JP2018051217A - Apparatus and method of measuring inside dimension of footwear - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique that makes accurate measuring possible of the inside dimension of footwear.SOLUTION: The footwear measuring apparatus for measuring the inside dimension of footwear includes: an emitter/receiver part that emits a laser beam and receives the laser beam reflected in an article of footwear; a light guide part that irradiates the article of footwear at the tip end with the laser beam emitted from the emitter/receiver part, with the reflected laser beam in the article of footwear made incident to the tip end to be received by the receiver part and that, in at least a part of the light path of the laser beam from the emitter/receiver part to the tip end, in at least a part of the periphery of the laser beam, protects the light path of the laser beam; a control arm that controls the position of the tip end of the light guide part and the direction of the light guide part; and a processing part that controls the direction of the light guide part and the position of the tip end of the light guide part by driving the control arm and that, on the basis of the laser beam received by the receiver part, the inside dimension of the article of footwear is calculated.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for measuring the internal dimensions of footwear.

  In online mail order, users are increasing because they can purchase the goods they want to choose time and place at a relatively low price. Fashion items such as clothes and shoes are also sold on many EC (electronic commerce) sites. Size selection is important when purchasing clothes and shoes. There are cases where the size of clothes and shoes purchased through mail order does not fit the buyer's body and is returned. The increase in the number of returned goods not only impairs the convenience for the user, but also causes an increase in cost for the mail-order dealer.

  In the case of shoes, in particular, if they are sold in stores, shoes that fit the feet can be easily selected by trial wear, but it is difficult to select sizes because they cannot be worn on the EC site.

  Even if the display size is the same, the actual shoe size varies depending on the manufacturer. Also, even shoes from the same manufacturer may have different comfort due to differences in design, and the display size of shoes that fit the foot may differ.

  If information on the inner size of a shoe is obtained at the EC site, it is possible to propose to the purchaser an inner size shoe that fits the foot based on the information. However, there is a manufacturer's unique know-how regarding the wooden shape that determines the inner dimensions of shoes, and it is difficult for outside contractors such as EC site operators to obtain information on the inner dimensions or wooden shapes of shoes.

  On the other hand, Patent Document 1 discloses a technique for measuring the shape of an object. Patent Document 1 discloses a position of a reference point with respect to a coordinate system of a scanner unit and a position measurement unit with respect to a reference point by emitting a laser beam from the tip of a robot unit based on an arm and driving with multiple degrees of freedom. A system is disclosed that calculates the transformation between these two coordinate systems to determine the geometric shape of the object surface by simultaneously recording the positions of the two.

Special table 2003-505682 gazette

  The system disclosed in Patent Document 1 does not consider measuring the internal dimensions of footwear such as shoes, boots, and sandals. Since the tip of the robot unit is larger than the shoe opening and the internal space, it is difficult to measure the internal dimensions by inserting the tip into the internal space from the opening and irradiating laser light in various directions.

  An object of the present invention is to provide a technique that makes it possible to satisfactorily measure the internal dimensions of footwear.

  The footwear measuring device for measuring the internal dimensions of footwear according to one embodiment of the present invention comprises: a light emitting / receiving unit that emits laser light and receives laser light reflected by the footwear; and the laser emitted from the light emitting / receiving unit. The footwear is irradiated with light from the tip portion, the laser beam reflected by the footwear is incident on the tip portion and received by the light receiving portion, and an optical path of the laser light from the light emitting / receiving portion to the tip portion is received. A light guide that protects the optical path of the laser light at least partially around the laser light, and a control arm that controls the position of the tip of the light guide and the direction of the light guide Driving the control arm to control the direction of the light guide and the position of the tip of the light guide, and based on the laser light received by the light emitting and receiving unit, the internal dimensions of the footwear With a processing unit to calculate Having.

  According to the present invention, the laser light is passed through the light guide portion, the laser light is irradiated from the tip portion to the footwear, and the laser light reflected from the footwear is incident on the tip portion, so that the tip portion can be downsized. The internal dimensions of the footwear can be measured well.

