CN115500582A - Foot three-dimensional contour acquisition system - Google Patents
Foot three-dimensional contour acquisition system Download PDFInfo
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- CN115500582A CN115500582A CN202210988604.6A CN202210988604A CN115500582A CN 115500582 A CN115500582 A CN 115500582A CN 202210988604 A CN202210988604 A CN 202210988604A CN 115500582 A CN115500582 A CN 115500582A
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- 230000003287 optical effect Effects 0.000 claims description 27
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000004075 alteration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010061159 Foot deformity Diseases 0.000 description 1
- 208000014770 Foot disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
- A43D1/025—Foot-measuring devices comprising optical means, e.g. mirrors, photo-electric cells, for measuring or inspecting feet
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- 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
- A61B5/1077—Measuring of profiles
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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
- A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
Abstract
The foot three-dimensional contour acquisition system acquires foot three-dimensional contour data through a semi-transparent semi-reflective mirror, a semi-transparent semi-reflective pyramid, a pyramid top shutter arranged at the top of the semi-transparent semi-reflective pyramid, a foot surface acquisition light path consisting of a plurality of reflectors and one or more corresponding reflector shutters, a structured light projection light source and a depth camera which can jointly form a foot surface contour acquisition light path and a foot bottom contour acquisition light path. The invention realizes the acquisition of the three-dimensional outline data of the full-range surface of the foot by only one camera and one structured light projection, reduces the acquisition cost of the three-dimensional outline data of the foot and shortens the acquisition and processing time of the outline data. And because structured light needs to be reflected for many times before entering the camera, the possibility of noise introduction is effectively reduced; the invention can select the lens with large focal length, thereby improving the accuracy of foot outline data acquisition.
Description
Technical Field
The invention relates to the field of three-dimensional contour scanning, in particular to a foot three-dimensional contour acquisition system.
Background
The three-dimensional foot contour data has important significance in the fields of shoemaking, diagnosis and treatment of foot diseases and deformity and the like. At present, when the three-dimensional outline data of the foot part is acquired, because the foot part can shield light, a plurality of depth cameras or a plurality of laser sensors are often required to be arranged at the same time in order to acquire the three-dimensional outline data of the whole foot part, foot depth images are acquired from different angles, and the acquisition and the splicing of the whole three-dimensional outline data of the foot part are realized. The use of a plurality of depth cameras or a plurality of laser sensors brings the cost rise of the foot three-dimensional data acquisition equipment and the increase of the data processing time, and restricts the further application of the foot three-dimensional data acquisition equipment in the field.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a three-dimensional foot contour collecting system for solving the above technical problems occurring in the prior art.
To achieve the above and other related objects, the present invention provides a system for acquiring three-dimensional contour of foot, comprising: the device comprises a foot surface contour acquisition light path, a foot bottom contour acquisition light path, a structured light projection light source and a depth camera, wherein the foot surface contour acquisition light path and the foot bottom contour acquisition light path are formed by a semi-transparent semi-reflecting mirror, a semi-transparent semi-reflecting pyramid, a pyramid top shutter arranged at the top of the semi-transparent semi-reflecting pyramid and a foot surface acquisition light path consisting of a plurality of reflecting mirrors and one or more reflecting mirror shutters arranged correspondingly; wherein the foot surface profile collection optical path comprises: the semi-transparent semi-reflective mirror, the semi-transparent semi-reflective pyramid and the foot surface acquisition light path; the structured light projection light source projects structured light to the semi-transparent semi-reflecting mirror; the semi-transparent semi-reflecting mirror reflects the structural light projected on the semi-transparent semi-reflecting pyramid onto the semi-transparent semi-reflecting pyramid; the semi-transparent semi-inverse pyramid reflects the structural light projected on the semi-transparent semi-inverse pyramid to the foot surface collecting light path; the foot surface acquisition light path reflects the structural light projected on the foot surface acquisition light path to the surface of the foot to be measured, and projects the structural light reflected by the surface of the foot to be measured to the semi-transparent semi-inverse pyramid, so that the semi-transparent semi-inverse pyramid reflects the structural light to the semi-transparent semi-inverse mirror, and the semi-transparent semi-inverse mirror projects the structural light projected on the semi-transparent semi-inverse pyramid into the depth camera to acquire three-dimensional profile data of the surface of the foot; the foot bottom contour collection light path comprises: a semi-transparent semi-reflecting mirror, a semi-transparent semi-reflecting pyramid and a pyramid top shutter; the structured light projection light source projects structured light to the semi-transparent semi-reflecting mirror; the semi-transparent semi-reflecting mirror reflects the structural light projected on the semi-transparent semi-reflecting pyramid to the semi-transparent semi-reflecting pyramid; the semi-transparent semi-inverse pyramid projects the structural light projected on the semi-transparent semi-inverse pyramid to the bottom of the foot to be measured by opening a shutter at the top of the pyramid, and projects the structural light reflected by the bottom of the foot to be measured into the depth camera so as to acquire three-dimensional profile data of the bottom of the foot.
