KR102528777B1 - A Method for Compensating an Error of a Foot 3D Scanning Process and a Method for Generating a Foot 3D Model with the Same - Google Patents

Abstract

The present invention relates to a method for correcting a foot 3D scanning error and a method for generating a 3D foot model using the same. The foot 3D scanning error correction method includes setting the position of a laser and a camera; moving the laser and camera along a preset path; Detecting upper and lower displacements of the laser and the camera according to the movement; calibrating the position of the laser or camera according to the detection result; Setting each individual coordinate system according to the detected upper and lower displacements; checking whether each individual coordinate matches; and generating a common coordinate system according to the confirmation result.

Description

A method for compensating a foot 3D scanning error and a method for generating a 3D model of a foot thereby

The present invention relates to a method for correcting a foot 3D scanning error and a method for generating a 3D foot model using the same.

Human feet can have various sizes and shapes, and standardized shoes suitable for the size of the foot are purchased for mass-produced sneakers or similar shoes. However, each individual has a different foot or body structure, and thus, standardized shoes that are mass-produced can cause various problems. In order to solve such a disadvantage, custom shoes can be ordered and manufactured, but it is difficult to find an appropriate supplier because a lot of cost is required. On the other hand, in the case of standardized shoes, when a shoe with a new fashion or structure is made, it must be designed directly by a person, and then the shoe can be made after a mold is made accordingly. In this case, manufactured shoes may not be suitable for individuals having various shapes at an early stage. In order to solve these disadvantages, a technique for manufacturing shoes from data obtained by scanning the shape of the foot by a scanner such as a laser is known in the art. Patent Publication No. 10-2018-0029831 discloses a foot scanning device for generating a 3D foot model and a foot scanning method thereof. In addition, Patent Publication No. 10-2019-0125023 discloses a method for generating a shoe last model based on 3D scan data and a system therefor. In order to acquire 3D scan data of the foot, accurate 3D scan data needs to be obtained from a scanner, and errors that may occur from a 3D scan device need to be corrected in advance. However, the prior art does not disclose a method for obtaining accurate 3D data of a foot or foot by correcting an error that may occur in the process of acquiring 3D scan data in advance.

The present invention is to solve the problems of the prior art and has the following object.

Prior Art 1: Patent Publication No. 10-208-0029831 (Kyungpook National University Industry-University Cooperation Foundation, published on March 21, 2018) Foot scanning device and its scanning method Prior Art 2: Patent Publication No. 10-2019-0125023 (HBT Co., Ltd., published on November 6, 2019) Method for generating a shoe last model based on 3D scan data and system therefor

An object of the present invention is to provide a foot 3D scanning error correction method that enables accurate 3D scan data matching the shape of the foot to be obtained by pre-correcting errors that may occur in the process of acquiring 3D scan data for manufacturing shoes, and a method for correcting errors in 3D scanning of the foot accordingly It is to provide a method for generating a 3D model of the foot.

According to a suitable embodiment of the present invention, a foot 3D scanning error correction method includes setting the position of a laser and a camera; moving the laser and camera along a preset path; Detecting upper and lower displacements of the laser and the camera according to the movement; calibrating the position of the laser or camera according to the detection result; Setting each individual coordinate system according to the detected upper and lower displacements; checking whether each individual coordinate matches; and generating a common coordinate system according to the confirmation result.

According to another preferred embodiment of the present invention, the laser and camera consist of a circumferentially moving rotationally moving laser scanner and a linearly moving linearly moving laser scanner.

According to another preferred embodiment of the present invention, the correction of the position of the laser or camera is performed in a grating correction unit in which a plurality of continuously formed polygonal shapes are uniformly arranged.

According to another preferred embodiment of the present invention, a method of generating a 3D foot model includes setting a rotation angle of a scan group composed of a laser and a camera; Correcting errors of the laser and the camera at the set rotation angle; scanning a foot shape by a plurality of laser scan groups; Calculating each point group for a plurality of laser scan groups; setting common coordinates of each point group, and matching data obtained based on point values of each point group; converting the matched data into mesh data; and generating a 3D model of the foot from the mesh data.

The 3D foot scanning error correction method according to the present invention allows errors that may occur in the process of obtaining 3D scan data by a laser scanner and a camera to be corrected in advance. As a result, accurate 3D data for various foot parts are obtained, so that customized shoes suitable for each individual can be manufactured. The error correction method according to the present invention can be applied to the manufacture of standardized shoes as well as the manufacture of personalized shoes. In addition, the foot 3D model generation method according to the present invention can be applied to an automatic ordering and supplying system for shoes in conjunction with an ordering device such as a kiosk device, for example.

1 illustrates an embodiment of a foot 3D scanning error correction method according to the present invention.
2 illustrates an embodiment of a 3D scan data acquisition device to which an error correction method according to the present invention is applied.
3 illustrates an embodiment of a method for correcting an error applied to an error correction method according to the present invention.
4 illustrates an embodiment of a method for generating a 3D foot model according to the present invention.
5 illustrates an embodiment of a kiosk system for automatically ordering shoes to which the method for generating a 3D foot model according to the present invention is applied.

Below, the present invention will be described in detail with reference to the embodiments presented in the accompanying drawings, but the embodiments are for a clear understanding of the present invention, and the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, so repeated descriptions are not made unless necessary for understanding the invention, and well-known components are briefly described or omitted, but the present invention It should not be understood as being excluded from the embodiment of.

1 illustrates an embodiment of a foot 3D scanning error correction method according to the present invention.

