CN110179468B - Foot measuring device, multi-dimensional foot feature analysis system and method - Google Patents

Foot measuring device, multi-dimensional foot feature analysis system and method Download PDF

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CN110179468B
CN110179468B CN201910426948.6A CN201910426948A CN110179468B CN 110179468 B CN110179468 B CN 110179468B CN 201910426948 A CN201910426948 A CN 201910426948A CN 110179468 B CN110179468 B CN 110179468B
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foot
data
measuring device
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CN110179468A (en
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姚志明
杨先军
张晓翟
叶茂林
李红军
古玮明
阎磊
陈文彪
黄本源
张晓宇
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Anhui Zhongke Benyuan Information Technology Co ltd
Fujian Sems Intelligentce Information Technology Co ltd
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Fujian Sems Intelligentce Information Technology Co ltd
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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
    • 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
    • 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 foot measuring device, a multi-dimensional foot characteristic analysis system and a method, wherein the multi-dimensional foot characteristic analysis system comprises a foot measuring device, a connector and a terminal device; the foot measuring device is used for acquiring foot original data, including point cloud data, RGB data, pressure distribution data and total pressure data; the connector is respectively connected with the foot measuring device and the terminal equipment; the terminal equipment is used for calculating and visually outputting the multi-dimensional foot features; the method comprises the steps of corresponding user operation, data interaction between a foot measuring device and terminal equipment, fusion of original data collected by the foot measuring device and extraction of multi-dimensional foot features. The foot measuring device, the multi-dimensional foot characteristic analysis system and the method provided by the invention can acquire the foot data of the user in an open environment, quickly and efficiently analyze the multi-dimensional foot characteristics, and provide automatic calibration and calibration functions of the foot measuring device.

Description

Foot measuring device, multi-dimensional foot feature analysis system and method
Technical Field
The invention relates to the field of foot measurement, in particular to a foot measuring device, a multi-dimensional foot feature analysis system and a multi-dimensional foot feature analysis method.
Background
The existing foot measurement technology mainly comprises manual measurement and automatic measurement, and the manual measurement has the defects of low efficiency, large error, few measurable parameters and the like, and is gradually replaced by the automatic measurement technology.
The automatic measurement technology is divided into a three-dimensional foot shape measurement technology based on image splicing and a plantar pressure distribution measurement technology, wherein the three-dimensional foot shape measurement technology based on image splicing can only measure the characteristic parameters of the outline of the foot, the measurement precision is influenced by the installation precision of a camera, and after a period of use, the three-dimensional modeling precision is reduced due to the change of the relative position of the camera; the plantar pressure distribution measuring technology adopts lattice piezoresistive flexible force-sensitive sensors to acquire plantar pressure distribution information, and the sensors have the defects of poor hysteresis, increased pressure value measured for a long time and the like. Therefore, a foot measuring device, a multi-dimensional foot feature analysis system and a multi-dimensional foot feature analysis method are provided.
Disclosure of Invention
The invention provides a foot measuring device, a multi-dimensional foot characteristic analysis system and a multi-dimensional foot characteristic analysis method.
The specific technical scheme provided by the invention is as follows:
the embodiment of the invention provides a foot measuring device, which comprises a depth camera component, a foot pressure measuring component, a calibration and calibration component and a base, wherein the depth camera component is connected with the foot pressure measuring component; the base is used for fixing other components of the foot measuring device and is positioned at the bottom of the foot measuring device, k gradienters which are uniformly distributed around the foot measuring device are arranged on the base, and k is larger than 1; the foot pressure measuring component is used for acquiring foot sole pressure data, is arranged on the base, is positioned in the center of the foot measuring device and is not in contact with other components of the foot measuring device; the foot pressure measuring component comprises an optical pressure distribution measuring table and a pressure sensor, the optical pressure distribution measuring table is arranged on the base, and the pressure sensor is embedded in the optical pressure distribution measuring table; the calibration and calibration component is used for automatic calibration and automatic calibration of external parameters of the depth camera component, and is symmetrically arranged on two sides of the foot pressure measuring component in an automatic calibration state; the depth camera assembly is used for acquiring foot point cloud data, is symmetrically arranged at two sides of the calibration and calibration assembly in the automatic calibration state and is uniformly arranged around the foot pressure measuring component; the depth camera assembly includes a camera support post and a depth camera mounted on the camera support post in alignment with the optical pressure distribution measuring table of the foot measuring device, the camera support post being mounted on the base.
Optionally, the optical pressure distribution measuring table includes an object cushion, a transparent glass plate, a light source, a support column, a CCD image sensor, and an opaque casing; the opaque casing is fixed in the center of the base, the carrying pad is covered on the opaque casing to form an opaque accommodating space, and other components of the optical pressure distribution measuring table are arranged in the accommodating space; the carrying pad comprises a silica gel cushion layer, a light shielding layer and a reflecting layer, wherein the silica gel cushion layer is positioned on the upper layer, a standing area indicating frame and a calibration block reference line are printed on the silica gel cushion layer, the standing area indicating frame is used for indicating the standing position of a user foot during measurement, the calibration block reference line is used for positioning a calibration and calibration component in an automatic calibration state, the light shielding layer is positioned on the middle layer, and the reflecting layer is positioned on the bottom layer and clings to the transparent glass plate; the light sources are positioned on four side surfaces of the transparent glass plate and comprise light-emitting elements and a lampshade, the lampshade is fixed on the side wall of the transparent shell and tightly wraps the upper edge and the lower edge of the side edge of the transparent glass plate, the light-emitting elements are arranged in the lampshade, and the light-emitting elements can only irradiate the side surface of the transparent glass plate under the wrapping of the lampshade; the transparent glass plate is flatly placed on the supporting upright posts, and the supporting upright posts are uniformly arranged on the periphery of the bottom surface of the transparent glass plate; the CCD image sensor is arranged right below the transparent glass plate, is horizontally arranged on the base and is used for receiving light reflected by the reflecting layer of the loading pad; the supporting upright post is vertically arranged on the base and comprises an upper section upright post and a lower section upright post, and the pressure sensor is clamped between the upper section upright post and the lower section upright post and is used for acquiring the total plantar pressure and the plantar pressure center of a user.