In an embodiment of the present invention, the foot surface light collecting path includes: one or more sub-optical paths are collected corresponding to the surface of the foot respectively collected at an angle.
In an embodiment of the present invention, each of the foot surface acquisition sub-optical paths includes: the first reflector, the second reflector and a reflector shutter; when the reflector shutter is in an open state, the first reflector reflects the structural light projected onto the semi-transparent semi-reflective pyramid to the second reflector; the second reflector projects the structured light projected on the second reflector to the surface of the foot to be measured at an angle; the first reflector reflects the structural light reflected by the surface of the foot to be measured to the first reflector, so that the first reflector projects the structural light projected on the first reflector to the semi-transparent semi-inverse pyramid.
In an embodiment of the present invention, the semi-transparent semi-inverse pyramid includes: a top surface structure and a side surface structure; the side structure is used for reflecting the structural light projected on the side structure by the semi-transparent and semi-reflective mirror to the foot surface collecting light path and reflecting the structural light projected by the foot surface collecting light path to the semi-transparent and semi-reflective mirror; the top surface structure is used for projecting the structured light projected to the semi-transparent semi-inverse pyramid to the bottom of the foot to be measured when the pyramid top shutter is in an open state, and projecting the structured light reflected by the bottom of the foot to be measured into the depth camera.
In an embodiment of the present invention, the side structure includes: at least four triangular sides.
In an embodiment of the invention, the first reflector and the second reflector are disposed axially symmetrically with respect to a vertical direction of an optical axis of the structured light reflected therebetween.
In an embodiment of the present invention, the number of the sub-optical paths collected on the surface of the foot is at least four.
In an embodiment of the invention, a lens is disposed between the structured light projection light source and the half-transmitting and half-reflecting mirror, and is configured to expand the structured light projected by the structured light projection light source.
In an embodiment of the invention, a lens is disposed between the half mirror and the depth camera, and is used for focusing the structured light projected thereon and then entering the depth camera.
In an embodiment of the invention, the depth camera is calibrated by calculating an internal reference matrix and a distortion matrix of the camera after multiple reflection transformations on different optical paths and a transformation relation between the internal reference matrix and a world coordinate system by using a black and white calibration plate.
As described above, the foot three-dimensional contour acquisition system of the present invention has the following beneficial effects: the invention collects the three-dimensional outline data of the foot by a semi-transparent semi-reflecting mirror, a semi-transparent semi-reflecting pyramid, a pyramid top shutter arranged at the top of the semi-transparent semi-reflecting pyramid, a foot surface collecting light path consisting of a plurality of reflecting mirrors and one or more reflecting mirror shutters correspondingly arranged, a structured light projection light source and a depth camera which can jointly form a foot surface outline collecting light path and a foot bottom outline collecting light path. The invention realizes the acquisition of the three-dimensional outline data of the full-range surface of the foot by only one camera and one structured light projection, and reduces the acquisition cost of the three-dimensional outline data of the foot. Because the structured light needs to be reflected for multiple times before entering the camera, stray light with inconsistent directions can be absorbed by the tube wall between the reflectors in the multiple reflection process, and the possibility of noise introduction is effectively reduced; compared with other foot outline acquisition equipment, the light path between the camera and the object to be detected is longer, so that the lens with a large focal length is selected, the lens with the large focal length has small spherical aberration and small distortion, and the accuracy of foot outline data acquisition is improved.