It is the schematic of the footwear measuring apparatus of 1st Embodiment. It is a flowchart which shows operation | movement of the footwear measuring apparatus by 1st Embodiment. It is a figure for demonstrating the cylindrical member and its surrounding structure in 1st Embodiment. It is a flowchart which shows the operation | movement of the internal measurement of the footwear measuring apparatus by 1st Embodiment. It is a figure which shows the mode of a scan of an internal outer periphery measurement process. It is a figure which shows the mode of a scan of an internal front measurement process. It is a figure which shows the mode of a scan of an internal front measurement process. It is a figure which shows the mode of a scan of an internal back measurement process. It is a figure which shows the mode of a scan of an internal back measurement process. It is a figure which shows the mode of a scan of an inner bottom face measurement process. It is a side view of a pump. It is a side view of boots. It is the schematic of the footwear measuring apparatus of 2nd Embodiment. It is a flowchart which shows operation | movement of the footwear measuring apparatus by 2nd Embodiment. It is a figure for demonstrating the structure of the light guide part and its periphery in 3rd Embodiment. It is a figure which shows the modification of the light guide part.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic diagram of the footwear measuring apparatus according to the first embodiment. The footwear measuring device 10 of this embodiment is a device for measuring the internal dimensions of the footwear 90. The footwear measuring device 10 includes a distance measuring unit 11, a light guide unit 12, a control arm 13, and a processing unit 14.

  The distance measuring unit 11 is a laser rangefinder that receives the laser beam 17 that is emitted from the laser beam 17 and reflected by the footwear 90 and measures the distance to the footwear 90. The distance measuring unit 11 includes a light emitting unit 15 that emits laser light and a light receiving unit 16 that receives the laser light reflected by the footwear 90.

  The light guide unit 12 allows the laser light 17 emitted from the light emitting unit 15 to pass through the space inside the cylindrical shape, irradiates the footwear 90 from the front end portion 12a, and reflects the laser light 17 reflected by the footwear 90 at the front end portion 12a. Incident light passes through the inside and is received by the light receiving unit 16.

  The control arm 13 is a robot arm that has a plurality of joints and freely and precisely controls the position of the distal end portion 12a of the light guide unit 12 and the direction of the light guide unit 12. The control arm 13 can also rotate the light guide unit 12 around the longitudinal direction. In the present embodiment, the control arm 13 has a tapered shape whose tip is thinner than the rear end, for example. Although the present invention is not limited to the tapered shape, the tip needs to be thin enough to be inserted into the footwear 90.

  The processing unit 14 drives the control arm 13 to control the direction of the light guide unit 12 and the position of the distal end portion 12 a of the light guide unit 12, rotate the light guide unit 12, and receive the laser beam received by the light receiving unit 16. It is a device that calculates the internal dimensions of footwear 90 based on light 17. The processing unit 14 is realized, for example, when a personal computer executes a software program.

  As described above, the laser light 17 is communicated with the light guide portion 12, the laser light 17 is irradiated from the tip portion 12a to the footwear 90, and the laser light 17 reflected from the footwear 90 is incident on the tip portion 12a. 12a can be reduced in size. Accordingly, the tip end portion 12a can be freely moved and / or rotated inside the footwear 90, the 3D position of the inner wall surface of the footwear 90 can be measured, and a desired internal dimension can be measured well.

  Further, since the laser light 17 is communicated with the light guide unit 12, the optical path of the laser light is not blocked by shoelaces or fur, and good measurement can be performed.

  Further, since the laser beam is used, no physical force is directly applied to the footwear 90, and therefore it is not necessary to firmly fix the footwear 90. Therefore, it is possible to perform a good measurement in a natural state without deforming the footwear 90.

  FIG. 2 is a flowchart showing the operation of the footwear measuring apparatus according to the first embodiment. The processing shown in FIG. 2 is executed by the processing unit 14.

  First, the processing unit 14 drives the control arm 13 so as to irradiate the outer surface of the footwear 90 with the laser beam 17 as an outer shape measurement process, and the outer shape of the footwear 90 based on the laser beam 17 received by the light receiving unit 16. Is calculated (step 101). For example, the laser beam 17 may be irradiated in a direction from the outer periphery of the footwear 90 toward the center of the footwear 90. On the outer surface of black glossy shoes such as enamel, if the laser beam is tilted at an angle of 15 degrees or more with respect to the normal direction, the reflected laser beam is not received by the light receiving unit 16 and measurement is impossible. End up. In order to prevent this, the irradiation method as described above may be employed.

  Subsequently, the processing unit 14 drives the control arm 13 to irradiate the opening 90a of the footwear 90 with the laser light 17 based on the external shape of the footwear 90 calculated in Step 101 as an opening shape measurement process, The opening shape of the opening 90a of the footwear 90 is calculated based on the laser beam 17 received by the light receiving unit 16 (step 102).