Optionally, the calibration and calibration assembly includes a calibration sheet, a calibration sidewall, and a magnet; the calibration sheet is made of a body-centered cubic ferromagnet, is structurally a profiled bar, and has a Z-shaped section; the cross section comprises a first vertical target, a second vertical target and a transverse target vertically connected with the first vertical target and the second vertical target, the first vertical target, the second vertical target and the transverse target are respectively provided with a groove, the width of each groove is equal to the thickness of a profiled bar, the groove of the transverse target is communicated with the groove of the second vertical target, the cross sections of the two grooves are overlapped, the cross section of the groove of the first vertical target and the cross section of the groove of the second vertical target are symmetrical about the central axis of the calibration sheet, and the transverse distance between the two grooves is equal to the distance between the first vertical target and the second vertical target; the front and back surfaces of the first vertical target and the second vertical target are calibration target surfaces, the left side and the right side of the calibration target surface of the first vertical target are respectively provided with n characteristic marks which are not 1 at least, the left side and the right side of the calibration target surface of the second vertical target are respectively provided with n characteristic marks which are not 2 at least, the characteristic marks are dark rings, and the circle center is light color; the calibration sheet is provided with a positioning hole, the calibration side wall is provided with a positioning salient point corresponding to the positioning hole, and the magnet is fixed in the calibration side wall.
Optionally, the calibration sheet includes an upper calibration sheet and a lower calibration sheet, and the calibration sidewall includes a left calibration sidewall and a right calibration sidewall; the total height of the upper calibration sheet is the same as that of the lower calibration sheet, and the second vertical target of the upper calibration sheet is higher than that of the lower calibration sheet by the thickness of a profiled bar; the locating hole of going up the calibration piece is located the upper left corner, and the locating hole of lower calibration piece is located the lower right corner, and the location bump of left side calibration lateral wall is located the upper left corner, and the location bump of right side calibration lateral wall is located the lower right corner, and under the automatic calibration state, go up the calibration piece and only can install on left side calibration lateral wall, and lower calibration piece only can install on right side calibration lateral wall.
Optionally, the calibration and calibration assembly has two forms: calibration morphology: the positioning hole on the calibration sheet is sleeved with the positioning salient point on the calibration side wall, and the calibration sheet is adsorbed on the calibration side wall under the action of the magnetic field; calibration form: the two calibration sheets are taken out from the calibration side wall, the upper calibration sheet is arranged above the calibration side wall, the lower calibration sheet is arranged below the calibration side wall, the two calibration sheets are intersected at 90 degrees and vertically inserted into a cross shape, and the cross shape is placed in the center of the upper surface of the loading pad along the reference line of the calibration block, so that each calibration target surface is aligned to one depth camera.
Optionally, the calibration and calibration assembly has two forms: calibration morphology: the positioning hole on the calibration sheet is sleeved with the positioning salient point on the calibration side wall, and the calibration sheet is adsorbed on the calibration side wall under the action of the magnetic field; calibration form: the two calibration sheets are taken out from the calibration side wall, the upper calibration sheet is arranged above the calibration side wall, the lower calibration sheet is arranged below the calibration side wall, the two calibration sheets are intersected at 90 degrees and vertically inserted into a cross shape, and the cross shape is placed in the center of the upper surface of the loading pad along the reference line of the calibration block, so that each calibration target surface is aligned to one depth camera.
Optionally, an embodiment of the present invention further provides a multidimensional foot feature analysis system, including the above-mentioned foot measurement apparatus, a connector, and a terminal device, where: the connector is used as an intermediate device to connect the foot measuring device and the terminal device, receives a data acquisition control instruction of the terminal device and controls each group of components of the foot measuring device to acquire original data according to the data acquisition control instruction, receives the original data acquired by the foot measuring device and uploads the original data to the terminal device, and data interaction between the foot measuring device and the terminal device is realized; the terminal equipment comprises a data processing module and a display module, receives the original data acquired by the foot measuring device through the connector, performs data fusion, three-dimensional reconstruction, feature extraction and report display, and realizes measurement and visual output of multi-dimensional foot features.
Optionally, the embodiment of the present invention further provides a multidimensional foot feature analysis method, including a system initialization method, a depth camera component external parameter calibration method, and a multidimensional foot feature extraction method; the method for calibrating the external parameters of the depth camera comprises the following steps:
step C100, adjusting the position of the foot measuring device to enable each level gauge on the base to keep a horizontal state as much as possible;
step C200, setting the calibration and calibration component into a calibration form to ensure that no other sundries exist on the foot measurement device, and electrifying the multi-dimensional foot characteristic analysis system;
step C300, establishing a world coordinate system O by taking the focus of the calibration datum line on the upper surface of the carrying pad as an originw-XYZ, numbering the depth cameras in order i (i ═ 1,2,3, 4); the center points of the feature marks on the two calibration sheets are numbered as j (j is 1,2, …, m) in sequence, and the world coordinates of the centers of the feature marks in a world coordinate system are
Figure GDA0003480297520000051
Step C400: the terminal equipment issues a data acquisition instruction to the connector, the connector controls the depth camera component of the foot measurement device to acquire a group of point cloud data and RGB data according to the requirement of the data acquisition instruction, and then the original data are uploaded to the terminal equipment.
Step C500: the terminal equipment obtains the pixel position of the feature mark central point j according to the RGB image of the camera i, and then finds the camera coordinate of the feature mark central point j in the point cloud data of the camera i
Figure GDA0003480297520000061
Marking the central point j in a world coordinate system O according to each characteristicwWorld coordinates in XYZ
Figure GDA0003480297520000062
Calculating a transformation rotation matrix R between world coordinates of a point j and corresponding camera coordinatesiAnd translation matrix TiThis RiAnd TiNamely, the calibration matrix of the camera i is obtained;
step C600: and saving the system configuration to finish calibration.