Drawings
Fig. 1 is a schematic structural diagram of a foot three-dimensional contour acquisition system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an optical path for collecting an optical path of a foot surface profile according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an optical path of a foot bottom profile collection optical path according to an embodiment of the present invention.
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the present invention. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
Throughout the specification, when a part is referred to as being "connected" to another part, this includes not only a case of being "directly connected" but also a case of being "indirectly connected" with another element interposed therebetween. In addition, when a certain portion is referred to as "including" a certain component, unless otherwise stated, other components are not excluded, but it means that other components may be included.
The terms first, second, third, etc. are used herein to describe various elements, components, regions, layers and/or sections, but are not limited thereto. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the scope of the present invention.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
The embodiment of the invention provides a foot three-dimensional contour acquisition system which acquires foot three-dimensional contour data through a semi-transparent semi-reflecting mirror, a semi-transparent semi-reflecting pyramid, a pyramid top shutter, a foot surface acquisition light path, a structured light projection light source and a depth camera, wherein the semi-transparent semi-reflecting mirror, the semi-transparent semi-reflecting pyramid, the pyramid top shutter and the foot bottom contour acquisition light path can jointly form a foot surface contour acquisition light path and a foot bottom contour acquisition light path. The invention realizes the acquisition of the three-dimensional contour data of the full-range surface of the foot by only one camera and one structured light projection, and reduces the acquisition cost of the three-dimensional contour data of the foot. And because structured light needs to be reflected for multiple times before entering the camera, stray light with inconsistent directions can be absorbed by the tube wall between the reflectors in the multiple reflection process, and the possibility of noise introduction is effectively reduced; compared with other foot contour acquisition equipment, the light path between the camera and the object to be detected is longer, so that the lens with a large focal length is selected, the spherical aberration of the lens with the large focal length is small, and the accuracy of foot contour data acquisition is improved.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that those skilled in the art can easily implement the embodiments of the present invention. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.
Fig. 1 shows a schematic structural diagram of a foot three-dimensional contour acquisition system according to an embodiment of the present invention.
The system comprises: the device comprises a foot surface contour collecting light path, a foot bottom contour collecting light path, a structured light projection light source 6 and a depth camera 7, wherein the foot surface contour collecting light path and the foot bottom contour collecting light path can be formed by a semi-transparent semi-reflecting mirror 1, a semi-transparent semi-reflecting pyramid 2, a pyramid top shutter 3 arranged at the top of the semi-transparent semi-reflecting pyramid 2 and a foot surface collecting light path consisting of a plurality of reflecting mirrors 4 and one or more reflecting mirror shutters 5 arranged correspondingly;
the foot surface profile acquisition light path is used for the three-dimensional profile data of the foot surface of the foot 00 to be detected; the foot bottom contour acquisition light path is used for foot bottom three-dimensional contour data;
the foot surface profile collection optical path comprises: the structure light projection light source 6, the semi-transparent semi-reflecting mirror 1, the semi-transparent semi-reflecting pyramid 2 and the foot surface acquisition light path; as shown in fig. 2, which is an optical path diagram of the foot surface contour collecting optical path, the structured light projection light source 6 projects structured light to the half-mirror 1, and then the half-mirror 1 reflects the structured light projected thereon onto the half-mirror 2; the semi-transparent semi-reflecting pyramid 2 reflects the structural light reflected onto the semi-transparent semi-reflecting mirror 1 to the foot surface collecting light path; the foot surface acquisition optical path reflects the structural light reflected on the foot surface to be detected to the surface of the foot to be detected, and projects the structural light reflected by the surface of the foot to be detected to the semi-transparent semi-reflective pyramid 2, so that the semi-transparent semi-reflective pyramid 2 reflects the structural light to the semi-transparent semi-reflective mirror 1, and the semi-transparent semi-reflective mirror 1 projects the structural light projected on the semi-transparent semi-reflective mirror 1 into the depth camera 7 so as to acquire three-dimensional contour data of the surface of the foot;
