column, the pressure sensor are clipped between upper section column and lower section column, for obtain user total plantar pressure and
Sole pressure center.
3. foot measurement device according to claim 1, which is characterized in that the calibration includes calibration with calibration component
Piece, calibration side wall and magnet；Wherein: the material of demarcation piece is body-centred cubic ferromagnet, and structure is profile shapes, and section is Z-type
Section；The section includes the lateral target of the first perpendicular target, the second perpendicular target and vertical connection the first perpendicular target and the second perpendicular target, and first is perpendicular
It is equipped with a groove on target, the second perpendicular target and lateral target, the width of groove is the thickness of profile shapes, lateral target groove and the
Two perpendicular target grooves communicate and the section of two grooves is overlapped, the section of the section of the first perpendicular target groove and the second perpendicular target groove about
The central axes of demarcation piece are symmetrical and two groove lateral distances are equal to the spacing of the first perpendicular target and the second perpendicular target；First perpendicular target and
The tow sides of two perpendicular targets are calibration target surface, and n be respectively provided at left and right sides of the calibration target surface of the first perpendicular target at least not for 1 is special
Sign label, be respectively provided at left and right sides of the calibration target surface of the second perpendicular target at least for 2 n signature, signature is depth
Color annulus, the center of circle are light color；Have in demarcation piece location hole, calibration side wall on have corresponding positioning convex point, magnet is fixed on
It calibrates in side wall.
4. foot measurement device according to claim 3, which is characterized in that the demarcation piece includes upper demarcation piece and subscript
Stator, the calibration side wall include left calibration side wall and right calibration side wall；Wherein: upper demarcation piece total height and lower demarcation piece it is total
The thickness of second perpendicular target of a highly identical and upper demarcation piece profile shapes higher than the second perpendicular target of lower demarcation piece；Upper demarcation piece
Location hole is located at the upper left corner, and the location hole of lower demarcation piece is located at the lower right corner, and the positioning convex point of left calibration side wall is located at the upper left corner, right
The positioning convex point of calibration side wall is located at the lower right corner, and under automatic align mode, upper demarcation piece is only capable of being mounted on left calibration side wall,
Lower demarcation piece is only capable of being mounted on right calibration side wall.
5. according to foot measurement device described in claim 3-4, which is characterized in that there are two types of the calibrations and calibration component tool
Form: calibration form: the positioning convex point of the location hole socket calibration side wall in demarcation piece, demarcation piece are adsorbed under the influence of a magnetic field
On calibration side wall；Calibration form: two demarcation pieces are taken out from calibration side wall, upper demarcation piece upper, lower demarcation piece under,
90 ° intersect, vertically to " ten " font is inserted into, and are placed on object pad upper face center along calibrating block reference line, make each calibration target
Face is directed at a depth camera.
6. a kind of various dimensions foot characteristic analysis system, which is characterized in that including foot described in Claims 1 to 5 any one
Portion's measuring device, connector and terminal device, in which: the connector connects foot measurement device and terminal as intermediate equipment
The data acquisition control of equipment, receiving terminal apparatus instructs and controls each group parts of foot measurement device and acquires according to data
Control instruction obtains initial data, receives the initial data that foot measurement device obtains and is uploaded to terminal device, realizes foot
Data interaction between measuring device and terminal device；The terminal device includes data processing module and display module, terminal
Equipment receives the initial data that foot measurement device obtains by connector, and carries out data fusion, three-dimensional reconstruction, feature extraction
And report display, realize the measurement and visualization output of various dimensions foot feature.
7. a kind of various dimensions foot characteristic analysis method, which is characterized in that be applied to analysis system as claimed in claim 6, institute
The method of stating includes system initialization method, depth camera component ginseng scaling method and various dimensions foot feature extracting method outside.