Optionally, the system initialization method includes the following steps:
step Z100: adjusting the position of the foot measuring device to enable each level gauge on the base to be kept in a horizontal state as much as possible;
step Z200: setting the calibration and calibration component to be in a calibration form, and ensuring that the multi-dimensional foot characteristic analysis system is powered on when no sundries exist on the foot measurement device;
step Z300: establishing a world coordinate system O by taking a calibration datum line focus of the upper surface of the carrying pad as an originwXYZ, numbering the depth cameras i (i ═ 1,2,3,4) in order, with a camera calibration matrix RiAnd TiThe obtained calibration coordinates of each depth camera i in a world coordinate system are
Figure GDA0003480297520000063
The center points of the feature marks exposed on the two calibration sheets are sequentially numbered as j (j is 1,2, …, m), and the actual coordinates of the center of each feature mark in the world coordinate system are j
Figure GDA0003480297520000064
Step Z400: the terminal equipment issues a data acquisition instruction to the connector, and the connector controls each group of components of the foot measurement device to acquire a section of original data according to the requirement of the data acquisition instruction, and the method comprises the following steps: the system comprises point cloud data and RGB data acquired by each depth camera, a gray scale image captured by a CCD image sensor and pressure data acquired by each pressure sensor;
step Z500: the connector uploads the original data acquired by the foot measuring device to the terminal equipment;
step Z600: the terminal equipment fuses the multi-frame gray level images as zero values of the optical pressure distribution measuring table, and calculates the average value of each frame of pressure data as the zero value of each pressure sensor;
step Z700: the terminal equipment obtains the pixel position of the feature mark central point j according to the RGB image of the camera i, and then finds the camera coordinate of the feature mark central point j in the point cloud data of the camera i
Figure GDA0003480297520000071
Then according to the world coordinate system O of the four depth camerasw-calibration coordinates in XYZ
Figure GDA0003480297520000072
Converting the coordinate system to obtain a world coordinate system O of the feature mark central point jw-calibration coordinates in XYZ
Figure GDA0003480297520000073
Step Z800: actual coordinates of feature mark center point j in world coordinate system
Figure GDA0003480297520000074
And calibrating the coordinates
Figure GDA0003480297520000075
With a deviation distance of
Figure GDA0003480297520000076
Taking the mean deviation distance of the central points of all the feature marks as a comprehensive deviation L, wherein L is equal to E (L)1,l1,...,lm)；
Step Z900: when the integrated deviation L is larger than a given threshold value, a camera calibration matrix R is indicatediAnd TiAnd when the calibration is failed, prompting a user in a display module of the terminal equipment that the depth camera assembly needs to be recalibrated.
Optionally, the multidimensional foot feature extraction method needs to be executed after the system initialization method is completed, and includes the following steps:
step S100: after the system initialization is completed, a display module of the terminal equipment prompts a user to take off shoes and socks, and the user stands barefoot in a standing area prompt frame of the carrying pad;
step S200: the user clicks a scanning start button, the terminal equipment correspondingly operates by the user, a data acquisition instruction is issued to the connector, the connector controls each group of components of the foot measuring device to acquire 15s of foot original data according to the requirement of the data acquisition instruction, and the foot original data are sent to a data processing module of the terminal equipment;
step S300: the data processing module processes and analyzes the original foot data, reconstructs a three-dimensional foot shape of a user, and extracts characteristic parameters of the foot shape and the pressure distribution of the sole;
step S400: the display module displays the analysis result of the foot data.
The invention has the following beneficial effects:
1. the foot measuring device integrates the calibration and calibration components, executes the system initialization method before the multidimensional foot feature analysis system executes the multidimensional foot feature extraction method, automatically calibrates the external parameters of the depth camera set, judges that the camera calibration matrix is invalid if the comprehensive deviation L is greater than a given threshold value, prompts a user to execute the depth camera component external parameter calibration method in the terminal equipment, recalculates the camera external parameter calibration matrix, ensures the precision of foot three-dimensional modeling, and solves the problem that the three-dimensional modeling precision is reduced due to the change of the relative position of the camera after the three-dimensional foot measuring equipment based on image splicing is used for a period of time.
2. The calibration sheet is made of a body-centered cubic ferromagnet, the structure is a special-shaped material, the cross section is a Z-shaped cross section, the calibration and calibration assembly has two calibration forms, the calibration sheet in the calibration form is adsorbed on the calibration side wall through the positioning hole under the action of a magnetic field, and the two calibration sheets in the calibration form are intersected at 90 degrees and vertically inserted into a cross shape. Due to the adoption of the pluggable and separable calibration sheet, the foot measurement device can be self-calibrated and automatically calibrated without independently designing a calibration device, and the problem that the three-dimensional foot-shaped measurement device calibration device based on image splicing is inconvenient to carry is solved.
3. The optical pressure distribution measuring table utilizes the refraction principle of light, when the objective pad is not pressurized, light emitted by the light source is emitted into the glass plate from the side surface of the transparent glass plate, total reflection occurs at the upper surface and the lower surface of the glass plate, light cannot emit the upper surface and the lower surface of the glass plate, when the objective pad is pressurized, a contact surface is formed between the reflecting layer of the objective pad and the upper surface of the glass plate, the interface at the contact surface is changed from glass-air into a glass-reflecting layer, so that the light is refracted at the contact surface, the refracted light is reflected by the reflecting layer and then emitted out of the lower surface of the glass plate, and the refracted light is captured by a CCD image sensor positioned under the glass plate. Due to the adoption of the optical pressure distribution measuring table, the problems that the retardation of the lattice piezoresistive flexible force-sensitive sensor is poor, the pressure value measured for a long time is increased, the lattice density is difficult to further improve and the like are solved.
4. The pressure sensor is embedded in the optical pressure distribution measuring table, so that the pressure sensor and the optical pressure distribution measuring table synchronously acquire user sole pressure data, the data of the pressure sensor is fused with the data of the optical pressure distribution measuring table in data processing, the data of the optical pressure distribution measuring table is optimized by using the total pressure value and COP track calculated by the pressure sensing data, and the accuracy and the reliability of the sole pressure distribution data measured by the optical pressure distribution measuring table are ensured.