the foot bottom contour collection light path comprises: the structured light projection light source 6, the semi-transparent and semi-reflective mirror 1, the semi-transparent and semi-reflective pyramid 2 and the pyramid top shutter 3; fig. 3 is an optical path diagram of the foot surface profile collection optical path, the structured light projection light source 6 projects structured light to the half mirror 1, and the half mirror 1 reflects the structured light projected thereon to the half mirror 2; the semi-transparent semi-inverse pyramid 2 projects the structural light projected on the semi-transparent semi-inverse pyramid to the bottom of the foot to be measured by opening the pyramid top shutter 3, and projects the structural light reflected by the bottom of the foot to be measured into the depth camera 7 so as to acquire the three-dimensional outline data of the bottom of the foot.
In one embodiment, the foot surface optical path acquisition device comprises: one or more foot surface acquisition sub-optical paths respectively corresponding to the angle acquisition are used for respectively acquiring the foot surface from an angle so as to acquire and cover the complete foot surface contour. Preferably, the number of the foot surface acquisition sub-optical paths is at least four; for example, four foot surface collecting sub-optical paths are symmetrically arranged and are spaced at the same interval, and the four foot surface collecting sub-optical paths cover 360 degrees of the foot surface.
In one embodiment, as shown in fig. 3, each foot surface acquisition sub-path comprises: a first mirror 41, a second mirror 42, and a mirror shutter 5;
wherein, when the mirror shutter 5 is in an open state, the first mirror 41 reflects the structured light projected onto it by the half-mirror pyramid 2 to the second mirror 42; the second reflector 42 projects the structured light projected thereon at an angle to the surface of the foot to be measured; the first reflector 41 reflects the structural light reflected by the surface of the foot to be measured to the first reflector 41, so that the first reflector 41 projects the structural light projected thereon to the semi-transparent semi-reflective pyramid 2; when the mirror shutter 5 is in a closed state, the structured light on the optical path is blocked by the mirror shutter 5, so that influence on other optical paths is avoided.
It should be noted that if there is one foot surface acquisition sub-optical path, when the foot surface profile data needs to be acquired, the reflector shutter 5 of the optical path needs to be opened (the pyramid top shutter 3 needs to be ensured to be closed), and at this time, the structured light projection light source projects structured light to the half mirror; the semi-transparent semi-reflecting mirror reflects the structural light projected on the semi-transparent semi-reflecting pyramid to the semi-transparent semi-reflecting pyramid; the half-mirror pyramid reflects the structured light projected thereon onto the first reflecting mirror 41, and the first reflecting mirror 41 reflects the structured light projected thereon by the half-mirror pyramid 2 onto the second reflecting mirror 42; the second reflector 42 projects the structured light projected thereon to the surface of the foot to be measured at an angle; the first reflector 41 reflects the structural light reflected by the surface of the foot to be measured to the first reflector 41, so that the first reflector 41 projects the structural light projected thereon to the semi-transparent semi-reflective pyramid 2, the semi-transparent semi-reflective pyramid 2 reflects the structural light to the semi-transparent semi-reflective mirror 1, and the semi-transparent semi-reflective mirror 1 projects the structural light projected thereon to the depth camera 7, so as to acquire three-dimensional profile data of the surface of the foot;
if the number of the foot surface acquisition sub-optical paths is multiple, acquiring foot surface profile data of corresponding angles through each foot surface acquisition sub-optical path respectively, firstly acquiring through one foot surface acquisition sub-optical path, opening a reflector shutter 5 of the optical path, and ensuring that the reflector shutters 5 in other foot surface acquisition sub-optical paths and the pyramid top shutter 3 are closed; 1. and after the data acquisition of the sub-optical path on the surface of each foot part is finished, closing the reflector shutter 5 of the optical path, and opening the reflector shutter 5 of the next sub-optical path on the surface of the foot part, namely, acquiring the data of the next sub-optical path on the surface of the foot part. Because the light path of projection and shooting at each angle is provided with a shutter for controlling the opening and closing of the light path, stray light interference when foot data are collected at different angles is ensured, and the precision of the collected data is improved.