  Subsequently, as an internal measurement process, the processing unit 14 inserts the tip 12a into the footwear 90 from the opening 90a based on the opening shape of the opening 90a calculated in step 102, and lasers the footwear 90 inside. The control arm 13 is driven so as to irradiate the light 17, and the internal dimensions of the footwear 90 are calculated based on the laser light 17 received by the light receiving unit 16 (step 103).

  Since the external shape is measured, the opening shape is measured based on the external shape, and the internal dimensions are measured based on the opening shape, the internal dimensions of footwear having various external shapes and opening shapes can be measured.

  FIG. 3 is a view for explaining the light guide section and the surrounding structure in the first embodiment.

  The light guide unit 12 includes a cylindrical member 12x and a prism 12c. A prism 12 c that bends the laser light 17 in a direction 90 degrees with the longitudinal direction of the tubular member 12 is disposed at the distal end portion 12 a of the tubular member 12. The prism 12 c is an optical element that converts the optical axis of the laser beam 17. Although an example using a prism is shown here, a mirror can also be used. Laser light 17 emitted from the light emitting unit 15 travels in the longitudinal direction in the internal space of the cylindrical member 12x, is bent by the prism 12c, and is emitted from the opening window 12b to the outside of the cylindrical member 12. Since the distal end portion 12 a of the tubular member 12 is inserted inside the footwear 90, the laser light 17 emitted from the tubular member 12 is reflected by the inner surface of the footwear 90. Part of the laser beam 17 reflected by the inner surface of the footwear 90 returns to the internal space of the cylindrical member 12 from the opening window 12b, bends by the prism 12c, advances in the longitudinal direction, and returns to the light receiving unit 16. The distance measuring unit 11 calculates the distance between the distance measuring unit 11 and the location where the laser light 17 on the inner surface of the footwear 90 is reflected, based on the laser light received by the light receiving unit 16.

  The processing unit 14 drives the control arm 13 so as to irradiate the inside of the footwear 90 with the laser light 17, and acquires information on distances sequentially measured by the distance measuring unit 11.

  At this time, the processing unit 14 fixes the tip 12a at a predetermined position based on the external shape obtained by the outer shape measurement process and the information on the opening shape obtained by the opening shape measurement process, and more specifically, the prism 12c. A point that reflects the laser beam 17 is fixed at a predetermined position, and the control arm 13 is driven so as to rotate the direction of the laser beam 17 from the point, and distance information is acquired at a predetermined interval.

  Further, the processing unit 14 controls the control arm 13 and the distance measuring unit 11 to fix the position of the distal end portion 12a and rotate the distal end portion 12a. At this time, as an example, the processing unit 14 measures the position of the measurement point each time it rotates by an angle that increases as the distance from the distal end portion 12a to the measurement point to which the laser light 17 of the footwear 90 is irradiated becomes shorter. When the distance from the distal end portion 12a to the measurement point is long, the distance between the measurement points can be kept uniform by reducing the angle of one step for obtaining the position information of the measurement point.

  Further, as another example, the processing unit 14 may include the control arm 13 and the distance measuring unit such that the distance between the measurement points increases as the distance from the distal end portion 12a to the measurement point that irradiates the laser light 17 of the footwear 90 decreases. 11 control may be performed. In order to shorten the time required for measurement, it is effective to reduce the number of measurement points. However, if there are few measurement points in a pointed part such as the tip of a shoe, an accurate shape cannot be obtained. Therefore, in the present embodiment, the number of measurement points is increased according to the distance L from the distal end portion 12a to the measurement point so that the number of measurement points increases at the sharp portion and the number of measurement points decreases at the flat portion. Specifically, the distance L is approximately 15 mm to 100 mm. Therefore, for example, the interval between the measurement points may be set so that the measurement points increase in proportion to the distance L or its square or the third power.

  Alternatively, as another example, the processing unit 14 may increase the number of measurement points according to the absolute value of the change amount of the distance L from the previous time. In a portion where the change in the distance L is large, the shape can be accurately obtained by increasing the measurement points, and in a portion where the change in the distance L is small, the measurement points can be reduced to shorten the measurement time.

  Further, the processing unit 14 measures the position of the distal end portion 12a of the cylindrical member 12x, the longitudinal direction, and the rotational direction with respect to the longitudinal direction, which are sequentially acquired while controlling the control arm 13, and the distance measuring unit. The three-dimensional coordinates of each point on the inner surface of the footwear 90 are accumulated based on the distance to be stored. Further, the processing unit 14 calculates the dimensions of the desired location based on the accumulated three-dimensional coordinates of the inner surface of the footwear 90. As an example of the desired location, the internal dimensions of the footwear 90 corresponding to the foot width, foot circumference, foot length, and upper height are calculated.