5. The multidimensional foot characteristic analysis system uses the sole pressure distribution information to fit a sole model during three-dimensional foot shape modeling, and the problem of poor modeling quality of a visual field blind area of three-dimensional foot shape measuring equipment based on image splicing is solved. The multidimensional foot characteristic analysis system has the functions of three-dimensional foot shape modeling and foot outline characteristic parameter measurement, and also has the functions of static and dynamic plantar pressure distribution measurement, foot morphological, dynamic and kinematic parameters are comprehensively obtained, measurement of multidimensional foot morphological characteristics and biomechanical characteristics is realized, and a foot characteristic parameter set is constructed. The problems that single three-dimensional foot type measuring equipment based on image splicing can only measure the characteristic parameters of the outer contour of the foot and single measuring technology based on the sole pressure distribution can only measure the sole pressure distribution characteristics are solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of a foot measurement device provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a foot pressure measuring component provided in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a calibration sheet according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the alignment of the calibration sheet in the calibration mode of the calibration and calibration assembly according to the embodiment of the present invention;
FIG. 5 is a block diagram illustrating the structural connections of a multidimensional foot feature analysis system provided in an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a method for calibrating an external reference of a depth camera component according to an embodiment of the present invention;
fig. 7 is a schematic flowchart of a system initialization method according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of a multi-dimensional foot feature extraction method according to an embodiment of the present invention;
fig. 9 is a flowchart illustrating the sub-steps of step S300 in fig. 8.
In the figure: 10. a multi-dimensional foot feature analysis system; 100. a foot measurement device; 110. a base; 111. a level gauge; 120. a foot pressure measuring component; 120-1, an optical pressure distribution measuring table; 120-2, a pressure sensor; 121. a loading pad; 1211. a silica gel cushion layer; 1212. a light-shielding layer; 1213. a light-reflecting layer; 122. a transparent glass plate; 123. a light source; 1231. a lamp shade; 1232. a light emitting element; 124. an opaque housing; 125. supporting the upright post; 1251. an upper section of upright post; 1252. a lower section of upright post; 126. a CCD image sensor; 130. a depth camera component; 131. a camera support column; 132. a depth camera; 140. calibrating and calibrating the assembly; 141. calibrating the side wall; 142. calibrating the sheet; 142-1, an upper calibration sheet; 142-2, lower stator plate; 1421. a first vertical target; 1422. a transverse target; 1423. a second vertical target; 1424. positioning holes; 1425. characteristic marking; 200. a connector; 300. and (4) terminal equipment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
A foot measurement device, a multi-dimensional foot feature analysis system and a method according to embodiments of the present invention will be described in detail with reference to fig. 1 to 9.
Referring to fig. 1, an embodiment of the present invention provides a foot measurement device 100, the foot measurement device 100 including a base 110, a foot pressure measurement component 120, a depth camera assembly 130, and a calibration and calibration assembly 140. The base 110 is used for fixing other components of the foot measurement device 100 and is located at the bottom of the foot measurement device 100, and k gradienters 111 are uniformly arranged on the base around the foot measurement device 100, wherein k is larger than 1. The foot pressure measuring component 120 is used for acquiring foot sole pressure data, is installed on the base 110, is located in the center of the foot measuring device 100, and is not in contact with other components of the foot measuring device 100; referring to fig. 2, the foot pressure measuring part 120 includes an optical pressure distribution measuring stage 120-1 and a pressure sensor 120-2, the optical pressure distribution measuring stage 120-1 is disposed on the base 110, and the pressure sensor 120-2 is embedded in the optical pressure distribution measuring stage 120-1. The calibration and calibration assembly 140 is used for automatic calibration and automatic calibration of the external parameters of the depth camera assembly 130, and in an automatic calibration state, is symmetrically arranged on both sides of the foot pressure measuring part 120. The depth camera assembly 130 is used for acquiring foot point cloud data, symmetrically arranged at two sides of the calibration and calibration assembly 140 in the automatic calibration state and uniformly arranged around the foot pressure measuring part 120; depth camera assembly 130 includes a camera support post 131 and a depth camera 132, depth camera 132 mounted on camera support post 131 in alignment with optical pressure distribution measurement stage 120-1 of foot measurement device 100, camera support post 131 mounted on base 110.
Referring to fig. 2, the optical pressure distribution measuring stage 120-1 includes a stage pad 121, a transparent glass plate 122, a light source 123, a support pillar 125, a CCD image sensor 126, and an opaque casing 124; an opaque housing 124 is fixed at the center of the base 110, a loading pad 121 is covered on the opaque housing 124 to form an opaque accommodating space, and other components of the optical pressure distribution measuring stage 120-1 are disposed in the accommodating space. The carrying pad 121 comprises a silica gel pad 1211, a light shielding layer 1212 and a reflective layer 1213, the silica gel pad 1211 is located on the upper layer, a standing area indication frame and a calibration block reference line are printed on the silica gel pad 1211, the standing area indication frame is used for indicating the standing position of the user foot during measurement, the calibration block reference line is used for positioning the calibration and calibration component 140 in an automatic calibration state, the light shielding layer 1212 is located on the middle layer, and the reflective layer 1213 is located on the bottom layer and clings to the transparent glass plate 122. The light sources 123 are located on four sides of the transparent glass plate 122, and include light emitting elements 1232 and a lamp cover 1231, the lamp cover 1231 is fixed on the sidewall of the transparent housing, and tightly covers the upper and lower edges of the side of the transparent glass plate 122, the light emitting elements 1232 are installed in the lamp cover 1231, and under the cover of the lamp cover 1231, the light emitting elements 1232 can only irradiate the side of the transparent glass plate 122. The transparent glass plate 122 is flatly placed on the supporting upright posts 125, and the supporting upright posts 125 are uniformly arranged around the bottom surface of the transparent glass plate 122; the CCD image sensor 126 is disposed right below the transparent glass plate 122, horizontally mounted on the base 110, and used for receiving the light reflected by the reflective layer 1213 of the loading pad 121. The supporting post 125 is vertically installed on the base 110, and includes an upper post 1251 and a lower post 1252, and the pressure sensor 120-2 is sandwiched between the upper post 1251 and the lower post 1252 for obtaining the total pressure and the center of pressure of the sole of the user.