Preferably, the first reflecting mirror 41 and the second reflecting mirror 42 are disposed to be axisymmetrical with respect to a direction perpendicular to an optical axis of the structured light reflected therebetween; the inclination angles are consistent, and the inclination directions are opposite. Since the angle of inclination is 45 degrees.
In one embodiment, the half-transmissive half-inverse pyramid comprises: a top surface structure and a side surface structure; the side structure is used for reflecting the structural light projected on the side structure by the half-mirror to the foot surface collecting light path and reflecting the structural light projected by the foot surface collecting light path to the half-mirror; the top surface structure is used for projecting the structured light projected to the semi-transparent semi-inverse pyramid to the bottom of the foot to be measured when the top shutter of the pyramid is in an open state, and projecting the structured light reflected by the bottom of the foot to be measured into the depth camera.
It should be noted that when three-dimensional contour data of the bottom of the foot needs to be collected, as shown in fig. 1, the shutter 3 at the top of the pyramid is opened, and the reflector shutters 5 of the sub-optical paths collected on the surface of each foot are ensured to be closed, and the structured light projection light source 6 projects structured light to the half mirror 1; the semi-transparent semi-reflecting mirror 1 reflects the structural light projected thereon to the side structure of the semi-transparent semi-reflecting pyramid 2; the semi-transparent semi-inverse pyramid 2 transmits the structural light projected thereon to the bottom of the foot to be measured through the top surface structure, and projects the structural light reflected by the bottom of the foot to be measured into the depth camera 7 so as to acquire three-dimensional profile data of the bottom of the foot.
In one embodiment, the side structure comprises: at least four triangular sides.
In an embodiment, a lens 8 is disposed between the structured light projection light source 6 and the half-transmitting and half-reflecting mirror 1, and is configured to expand the structured light projected by the structured light projection light source 6, increase a projection area, and ensure that each light path has enough structured light projection after light splitting.
In one embodiment, a lens 9 is disposed between the half mirror 1 and the depth camera 7 for focusing the structured light projected thereon and entering the depth camera 7. The structured light projected by the half-transmitting and half-reflecting mirror 1 and the structured light projected by the half-transmitting and half-reflecting pyramid 2 are focused and then enter the depth camera 7.
In one embodiment, the depth camera is calibrated by calculating an internal reference matrix, a distortion matrix and a transformation relation between the internal reference matrix and a world coordinate system of the camera after multiple reflection transformation on different light paths by using a black and white calibration plate, so that the depth camera can obtain a depth map and obtain three-dimensional contour data of the surface of a foot.
To better illustrate the above-described three-dimensional foot contour acquisition system, the present invention provides the following embodiments.
Example 1: a system for acquiring three-dimensional outline of foot.