  The foot width is a length obtained by connecting the most protruding portions of the bones of the thumb and the base of the little finger (metatarsal bone) with a straight line. The foot circumference is the length of one round of the foot so as to connect the most protruding part of the metatarsal bone of the thumb and little finger. The instep height is the height from the ground contact surface of the instep bone (scaphoid bone) at about half the foot length. The foot length has a length obtained by connecting a straight portion between the portion of the heel that projects to the back and the tip of the longest finger (usually the finger extending to the tip of the thumb or index finger).

  In addition, when the footwear type is boots, the tube length (the boot length not including the heel), the mouth (the inner circumference of the opening), the calf area (the height of about 27-30 cm from the inner bottom) (Inner circumference) may be calculated.

  Since the direction of the laser beam 17 is changed by the prism 12c provided at the distal end portion 12a of the cylindrical member 12x, the laser beam 17 can be irradiated to the inner surface of the footwear 90 at an incident angle of a predetermined value or less, and the laser beam 17 is excellent. And reflected back to the light receiving unit 16. Moreover, the inside of the footwear 90 can be easily measured by rotating the cylindrical member 12x about the longitudinal direction.

  In the present embodiment, the example in which the laser beam 17 is bent in the direction of 90 degrees by the prism 12c provided at the distal end portion 12a of the cylindrical member 12x is shown, but the present invention is not limited to this. As another example, the laser beam 17 may be bent at an angle smaller than 90 degrees or larger than 90 degrees by the prism 12c. For example, the light guide unit 12 may have a structure capable of manually adjusting and fixing the angle of the prism 12c with respect to the cylindrical member 12x. As an example, the adjustable range of the angle formed by the laser light incident on the prism 12c and the laser light emitted from the prism 12c is preferably 45 to less than 135 degrees. If the laser beam 17 is refracted at an angle smaller than 90 at the distal end portion 12a of the cylindrical member 12x, the laser beam 17 can be irradiated on the front upper side corresponding to the instep of the footwear 90 which is deep like a boot. it can. Further, if the laser beam 17 is refracted at an angle larger than 90 degrees at the distal end portion 12a of the cylindrical member 12x, the end portion of the inner bottom surface (insole) without bringing the distal end portion 12a of the cylindrical member 12x into contact with the insole. The laser beam 17 can be irradiated.

  In the present embodiment, the example in which the internal dimensions of the footwear 90 corresponding to the foot width, the foot circumference, the foot length, and the instep height are measured has been described, but the present invention is not limited to this. As another example, the processing unit 14 may measure only the maximum length (ie, foot length) and maximum width (foot width) of the inner bottom surface of the footwear 90 as the internal dimensions of the footwear 90. By limiting the dimensions to be measured in this way, it is only necessary to calculate the length on the inner bottom surface, and it is possible to measure the dimensions enabling selection of footwear size in a short time.

  FIG. 4 is a flowchart showing an internal measurement operation of the footwear measuring apparatus according to the first embodiment. The processing unit 14 performs four-stage processing (1) to (4) described later in the internal measurement process of step 103.

  Since the external shape of the footwear 90 is calculated in Step 101 of FIG. 2, the processing unit 14 can obtain the longest straight line in the longitudinal direction of the external shape. This straight line is called the “longest line”.

(1) Internal circumference measurement process The internal circumference measurement process is a process of mainly measuring the side surface of the footwear 90 in the vicinity of the opening 90a.

  FIG. 5 is a diagram illustrating a scan state of the inner periphery measurement process.

  In step 201, the processing unit 14 vertically inserts the tip end portion 12a of the cylindrical member 12x at the foremost position on the longest line inside the footwear 90 as shown in FIG. While changing the height, the cylindrical member 12x is rotated (rotated) around the longitudinal direction as indicated by an arrow 22 to scan a partial height range of the inner surface of the footwear 90 over the entire circumference.

(2) Internal forward measurement process The internal forward measurement process is a process of measuring mainly the front bottom and side surfaces of the footwear 90.

  6A and 6B are diagrams illustrating a scan state of the internal forward measurement process.

  In step 202, the processing unit 14 turns the cylindrical member in a vertical plane passing through the longest line on the inside of the footwear 90 as indicated by an arrow 23 with the laser light irradiation direction directed forward as shown in FIGS. 6A and 6B. While displacing 12x into a fan shape, the tubular member 12x is swung by ± 90 degrees around the longitudinal direction, and the front bottom surface and side surface of the footwear 90 are scanned.