The calibration and calibration assembly 140 includes a calibration plate 142, a calibration sidewall 141, and a magnet;
referring to fig. 3, the calibration sheet 142 is made of a body-centered cubic ferromagnetic material, and has a special-shaped structure with a Z-shaped cross section; the cross section comprises a first vertical target 1421, a second vertical target 1423 and a transverse target 1422 vertically connecting the first vertical target 1421 and the second vertical target 1423, the first vertical target 1421, the second vertical target 1423 and the transverse target 1422 are respectively provided with a groove, the width of each groove is the thickness of a profiled bar, the grooves of the transverse target 1422 and the second vertical target 1423 are communicated, the cross sections of the two grooves are overlapped, the cross section of the groove of the first vertical target 1421 and the cross section of the groove of the second vertical target 1423 are symmetrical about the central axis of the calibration sheet 142, and the transverse distance between the two grooves is equal to the distance between the first vertical target 1421 and the second vertical target 1423.
Referring to fig. 3, both front and back surfaces of the first vertical target 1421 and the second vertical target 1423 are calibration target surfaces, n feature marks 1425 which are at least not 1 are respectively arranged on the left and right sides of the calibration target surface of the first vertical target 1421, n feature marks 1425 which are at least not 2 are respectively arranged on the left and right sides of the calibration target surface of the second vertical target 1423, the feature marks 1425 are dark circles, and the circle center is light color; the calibration plate 142 has a positioning hole 1424, the calibration sidewall 141 has a corresponding positioning bump, and the magnet is fixed in the calibration sidewall 141. The calibration sheet 142 includes an upper calibration sheet 142 and 1142 and a lower calibration sheet 142 and 2142, and the calibration sidewall 141 includes a left calibration sidewall 141 and a right calibration sidewall 141. The total height of the upper calibration piece 142 and 1142 is the same as that of the lower calibration piece 142 and 2142, and the second vertical target 1423 of the upper calibration piece 142 and 1142 is thicker than the second vertical target 1423 of the lower calibration piece 142 and 2142 by the thickness of a profiled bar; the positioning hole 1424 of the upper calibration piece 142 and the positioning hole 1424 of the lower calibration piece 142 and the positioning hole 2142 are located at the upper left corner, the positioning bump of the left calibration sidewall 141 is located at the upper left corner, and the positioning bump of the right calibration sidewall 141 is located at the lower right corner, so that in the automatic calibration state, the upper calibration piece 142 and the lower calibration piece 2142 can only be installed on the left calibration sidewall 141, and the lower calibration piece 142 and the lower calibration piece 2142 can only be installed on the right calibration sidewall 141.
The calibration and calibration assembly has two forms:
calibration morphology: referring to fig. 1, the positioning hole 1424 of the calibration sheet 142 is sleeved on the positioning bump of the calibration sidewall 141, and the calibration sheet 142 is attached to the calibration sidewall 141 under the action of the magnetic field.
Calibration form: referring to fig. 4, the two calibration sheets 142 are taken out from the calibration sidewall 141, the upper calibration sheet 142 and 1142 are on top, the lower calibration sheet 142 and 2142 are on bottom, intersect at 90 °, and are vertically inserted into a cross shape, and are placed in the center of the upper surface of the loading pad 121 along the calibration block reference line, so that each calibration target surface is aligned with one depth camera 132.
Referring to fig. 5, an embodiment of the present invention further provides a multidimensional foot feature analysis system 10, which includes the above-mentioned foot measurement device 100, a connector 200, and a terminal device 300, wherein: the connector 200 is used as an intermediate device to connect the foot measurement device 100 and the terminal device 300, receives a data acquisition control instruction of the terminal device 300 and controls each group of components of the foot measurement device 100 to acquire original data according to the data acquisition control instruction, receives the original data acquired by the foot measurement device 100 and uploads the original data to the terminal device 300, and data interaction between the foot measurement device 100 and the terminal device 300 is realized. The terminal device 300 includes a data processing module and a display module, and the terminal device 300 receives the raw data acquired by the foot measurement apparatus 100 through the connector 200, performs data fusion, three-dimensional reconstruction, feature extraction and report display, and implements measurement and visual output of multi-dimensional foot features.
The embodiment of the invention also provides a multi-dimensional foot feature analysis method, which comprises a system initialization method, a depth camera component 130 external parameter calibration method and a multi-dimensional foot feature extraction method.
Referring to fig. 6, the external reference calibration method for the depth camera 132 includes the following steps:
step C100: adjusting the position of the foot measuring device 100 to make each level 111 on the base 110 maintain a horizontal state as much as possible;
step C200: setting the calibration and calibration component 140 to a calibration state to ensure that no other impurities exist on the foot measurement device 100, and powering on the multidimensional foot feature analysis system 10;
step C300: establishing a world coordinate system O by using the focus of the calibration datum line on the upper surface of the loading pad 121 as an originwXYZ, numbering the depth camera 132 as i (i ═ 1,2,3,4) in order; the center points of the feature marks 1425 on the two calibration sheets 142 are sequentially numbered as j (j is 1,2, …, m), and the world coordinate of the center of each feature mark 1425 in the world coordinate system is j
Figure GDA0003480297520000171
Step C400: the terminal device 300 issues a data acquisition instruction to the connector 200, and the connector 200 controls the depth camera 132 component 130 of the foot measurement device 100 to acquire a group of point cloud data and RGB data according to the requirement of the data acquisition instruction, and then uploads the original data to the terminal device 300;
step C500: the terminal device 300 obtains the pixel position of the central point j of the feature mark 1425 according to the RGB image of the camera i, and then finds the camera coordinate of the central point j of the feature mark 1425 in the point cloud data of the camera i
Figure GDA0003480297520000172
According to each feature mark 1425, the central point j is located in the world coordinate system OwWorld coordinates in XYZ
Figure GDA0003480297520000173
Calculating a transformation rotation matrix R between world coordinates of a point j and corresponding camera coordinatesiAnd translation matrix TiThis RiAnd TiNamely, the calibration matrix of the camera i is obtained;
step C600: and saving the system configuration to finish calibration.