The system comprises: a plane mirror, a semi-transparent pyramid, a semi-transparent mirror, a lens, a CCD camera, a projection light source, a lens, a pyramid top shutter, and a plane mirror shutter; wherein the content of the first and second substances,
the projection light source is used for projecting the structured light, and after the structured light is expanded by the lens, the structured light is reflected by one or more square semi-transparent semi-reflecting mirrors to the semi-transparent semi-reflecting pyramid consisting of the four or more triangular semi-transparent semi-reflecting mirrors. Part of structured light is reflected to an octahedral or above square plane mirror (distributed in the same space according to a certain angle for collecting the outline data of the upper surface of the foot from four or above angles) on the semi-transparent semi-inverse pyramid and then reflected to strike four or above plane mirror shutters. A portion of the structured light is transmitted over the transflective pyramid to the pyramid top shutter. The method comprises the steps of opening a plane mirror shutter in sequence each time, enabling structured light to strike the surface of a foot part to be measured from a certain angle and then be reflected back, striking the semi-transparent semi-reflecting pyramid after two times of plane mirror reflection, entering the semi-transparent semi-reflecting mirror after reflection, transmitting the light to a lens, entering a CCD camera after focusing, closing the opened shutter after collection, and opening the next plane mirror shutter.
And after all the plane mirror shutters are closed, the shutters at the tops of the pyramids are opened, the structured light is projected to the soles, is reflected back, is transmitted to the lenses through the semi-transparent semi-inverse pyramids, enters the camera through focusing, and is closed after collection is finished. So far, all contour data of the three-dimensional surface of the foot are collected.
In the embodiment, by means of the light splitting optical path designed based on the reflector and the half-transmitting and half-reflecting mirror, the multi-angle projection and shooting of the foot can be realized only by using a single structured light projection and a single camera, so that the acquisition of the whole three-dimensional foot contour data is realized. The shutter is arranged on the projection and shooting light path at each angle to control the opening and closing of the light path, so that stray light interference when foot data are collected at different angles is ensured, and the precision of the collected data is improved. The beam expanding light path designed based on the lens is used before projection, so that the projection area is increased, and sufficient structured light projection on each light path after light splitting is ensured.
In summary, the foot three-dimensional contour collecting system of the present invention collects the foot three-dimensional contour data through a semi-transparent semi-reflective mirror, a semi-transparent semi-reflective pyramid, a pyramid top shutter disposed on the top of the semi-transparent semi-reflective pyramid, a foot surface collecting optical path composed of a plurality of reflectors and one or more corresponding reflector shutters, a structured light projection light source, and a depth camera, which can jointly form the foot surface contour collecting optical path and the foot bottom contour collecting optical path. The invention realizes the acquisition of the three-dimensional outline data of the full-range surface of the foot by only one camera and one structured light projection, and reduces the acquisition cost of the three-dimensional outline data of the foot. Because the structured light needs to be reflected for multiple times before entering the camera, stray light with inconsistent directions can be absorbed by the tube wall between the reflectors in the multiple reflection process, and the possibility of noise introduction is effectively reduced; compared with other foot outline acquisition equipment, the light path between the camera and the object to be detected is longer, so that the lens with a large focal length is selected, the lens with the large focal length has small spherical aberration and small distortion, and the accuracy of foot outline data acquisition is improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. A system for acquiring a three-dimensional contour of a foot, the system comprising:
the device comprises a foot surface contour acquisition light path, a foot bottom contour acquisition light path, a structured light projection light source and a depth camera, wherein the foot surface contour acquisition light path and the foot bottom contour acquisition light path are formed by a semi-transparent and semi-reflective mirror, a semi-transparent and semi-reflective pyramid, a pyramid top shutter arranged at the top of the semi-transparent and semi-reflective pyramid, and a foot surface acquisition light path consisting of a plurality of reflectors and one or more reflector shutters arranged correspondingly;