(3) Internal rear measurement process The internal rear measurement process is a process of measuring mainly the rear bottom surface and side surface inside the footwear 90.

  FIG. 7A and FIG. 7B are diagrams showing a scan state of the internal rear measurement process.

  7A and 7B, the processing unit 14 turns the cylindrical member in a vertical plane passing through the longest line inside the footwear 90 as indicated by an arrow 25 with the laser light irradiation direction facing rearward as shown in FIGS. While displacing 12x into a fan shape, the tubular member 12x is swung by ± 90 degrees around the longitudinal direction to scan the bottom and side surfaces of the footwear 90 behind.

(4) Inner bottom measurement process The inner bottom measurement process is a process of measuring the bottom and side surfaces around the opening 90 a of the footwear 90.

  FIG. 8 is a diagram illustrating a scan state of the inner bottom surface measurement process.

  In the internal measurement process in step 204, the processing unit 14 turns the laser beam irradiation direction downward as shown in FIG. 8 and opens the longest line above the opening 90a of the footwear 90 as indicated by an arrow 27. While moving from the front end to the rear end of 90a, the tubular member 12x is swung by ± 45 degrees around the longitudinal direction to scan the bottom and side surfaces of the footwear 90 around the opening 90a.

  In the present embodiment, as an example, when the processing unit 14 irradiates the laser light 17 inside the footwear 90 in step 103, the processing unit 14 selects and controls one of a plurality of pre-registered drive patterns. Used to drive the arm 13. In that case, the processing unit 14 may select and use one of the drive patterns according to the type of the footwear 90 when irradiating the laser light 17 inside the footwear 90 in the internal measurement process of Step 103. Since the drive pattern of the control arm 13 is selected according to the type of the footwear 90, the control arm 13 suitable for each of the various types of footwear 90 can be easily driven. The processing unit 14 may determine the type based on the external shape of the footwear 90. Alternatively, the type information of the footwear 90 may be given to the processing unit 14 in advance.

  When the footwear type is different, such as men's shoes, sneakers, pants, and pumps, the opening shape, tube length, and bottom shape are particularly different.

  FIG. 9 is a side view of the pump. The pump, which is the footwear 90, usually has a wide open heel 90a and a high heel. FIG. 10 is a side view of the boot. The boot which is the footwear 90 has a long tube length. These differences in shape cause a large difference in driving of the control arm 13 among the internal measurement processes (2) internal front measurement process, (3) internal rear measurement process, and (4) inner bottom surface measurement process.

  Therefore, in this embodiment, (2) internal front measurement process, (3) internal rear measurement process, and (4) inner bottom surface measurement process are respectively (A) men's shoes and sneakers, (B) pumps, and (C ) The driving pattern for the boot shall be set.

  As mentioned above, although the footwear measuring apparatus 10 of this embodiment was demonstrated, the deformation | transformation is also possible.

  When measuring the footwear 90, the footwear measuring apparatus 10 of the present embodiment may input information related to the footwear 90 as a measurement target in advance. The information on the footwear 90 includes, for example, information on the footwear type. The footwear type indicates the type of footwear such as men's shoes, sneakers, pumps, and boots. In that case, when the processing unit 14 irradiates the outer surface of the footwear 90 with the laser light 17, the processing unit 14 may drive the control arm 13 based on information on the footwear 90 given in advance.

  For example, if it is known that the measurement target is a sneaker, the processing unit 14 does not need to consider the possibility that the measurement target is a boot in the outer shape measurement process. The part 12a can be brought close to the footwear 90. Alternatively, since the outer shape can be estimated to some extent if it is a sneaker, the processing unit 14 may omit the outer shape measuring process in step 101 and execute the opening shape measuring process in step 102.

  When measuring the external shape of the footwear 90, the control arm 13 is driven based on the information of the footwear 90. Therefore, the control arm 13 suitable for the general shape can be driven according to the type of the footwear 90. As a result, the external shape of the footwear 90 can be measured more efficiently.

  The information on the footwear 90 may include the display size of the footwear 90. By giving the display size in addition to the footwear type, the processing unit 14 can realize the driving of the control arm 13 more suitable for the footwear 90 to be measured.

(Second Embodiment)
In the first embodiment, the external shape of the footwear 90 in step 101 and the opening shape of the opening 90a in step 102 are also calculated based on distance information obtained by the distance measuring unit 11 that is a laser distance meter. showed that. In 2nd Embodiment, the example which calculates the external shape of the footwear 90 and the measurement of the opening shape of the opening part 90a based on the image imaged with a camera is shown.