Referring to fig. 7, the system initialization method includes the steps of:
step Z100: adjusting the position of the foot measuring device 100 to make each level 111 on the base 110 maintain a horizontal state as much as possible;
step Z200: the calibration and calibration component 140 is set to be in a calibration state, so that the multi-dimensional foot characteristic analysis system 10 is powered on when no sundries exist on the foot measurement device 100;
step Z300: establishing a world coordinate system O by using the focus of the calibration datum line on the upper surface of the loading pad 121 as an originwXYZ, numbering the depth camera 132 as i (i ═ 1,2,3,4) in order, with the camera calibration matrix RiAnd TiThe obtained calibration coordinates of each depth camera 132i in the world coordinate system are
Figure GDA0003480297520000181
The center points of the feature marks 1425 exposed on the two calibration sheets 142 are sequentially numbered j (j is 1,2, …, m), and the real center point of each feature mark 1425 in the world coordinate system is denoted by jThe boundary coordinate is
Figure GDA0003480297520000182
Step Z400: the terminal device 300 issues a data acquisition instruction to the connector 200, and the connector 200 controls each group of components of the foot measurement device 100 to acquire a piece of original data according to the requirement of the data acquisition instruction, including: point cloud data and RGB data acquired by each depth camera 132, a grayscale map captured by the CCD image sensor 126, and pressure data acquired by each pressure sensor 120-2;
step Z500: the connector 200 uploads the raw data acquired by the foot measurement device 100 to the terminal device 300;
step Z600: the terminal device 300 fuses the multi-frame gray scale as a zero value of the optical pressure distribution measuring table 120-1, and calculates an average value of each frame of pressure data as a zero value of each pressure sensor 120-2;
step Z700: the terminal device 300 obtains the pixel position of the central point j of the feature mark 1425 according to the RGB image of the camera i, and then finds the camera coordinate of the central point j of the feature mark 1425 in the point cloud data of the camera i
Figure GDA0003480297520000191
And then according to the world coordinate system O of the four depth cameras 132w-calibration coordinates in XYZ
Figure GDA0003480297520000192
Converting the coordinate system to obtain a world coordinate system O of the central point j of the feature mark 1425w-calibration coordinates in XYZ
Figure GDA0003480297520000193
Step Z800: actual coordinates of the feature 1425 center point j in the world coordinate system
Figure GDA0003480297520000194
And calibrating the coordinates
Figure GDA0003480297520000195
With a deviation distance of
Figure GDA0003480297520000196
Taking the mean deviation distance of the center points of all the feature marks 1425 as the combined deviation L, L ═ E (L)1,l1,...,lm)；
Step Z900: when the integrated deviation L is larger than a given threshold value, a camera calibration matrix R is indicatediAnd TiHas expired, at which point the user is prompted in the display module of the terminal device 300 that the depth camera 132 assembly 130 needs to be recalibrated.
Referring to fig. 8, the multidimensional foot feature extraction method needs to be executed after the system initialization method is completed, and includes the following steps:
step S100: after the system initialization is completed, the display module of the terminal device 300 prompts the user to take off the footwear, and stand barefoot in the standing area prompt box of the loading pad 121;
step S200: a user clicks a scanning start button, the terminal device 300 operates correspondingly to the user, a data acquisition instruction is issued to the connector 200, the connector 200 controls each group of components of the foot measurement device 100 to acquire 15s of foot raw data according to the requirement of the data acquisition instruction, and the foot raw data is sent to a data processing module of the terminal device 300;
step S300: the data processing module processes and analyzes the original foot data, reconstructs a three-dimensional foot shape of a user, and extracts characteristic parameters of the foot shape and the pressure distribution of the sole;
step S400: the display module displays the analysis result of the foot data.
Referring to fig. 9, step S300 may include four substeps, steps S310-S340:
step S310: receiving raw foot data collected by the foot measurement device 120;
step S320: carrying out filtering, coordinate transformation, three-dimensional reconstruction and other processing on the foot point cloud data; optimizing plantar pressure distribution data captured by CCD image sensor 126 with pressure data collected by pressure sensor 120-2; processing the plantar pressure distribution data such as plantar pressure partition, characteristic value extraction and the like;
step S330: fusing the plantar pressure distribution data and the processed foot point cloud data, fitting a three-dimensional model of the plantar part of the visual field blind area of the depth camera 132, and extracting the outer contour characteristic parameters of the three-dimensional foot shape;
step S340: the result of the foot data analysis is transmitted to the display module of the terminal device 300.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
It should be noted that the present invention is a foot measurement device, a multi-dimensional foot characteristic analysis system and method, including a multi-dimensional foot characteristic analysis system 10, a foot measurement device 100, a base 110, a level 111, a foot pressure measurement component 120, an optical pressure distribution measurement stage 120-1, a pressure sensor 120-2, a loading pad 121, a silicone pad 1211, a light shielding layer 1212, a light reflecting layer 1213, a transparent glass plate 122, a light source 123, a light cover 1231, a light emitting element 1232, an opaque housing 124, a support pillar 125, an upper pillar 1251, a lower pillar 1252, a CCD image sensor 126, a depth camera assembly 130, a camera support pillar 131, a depth camera 132, a calibration and calibration assembly 140, a calibration sidewall 141, a calibration sheet 142, an upper calibration sheet 142-1, a lower calibration sheet 142-2, a first vertical target 1421, a lateral target 1422, a second vertical target 1423, a positioning hole 4, a positioning hole 1423, a lateral target 1422, a third vertical target, a fourth vertical target, a fourth vertical target, a fourth and a fourth vertical target, a fourth and a fourth lens, a fourth, The feature 1425, the connector 200 and the terminal device 300, all of which are common standard components or components known to those skilled in the art, are known to those skilled in the art, and the structure and principle thereof are known to those skilled in the art through technical manuals or through routine experimentation.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims (8)