8. various dimensions foot characteristic analysis method according to claim 7, which is characterized in that join mark outside the depth camera
Determine method the following steps are included:
Step C100: adjusting the position of foot measurement device, and each level meter on pedestal is made to keep horizontality as far as possible；
Step C200: will calibrate and calibration component is set to calibration form, it is ensured that without other sundries on foot measurement device, give multidimensional
Degree foot characteristic analysis system powers on；
Step C300: world coordinate system O is established as origin using the reference-calibrating line focus of object pad upper surfacew- XYZ, by depth phase
Machine number consecutively is i (i=1,2,3,4)；By each signature central point number consecutively in two demarcation pieces be j (j=1,
2 ..., m), world coordinates of each signature center in world coordinate system is
Step C400: terminal device issues data acquisition instructions to connector, connector according to data acquisition instructions requirement control
The depth camera component of foot measurement device processed acquires one group of point cloud data and RGB data, then initial data is uploaded to terminal
Equipment.
Step C500: terminal device obtains the location of pixels of signature central point j according to the RGB image of camera i, then in phase
The camera coordinates of signature central point j are found in the point cloud data of machine iExist further according to each signature central point j
World coordinate system OwWorld coordinates in-XYZCalculate the conversion rotation between the world coordinates of point j and corresponding camera coordinates
Matrix RiWith translation matrix Ti, this RiAnd TiThe as calibration matrix of camera i；
Step C600: saving system configuration, completes calibration.
9. various dimensions foot characteristic analysis method according to claim 7, which is characterized in that the system initialization method
The following steps are included:
Step Z100: adjusting the position of foot measurement device, and each level meter on pedestal is made to keep horizontality as far as possible；
Step Z200: will calibrate and calibration component is set to calibration form, it is ensured that various dimensions when no-sundries on foot measurement device
Foot characteristic analysis system powers on；
Step Z300: world coordinate system O is established as origin using the reference-calibrating line focus of object pad upper surfacew- XYZ, by depth phase
Machine number consecutively is i (i=1,2,3,4), by camera calibration matrix RiAnd TiObtained each depth camera i is in world coordinate system
In calibration coordinate beIt is j (j=by each signature central point number consecutively being exposed in two demarcation pieces
1,2 ..., m), actual coordinate of each signature center in world coordinate system is
Step Z400: terminal device issues data acquisition instructions to connector, connector according to data acquisition instructions requirement control
The each group parts for making the foot measurement device acquire one section of initial data, comprising: the point cloud number that each depth camera obtains
According to the pressure data with RGB data, the grayscale image of ccd image sensor capture and the acquisition of each pressure sensor；
Step Z500: the initial data that foot measurement device obtains is uploaded to terminal device by connector；
Step Z600: terminal device merges zero point value of the multiframe grayscale image as optical pressure distribution measuring platform, calculates each frame pressure
Zero point value of the mean value of force data as each pressure sensor；
Step Z700: terminal device obtains the location of pixels of signature central point j according to the RGB image of camera i, then in phase
The camera coordinates of signature central point j are found in the point cloud data of machine iFurther according to four depth cameras in world coordinates
It is OwCalibration coordinate in-XYZCoordinate system conversion is carried out, obtains signature central point j in world coordinate system Owz-XYZ
In calibration coordinate
Step Z800: the signature central point j actual coordinate in world coordinate systemWith calibration coordinateBetween
Offset distance isThe offset distance mean value for taking all signature central points is comprehensive deviation L, L
=E (l1,l1,...,lm)；
Step Z900: when comprehensive deviation L is greater than given threshold value, illustrate camera calibration matrix RiAnd TiIt is no longer valid, at this point,
User is prompted to need to re-scale to depth camera component in the display module of terminal device.
10. various dimensions foot characteristic analysis method according to claim 7, which is characterized in that the various dimensions foot is special
Sign extracting method needs to execute after system initialization method completion, comprising the following steps:
Step S100: after completing system initialization, the display module prompt user of terminal device sloughs footgear, stands barefoot
In the standing area prompting frame of object pad；
Step S200: user, which clicks, starts scan button, and the operation of terminal device relative users issues data acquisition to connector and refers to
It enables, connector controls the foot of each group parts acquisition 15s of the foot measurement device according to the requirement of data acquisition instructions
Initial data, and send foot initial data to the data processing module of terminal device；
Step S300: data processing module carries out processing analysis to foot initial data, reconstructs the sufficient type of three-dimensional of user, extracts
The characteristic parameter of sufficient type and plantar nervous arch；
Step S400: display module shows the analysis result of foot data.
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