  FIG. 11 is a schematic diagram of the footwear measuring apparatus according to the second embodiment. The footwear measuring device 50 of the present embodiment is different from that of the first embodiment shown in FIG. 1 in that it further includes an imaging unit 51. The other distance measuring unit 11, light guide unit 12, control arm 13, and processing unit 14 are the same as those in the first embodiment.

  The imaging unit 51 is a digital camera that acquires image data including the footwear 90. The image data acquired by the imaging unit 51 is notified to the processing unit 14.

  FIG. 12 is a flowchart showing the operation of the footwear measuring apparatus according to the second embodiment. The processing shown in FIG. 12 is executed by the processing unit 14.

  First, the processing unit 14 estimates the external shape of the footwear 90 based on the image data acquired by the imaging unit 51 as an outer shape estimation process (step 501). This process corresponds to the process of step 101 in the first embodiment.

  Further, the processing unit 14 estimates the opening shape of the opening 90a of the footwear 90 based on the image data acquired by the imaging unit 51 as an opening shape estimation process (step 502). This process corresponds to the process of step 102 in the first embodiment.

  Further, as an internal measurement process, the processing unit 14 inserts the tip end portion 12a into the footwear 90 from the opening 90a based on the estimated external shape of the footwear 90 and the opening shape of the opening 90a. The control arm 13 is driven so as to irradiate with laser light, and the internal dimensions of the footwear 90 are calculated based on the laser light received by the light receiving unit 16 of the distance measuring unit 11 (step 103). This process is the same as the process of step 103 in the first embodiment.

  According to the present embodiment, the shape of the footwear 90 can be estimated from an image obtained by the image capturing unit 51 that acquires image data such as a digital camera, and the inside can be measured by a method suitable for the shape. The internal dimensions of the footwear 90 having shapes and various opening shapes of the opening 90a can be measured.

  Moreover, since the external shape of the footwear 90 and the opening shape of the opening 90a are estimated based on the image data acquired by the imaging unit 51, the time required for scanning by driving the control arm 13 in the first embodiment is reduced. Thus, the measurement of the internal dimensions of the footwear 90 can be completed in a short time.

(Third embodiment)
In the first embodiment, the prism 12c is fixed, and the laser light 17 is bent at a fixed predetermined angle (90 degrees as an example). However, the present invention is not limited to this. In the third embodiment, an example of a footwear measuring apparatus that can change the angle of the prism is illustrated. In the footwear measuring apparatus of the third embodiment, the light guide unit 12 includes a mechanism that makes the angle of the prism 12c variable, and the processing unit 14 controls the angle of the prism 12c, and the inner surface of the footwear 90 is calculated by calculation according to the angle. Although there is a difference that the three-dimensional coordinates of each point are calculated, the basic configuration is the same as the footwear measuring apparatus 10 of the first embodiment.

  FIG. 13 is a diagram for explaining a light guide section and its peripheral structure in the third embodiment. The light guide unit 12 of the third embodiment is the same as that of the first embodiment shown in FIG. 3 in that it further includes a laser beam variable unit 12d that can change the angle at which the prism 12c bends the optical path of the laser beam. Is different.

  The laser beam variable unit 12d is a mechanism capable of changing the angle at which the laser beam 17 emitted from the light emitting unit 15 and the laser beam 17 reflected by the footwear 90 and received by the light receiving unit 16 are bent. It is preferable that the laser beam variable portion 12d does not increase the size of the tip portion 12a. For example, a mechanism for changing the angle of the prism 12c at the tip 12a by a ball screw is used, and a motor for driving the ball screw and a sensor for detecting the screw position of the ball screw are arranged at a position separated from the tip 12 by a predetermined distance or more. If provided, the tip portion 12a can be reduced in size. The laser beam variable unit 12 d can set the angle at which the laser beam 17 is bent from the processing unit 14. The angle change range is preferably an angle range including 90 degrees. More preferably, it is in the range of 45 degrees to 135 degrees.

In the first embodiment, the external shape of the footwear 90 is calculated in the outer shape measurement process, the opening shape of the opening 90a of the footwear 90 is calculated in the opening shape measurement process, and the obtained external shape and The tip 12a was fixed at a position determined based on the opening shape, and information on the position of the reflection point of the laser beam 17 on the footwear 90 was accumulated while rotating the direction of the laser beam 17 from the tip 12a. However, the present invention is not limited to this. As another example, the third embodiment shows an example in which the user manually sets the position for fixing the distal end portion 12a by teaching.