1. A foot measurement device is characterized by comprising a depth camera assembly, a foot pressure measurement component, a calibration and calibration assembly and a base; wherein: the base is used for fixing other components of the foot measuring device and is positioned at the bottom of the foot measuring device, k gradienters which are uniformly distributed around the foot measuring device are arranged on the base, and k is larger than 1; the foot pressure measuring component is used for acquiring foot sole pressure data, is arranged on the base, is positioned in the center of the foot measuring device and is not in contact with other components of the foot measuring device; the foot pressure measuring component comprises an optical pressure distribution measuring table and a pressure sensor, the optical pressure distribution measuring table is arranged on the base, and the pressure sensor is embedded in the optical pressure distribution measuring table; the calibration and calibration component is used for automatic calibration and automatic calibration of external parameters of the depth camera component, and is symmetrically arranged on two sides of the foot pressure measuring component in an automatic calibration state; the depth camera assembly is used for acquiring foot point cloud data, is symmetrically arranged at two sides of the calibration and calibration assembly in the automatic calibration state and is uniformly arranged around the foot pressure measuring component; the depth camera assembly comprises a camera supporting upright post and a depth camera, the depth camera is installed on the camera supporting upright post and is aligned with an optical pressure distribution measuring table of the foot measuring device, the camera supporting upright post is installed on the base, and the calibration and calibration assembly comprises a calibration sheet, a calibration side wall and a magnet; wherein: the calibration sheet is made of a body-centered cubic ferromagnet, is structurally a profiled bar, and has a Z-shaped section; the cross section comprises a first vertical target, a second vertical target and a transverse target vertically connected with the first vertical target and the second vertical target, the first vertical target, the second vertical target and the transverse target are respectively provided with a groove, the width of each groove is equal to the thickness of a profiled bar, the groove of the transverse target is communicated with the groove of the second vertical target, the cross sections of the two grooves are overlapped, the cross section of the groove of the first vertical target and the cross section of the groove of the second vertical target are symmetrical about the central axis of the calibration sheet, and the transverse distance between the two grooves is equal to the distance between the first vertical target and the second vertical target; the front and back surfaces of the first vertical target and the second vertical target are calibration target surfaces, the left side and the right side of the calibration target surface of the first vertical target are respectively provided with n characteristic marks which are not 1 at least, the left side and the right side of the calibration target surface of the second vertical target are respectively provided with n characteristic marks which are not 2 at least, the characteristic marks are dark rings, and the circle center is light color; the calibration sheet is provided with a positioning hole, the calibration side wall is provided with a positioning salient point corresponding to the positioning salient point, the magnet is fixed in the calibration side wall, the calibration sheet comprises an upper calibration sheet and a lower calibration sheet, and the calibration side wall comprises a left calibration side wall and a right calibration side wall; wherein: the total height of the upper calibration sheet is the same as that of the lower calibration sheet, and the second vertical target of the upper calibration sheet is higher than that of the lower calibration sheet by the thickness of a profiled bar; the locating hole of going up the calibration piece is located the upper left corner, and the locating hole of lower calibration piece is located the lower right corner, and the location bump of left side calibration lateral wall is located the upper left corner, and the location bump of right side calibration lateral wall is located the lower right corner, and under the automatic calibration state, go up the calibration piece and only can install on left side calibration lateral wall, and lower calibration piece only can install on right side calibration lateral wall.
2. The footgauge of claim 1, wherein the optical pressure distribution measurement station comprises a stage pad, a transparent glass plate, a light source, a support post, a CCD image sensor, and an opaque housing; wherein: the opaque casing is fixed in the center of the base, the carrying pad is covered on the opaque casing to form an opaque accommodating space, and other components of the optical pressure distribution measuring table are arranged in the accommodating space; the carrying pad comprises a silica gel cushion layer, a light shielding layer and a reflecting layer, wherein the silica gel cushion layer is positioned on the upper layer, a standing area indicating frame and a calibration block reference line are printed on the silica gel cushion layer, the standing area indicating frame is used for indicating the standing position of a user foot during measurement, the calibration block reference line is used for positioning a calibration and calibration component in an automatic calibration state, the light shielding layer is positioned on the middle layer, and the reflecting layer is positioned on the bottom layer and clings to the transparent glass plate; the light sources are positioned on four side surfaces of the transparent glass plate and comprise light-emitting elements and a lampshade, the lampshade is fixed on the side wall of the transparent shell and tightly wraps the upper edge and the lower edge of the side edge of the transparent glass plate, the light-emitting elements are arranged in the lampshade, and the light-emitting elements can only irradiate the side surface of the transparent glass plate under the wrapping of the lampshade; the transparent glass plate is flatly placed on the supporting upright posts, and the supporting upright posts are uniformly arranged on the periphery of the bottom surface of the transparent glass plate; the CCD image sensor is arranged right below the transparent glass plate, is horizontally arranged on the base and is used for receiving light reflected by the reflecting layer of the loading pad; the supporting upright post is vertically arranged on the base and comprises an upper section upright post and a lower section upright post, and the pressure sensor is clamped between the upper section upright post and the lower section upright post and is used for acquiring the total plantar pressure and the plantar pressure center of a user.
3. The foot measurement device of claim 1, wherein said calibration and calibration assembly has two configurations: calibration morphology: the positioning hole on the calibration sheet is sleeved with the positioning salient point on the calibration side wall, and the calibration sheet is adsorbed on the calibration side wall under the action of the magnetic field; calibration form: the two calibration sheets are taken out from the calibration side wall, the upper calibration sheet is arranged above the calibration side wall, the lower calibration sheet is arranged below the calibration side wall, the two calibration sheets are intersected at 90 degrees and vertically inserted into a cross shape, and the cross shape is placed in the center of the upper surface of the loading pad along the reference line of the calibration block, so that each calibration target surface is aligned to one depth camera.