wherein the foot surface profile collection optical path comprises: the semi-transparent semi-reflective mirror, the semi-transparent semi-reflective pyramid and the foot surface acquisition light path; the structured light projection light source projects structured light to the semi-transparent semi-reflecting mirror; the semi-transparent semi-reflecting mirror reflects the structural light projected on the semi-transparent semi-reflecting pyramid to the semi-transparent semi-reflecting pyramid; the semi-transparent semi-inverse pyramid reflects the structural light projected on the semi-transparent semi-inverse pyramid to the foot surface collecting light path; the foot surface acquisition light path reflects the structural light projected on the foot surface to the surface of the foot to be detected, and projects the structural light reflected by the surface of the foot to be detected to the semi-transparent semi-reflective pyramid so that the semi-transparent semi-reflective pyramid can reflect the structural light to the semi-transparent semi-reflective mirror, and the semi-transparent semi-reflective mirror projects the structural light projected on the semi-transparent semi-reflective pyramid into the depth camera so as to acquire three-dimensional profile data of the surface of the foot;
the foot bottom contour collection light path comprises: a semi-transparent semi-reflecting mirror, a semi-transparent semi-reflecting pyramid and a pyramid top shutter; the structured light projection light source projects structured light to the semi-transparent semi-reflecting mirror; the semi-transparent semi-reflecting mirror reflects the structural light projected on the semi-transparent semi-reflecting pyramid onto the semi-transparent semi-reflecting pyramid; the semi-transparent semi-inverse pyramid projects the structural light projected on the semi-transparent semi-inverse pyramid to the bottom of the foot to be measured by opening a shutter at the top of the pyramid, and projects the structural light reflected by the bottom of the foot to be measured into the depth camera so as to acquire three-dimensional profile data of the bottom of the foot.
2. A system for acquiring the three-dimensional outline of a foot according to claim 1, wherein the optical path for acquiring the surface of the foot comprises: one or more foot surface acquisition sub-paths corresponding to the angle acquisition respectively.
3. A system for acquiring the three-dimensional outline of a foot according to claim 2, wherein each of the sub-optical paths for acquiring the surface of the foot comprises: the first reflector, the second reflector and a reflector shutter;
when the reflector shutter is in an open state, the first reflector reflects the structural light projected onto the semi-transparent semi-inverse pyramid to the second reflector; the second reflector projects the structured light projected on the second reflector to the surface of the foot to be measured at an angle; the first reflector reflects the structural light reflected by the surface of the foot to be measured to the first reflector, so that the first reflector projects the structural light projected on the first reflector to the semi-transparent semi-inverse pyramid. A system for acquiring the three-dimensional outline of a foot according to claim 1, wherein the semi-transparent semi-inverse pyramid comprises:
a top surface structure and a side surface structure; the side structure is used for reflecting the structural light projected on the side structure by the semi-transparent and semi-reflective mirror to the foot surface collecting light path and reflecting the structural light projected by the foot surface collecting light path to the semi-transparent and semi-reflective mirror; the top surface structure is used for projecting the structured light projected to the semi-transparent semi-inverse pyramid to the bottom of the foot to be measured when the top shutter of the pyramid is in an open state, and projecting the structured light reflected by the bottom of the foot to be measured into the depth camera.
4. A system for three-dimensional contouring foot as claimed in claim 1 wherein said side structure comprises: at least four triangular sides.
5. The system according to claim 3, wherein the first reflector and the second reflector are disposed axisymmetrically with respect to a direction perpendicular to an optical axis of the structured light reflected therebetween.
6. A system for three-dimensional foot contour acquisition as claimed in claim 2, wherein said foot surface acquisition sub-paths are at least four.
7. The system for collecting the three-dimensional outline of a foot according to claim 1, wherein a lens is disposed between the structured light projection source and the half mirror for expanding the structured light projected by the structured light projection source.
8. A system for three-dimensional outline acquisition of a foot according to claim 1, wherein a lens is disposed between the half mirror and the depth camera for focusing the structured light projected thereon and then entering the depth camera.
9. The system for collecting the three-dimensional outline of the foot according to claim 1, wherein the depth camera is calibrated by calculating an internal reference matrix, a distortion matrix and a transformation relation with a world coordinate system of the camera after multiple reflection transformation on different light paths by using a black and white calibration board.
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