  The basic configuration of the footwear measuring apparatus according to the third embodiment is the same as that according to the first embodiment shown in FIG. The operation flow of the footwear measuring apparatus according to the third embodiment is only processing corresponding to the internal measurement process in the operation flow of the first embodiment shown in FIG. The basic flow of the internal measurement process of the third embodiment is the same as that shown in FIG. However, the detailed processing content of the internal measurement process of the third embodiment is different from that of the first embodiment.

(1) Internal circumference measurement process The internal circumference measurement process is a process of mainly measuring the side surface of the footwear 90 in the vicinity of the opening 90a.

  The processing unit 14 sets the position designated by teaching as the lowest point of the foremost position on the longest line inside the footwear 90, and as shown in FIG. 5, the distal end portion 12a of the cylindrical member 12x is located at the designated position. Is inserted vertically, and the height of the inner surface of the footwear 90 is partially rotated by rotating (spinning) the cylindrical member 12x about the longitudinal direction as indicated by an arrow 22 while changing the height in the vertical direction as indicated by an arrow 21. Scan the range all around.

(2) Internal forward measurement process The internal forward measurement process is a process of measuring mainly the front bottom and side surfaces of the footwear 90.

  The processing unit 14 first fixes the tip 12a at a position specified by teaching. Subsequently, as shown in FIGS. 6A and 6B, the processing unit 14 directs the irradiation direction of the laser light forward, and the cylindrical member 12x within a vertical plane passing through the longest line inside the footwear 90 as indicated by an arrow 23. The cylindrical member 12x is swung by ± 90 degrees about the longitudinal direction as the fan is displaced in a fan shape to scan the bottom and side surfaces in front of the footwear 90.

(3) Internal rear measurement process The internal rear measurement process is a process of measuring mainly the rear bottom surface and side surface inside the footwear 90.

  The processing unit 14 first fixes the tip 12a at a position specified by teaching. Subsequently, as shown in FIGS. 7A and 7B, the processing unit 14 turns the cylindrical member 12x in a vertical plane passing through the longest line inside the footwear 90 as indicated by an arrow 25 with the irradiation direction of the laser light directed rearward. The cylindrical member 12x is swung by ± 90 degrees about the longitudinal direction as the fan is displaced in a fan shape to scan the bottom and side surfaces behind the footwear 90.

(4) Inner bottom measurement process The inner bottom measurement process is a process of measuring the bottom and side surfaces around the opening 90 a of the footwear 90.

  The processing unit 14 first fixes the tip 12a at a position specified by teaching. Subsequently, as shown in FIG. 8, the processing unit 14 directs the laser light irradiation direction downward, and as shown by an arrow 27, the longest line is above the opening 90 a of the footwear 90 and the rear of the opening 90 a While moving to the end, the tubular member 12x is swung around ± 45 degrees around the longitudinal direction to scan the bottom and side surfaces of the footwear 90 around the opening 90a.

  Each of the embodiments of the present invention described above is an example for explaining the present invention, and is not intended to limit the scope of the present invention only to those embodiments. Those skilled in the art can implement the present invention in various other modes without departing from the gist of the present invention.

  In the above-described embodiment, the cylindrical member 12x protects the entire circumference over the entire length of the reciprocating optical path of the laser beam between the distance measuring unit 11 and the tip 12a, but the present invention is limited to this. There is no. One meaning of covering the optical path of the laser beam 17 with the cylindrical member 12x is to physically protect the reciprocating optical path of the laser beam from shoelaces, fur, and the like. Another meaning is to prevent the laser light 17 from entering the light receiving unit 16 through a path other than the original optical path. If they can be realized, the protective member may not exist over the entire length of the optical path, and the protective member may not exist over the entire circumference of the optical path. The structure may be such that the optical path of the laser light is protected in at least a part of the periphery of the laser light in at least part of the optical path of the laser light. For example, it may be a slit-like member that secures a reciprocating optical path instead of a cylindrical shape. Further, the inner surface of the cylindrical member 12x may be treated with a material having a low reflectance in order to prevent the surface reflection of the laser light 17. Specifically, non-reflective coating or black matte coating is preferable.

  FIG. 14 is a diagram illustrating a modification of the light guide unit 12. The light guide unit 12 shown in FIG. 14 is different from that shown in FIG. 3 in that the cylindrical member 12x includes a cylindrical member body 12f and a prism head 12e. The tip 12a can be configured to be thinner. Further, maintenance is facilitated by making the prism head 12e detachable.