4. A multidimensional foot feature analysis system comprising the foot measurement device, the connector and the terminal device of any one of claims 1 to 3, wherein: the connector is used as an intermediate device to connect the foot measuring device and the terminal device, receives a data acquisition control instruction of the terminal device and controls each group of components of the foot measuring device to acquire original data according to the data acquisition control instruction, receives the original data acquired by the foot measuring device and uploads the original data to the terminal device, and data interaction between the foot measuring device and the terminal device is realized; the terminal equipment comprises a data processing module and a display module, receives the original data acquired by the foot measuring device through the connector, performs data fusion, three-dimensional reconstruction, feature extraction and report display, and realizes measurement and visual output of multi-dimensional foot features.
5. A multi-dimensional foot feature analysis method is applied to the analysis system of claim 4, and comprises a system initialization method, a depth camera component external parameter calibration method and a multi-dimensional foot feature extraction method.
6. The multidimensional foot feature analysis method according to claim 5, wherein the depth camera external reference calibration method comprises the following steps:
step C100: adjusting the position of the foot measuring device to enable each level gauge on the base to be kept in a horizontal state as much as possible;
step C200: setting the calibration and calibration component into a calibration form to ensure that no other sundries exist on the foot measurement device, and electrifying the multi-dimensional foot characteristic analysis system;
step C300: establishing a world coordinate system O by taking a calibration datum line focus of the upper surface of the carrying pad as an originw-XYZ, numbering the depth cameras in order i (i ═ 1,2,3, 4); the center points of the feature marks on the two calibration sheets are numbered as j (j is 1,2, …, m) in sequence, and the world coordinates of the centers of the feature marks in a world coordinate system are
Figure FDA0003480297510000051
Step C400: the method comprises the following steps that terminal equipment issues a data acquisition instruction to a connector, the connector controls a depth camera component of a foot measurement device to acquire a group of point cloud data and RGB data according to the requirement of the data acquisition instruction, and then original data are uploaded to the terminal equipment;
step C500: the terminal equipment obtains the pixel position of the feature mark central point j according to the RGB image of the camera i, and then finds the camera coordinate of the feature mark central point j in the point cloud data of the camera i
Figure FDA0003480297510000052
According to each characteristicMarking a center point j in a world coordinate system OwWorld coordinates in XYZ
Figure FDA0003480297510000053
Calculating a transformation rotation matrix R between world coordinates of a point j and corresponding camera coordinatesiAnd translation matrix TiThis RiAnd TiNamely, the calibration matrix of the camera i is obtained;
step C600: and saving the system configuration to finish calibration.
7. The multidimensional foot feature analysis method according to claim 5, wherein the system initialization method comprises the steps of:
step Z100: adjusting the position of the foot measuring device to enable each level gauge on the base to be kept in a horizontal state as much as possible;
step Z200: setting the calibration and calibration component to be in a calibration form, and ensuring that the multi-dimensional foot characteristic analysis system is powered on when no sundries exist on the foot measurement device;
step Z300: establishing a world coordinate system O by taking a calibration datum line focus of the upper surface of the carrying pad as an originwXYZ, numbering the depth cameras i (i ═ 1,2,3,4) in order, with a camera calibration matrix RiAnd TiThe obtained calibration coordinates of each depth camera i in a world coordinate system are
Figure FDA0003480297510000054
The center points of the feature marks exposed on the two calibration sheets are sequentially numbered as j (j is 1,2, …, m), and the actual coordinates of the center of each feature mark in the world coordinate system are j
Figure FDA0003480297510000061
Step Z400: the terminal equipment issues a data acquisition instruction to the connector, and the connector controls each group of components of the foot measurement device to acquire a section of original data according to the requirement of the data acquisition instruction, and the method comprises the following steps: the system comprises point cloud data and RGB data acquired by each depth camera, a gray scale image captured by a CCD image sensor and pressure data acquired by each pressure sensor;
step Z500: the connector uploads the original data acquired by the foot measuring device to the terminal equipment;
step Z600: the terminal equipment fuses the multi-frame gray level images as zero values of the optical pressure distribution measuring table, and calculates the average value of each frame of pressure data as the zero value of each pressure sensor;
step Z700: the terminal equipment obtains the pixel position of the feature mark central point j according to the RGB image of the camera i, and then finds the camera coordinate of the feature mark central point j in the point cloud data of the camera i
Figure FDA0003480297510000062
Then according to the world coordinate system O of the four depth camerasw-calibration coordinates in XYZ
Figure FDA0003480297510000063
Converting the coordinate system to obtain a world coordinate system O of the feature mark central point jw-calibration coordinates in XYZ
Figure FDA0003480297510000064
Step Z800: actual coordinates of feature mark center point j in world coordinate system
Figure FDA0003480297510000065
And calibrating the coordinates
Figure FDA0003480297510000066
With a deviation distance of lj,
Figure FDA0003480297510000067
Taking the mean deviation distance of the central points of all the feature marks as a comprehensive deviation L, wherein L is equal to E (L)1,l1,...,lm)；
Step Z900: when the integrated deviation L is larger than a given threshold value, the camera mark is indicatedFixed matrix RiAnd TiAnd when the calibration is failed, prompting a user in a display module of the terminal equipment that the depth camera assembly needs to be recalibrated.
8. The multidimensional foot feature analysis method according to claim 5, wherein the multidimensional foot feature extraction method is required to be executed after the system initialization method is completed, and comprises the following steps:
step S100: after the system initialization is completed, a display module of the terminal equipment prompts a user to take off shoes and socks, and the user stands barefoot in a standing area prompt frame of the carrying pad;
step S200: the user clicks a scanning start button, the terminal equipment correspondingly operates by the user, a data acquisition instruction is issued to the connector, the connector controls each group of components of the foot measuring device to acquire 15s of foot original data according to the requirement of the data acquisition instruction, and the foot original data are sent to a data processing module of the terminal equipment;
step S300: the data processing module processes and analyzes the original foot data, reconstructs a three-dimensional foot shape of a user, and extracts characteristic parameters of the foot shape and the pressure distribution of the sole;
step S400: the display module displays the analysis result of the foot data.
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