DESCRIPTION OF SYMBOLS 10 ... Footwear measuring apparatus, 11 ... Distance measuring part, 12 ... Light guide part, 12a ... Tip part, 12b ... Opening window, 12c ... Prism, 12d ... Laser beam variable part, 12e ... Prism head, 12f ... Cylindrical member main body , 12x ... cylindrical member, 13 ... control arm, 14 ... processing unit, 15 ... light emitting unit, 16 ... light receiving unit, 17 ... laser beam, 50 ... footwear measuring device, 51 ... imaging unit, 90 ... footwear, 90a ... opening Part

Claims (12)

A footwear measuring device for measuring the internal dimensions of footwear,
A light emitting and receiving part for emitting laser light and receiving the laser light reflected by the footwear;
The laser light emitted from the light emitting / receiving unit is irradiated onto the footwear from the tip part, the laser light reflected by the footwear is incident on the tip part and received by the light emitting / receiving part, and from the light emitting / receiving part A light guide for protecting the optical path of the laser light in at least a part of the periphery of the laser light in at least a part of the optical path of the laser light to the tip;
A control arm for controlling the position of the tip of the light guide and the direction of the light guide;
The control arm is driven to control the direction of the light guide and the position of the tip of the light guide, and calculate the internal dimensions of the footwear based on the laser light received by the light emitting and receiving unit. A processing unit;
Footwear measuring device having.   The footwear measuring device according to claim 1, wherein the light guide unit includes an optical axis conversion unit that bends the laser light in a direction at a predetermined angle with respect to a direction in which the light emitting and receiving unit emits laser light at the distal end. .   The footwear measuring device according to claim 2, wherein the predetermined angle is greater than 45 degrees and less than 135 degrees.   The light guide unit is disposed at the tip, and an optical axis conversion unit that bends the laser light at a variable angle with respect to a direction in which the light emitting and receiving unit emits laser light, and the optical axis conversion unit transmits the laser light. The footwear measuring device according to claim 1, further comprising: a laser beam variable unit that changes a bending angle.   The footwear measuring apparatus according to claim 4, wherein a variable range of an angle at which the laser beam of the optical axis conversion unit is bent is 45 degrees to 135 degrees. The processor is
Calculate the external shape of the footwear based on the laser light received by the light emitting and receiving unit by driving the control arm to irradiate the outer surface of the footwear with laser light,
Based on the external shape, the control arm is driven to irradiate the opening of the footwear with laser light, and the opening shape of the opening of the footwear is calculated based on the laser light received by the light emitting and receiving unit. And
Based on the opening shape, the tip portion is inserted into the footwear from the opening, the control arm is driven to irradiate the laser light into the footwear, and the light emitting and receiving portion receives the light. Calculating the internal dimensions of the footwear based on the laser light
The footwear measuring device according to claim 1. The processing unit is preliminarily given information on the footwear, and drives the control arm based on the information when the outer surface of the footwear is irradiated with laser light.
The footwear measuring device according to claim 6.   The footwear measuring device according to claim 1, wherein the processing unit measures only the maximum length and the maximum width of the inner bottom surface of the footwear.   The processing unit presets information on a plurality of drive patterns of the control arm for irradiating the inside of the footwear with laser light, and when irradiating the laser light inside the footwear, The footwear measuring device according to claim 1, wherein one of the drive patterns is selected and used accordingly. An image pickup unit for acquiring an image of the footwear;
The processing unit inserts the tip portion from the opening into the footwear based on the shape of the footwear estimated based on the image acquired by the imaging unit, and the laser enters the footwear. Driving the control arm to emit light,
The footwear measuring device according to claim 1.   The processing unit controls the control arm and the light emitting and receiving unit to fix the position of the tip part, rotate the tip part, and from the tip part to a measurement point for irradiating the laser light of the footwear The footwear measuring device according to claim 1, wherein the position of the measurement point is measured every time the distance is rotated by an angle that increases as the distance becomes shorter. A footwear measuring method for emitting laser light from a light emitting / receiving portion toward footwear, receiving laser light reflected from the footwear by the light emitting / receiving portion, and measuring an internal dimension of the footwear,
Irradiating the outer surface of the footwear with laser light, and calculating the outer shape of the footwear based on the laser light received by the light emitting and receiving unit,
Based on the external shape, the opening of the footwear is irradiated with laser light, the opening shape of the opening of the footwear is calculated based on the laser light received by the light emitting and receiving unit,
Based on the opening shape, the tip portion is inserted into the footwear from the opening, the laser light is irradiated into the footwear, and the footwear is based on the laser light received by the light emitting and receiving unit. Calculate the internal dimensions of
Footwear measurement method.

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