Referring to FIG. 1 , the 3D foot scanning error correction method includes setting positions of a laser and a camera (P11); moving the laser and the camera along a preset path (P12); Detecting upper and lower displacements of the laser and camera according to the movement (P13); Correcting the position of the laser or camera according to the detection result (P14); Setting each individual coordinate system according to the detected upper and lower displacements (P15); Checking whether each individual coordinate matches (P16); and generating a common coordinate system according to the confirmation result (P17).

A foot shape may be scanned by at least one laser scanner, and the laser scanner may include a laser for measuring a distance and a camera for checking the position of the laser. A plurality of laser scanners may be deployed to obtain scan data of a foot or foot from which a 3D model is to be created. For example, a rotational movement scanner that moves along a circumference around the foot and a linear movement scanner that moves linearly at the lower part of the foot may be prepared, and the position of each scanner may be set (P11). The laser scanner may include a laser and a camera, and may include various means capable of detecting the shape of the foot at different positions, such as a position sensor or a driving means, if necessary. The position of the laser scanner can be set based on the shape of the foot and the movement path, and when the position along the movement path is set, the laser scanner can move and measure different parts of the foot (P12). In the laser scanner, the laser and the camera can be moved together, and each laser scanner can measure different parts of the foot while moving along a predetermined path. For example, the lateral part and the instep of the foot may be detected by the first laser scanner, and the sole and lateral part of the foot may be detected by the linear moving laser scanner disposed below the foot. Scan data necessary for generating a 3D model can be acquired by the movement of each laser scanner (P13), and positional relationships according to the movement of different laser scanners can be corrected (P14). Correction of the positional relationship includes a positional relationship between a laser and a camera in each laser scanner, a positional relationship between a laser and a camera at different positions in a moving path of a laser scanner, or a positional relationship between different laser scanners. While moving in a circumferential direction or linearly, it may be checked whether the directions of the laser scanner and the camera disposed in each laser scanner match. Also, the positional relationship between the circumferentially moving laser scanner and the linearly moving laser scanner can be checked and corrected. When the positional relationship of the laser scanners is confirmed and corrected in this way (P14), coordinates according to the movement of each laser scanner can be set (P15). For each laser scanner, coordinates for different positions of a moving path and a foot part to be scanned may be set. When the coordinates for each laser scanner are set (P15), whether or not the coordinate values match at a predetermined confirmation position of each individual coordinate can be checked (P16). If the values converted to the values of different coordinate systems at the predetermined confirmation position do not match, it may be determined that there is an error in the correction of the positional relationship (NO). In this case, the displacement is again detected in each laser scanner (P13), and based on this, the positional relationship may be corrected in at least one laser scanner (P14). On the other hand, if the values calculated from the values of the different coordinate systems coincide (YES) at the confirmation position, a common coordinate system is set (P17), and the displacements measured by each laser scanner can be converted into a common coordinate value. In addition, 3D scan data may be generated and stored based on the converted coordinate values of each laser scanner. In addition, based on the 3D scan data, appropriate correction is made according to the shape of the shoe, so that a 3D model of the foot can be created. Error correction of the laser scanner for generating 3D scan data may be performed in various ways and is not limited to the presented embodiment.

2 illustrates an embodiment of a 3D scan data acquisition device to which an error correction method according to the present invention is applied.

Referring to FIG. 2 , a foot SM to be scanned may be positioned on a scanning device, and may be positioned on a scanning plane, such as glass, for example. A first laser scanner and a second laser scanner may be disposed in the scanning device, and the first and second scanners follow the first and second moving paths that are linear along the circumferential direction and the longitudinal direction with the foot SM as a center, respectively. can be moved In order to form the first and second movement paths, a circular movement guide 21 and a linear movement guide 25 may be disposed along the circumferential direction with the foot SM as the center. For example, the circular movement guide 21 may be formed to rotate along the side portion of the foot SM or to rotate around the foot SM from an upper side compared to the side portion. In addition, the linear movement guide 25 may extend along the longitudinal direction of halving the foot SM from the bottom of the foot SM in the longitudinal direction. The first laser scanner and the second laser scanner may be disposed on the first and second carriers 22 and 26 movable along the circular movement guide 21 and the linear movement guide 25, respectively, and the first and second carriers ( Lasers 23 and 27 and cameras 24 and 28 may be disposed at 22 and 26 . A control module may be installed, and the first and second laser scanners are moved along the circular movement guide 21 and the linear movement guide 25 under the control of the control module, respectively, while different parts P1, Scan data for P2) may be obtained. The first and second position sensors are installed so that the positions of the first and second carriers 22 and 26 can be detected, and whether the first and second carriers 22 and 26 are at a predetermined position by the first and second position sensors. whether can be detected. At least one sample detection sensor may be installed to detect a change in the position of the foot SM during the operation of the first and second laser scanners. A change in the direction or position of the foot SM may be detected during the scanning process by the sample detection sensor, and the detection result may be transmitted to the control module. The sample detection sensor may be operated in conjunction with the change in position of the first and second carriers 22 and 26, and for example, whether a change in direction or position occurs according to the change in position of the carrier may be detected. As described above, error correction may be performed in advance before scanning by the first and second laser scanners, and errors may be detected and stored at each location, or errors may be corrected during the measurement process. For example, a direction error of a camera or a laser may be adjusted at a specific location, and a movement scale may be adjusted. Error correction can be performed in an appropriate way according to the structure of each laser scanner. Below, a method for measuring errors that may occur in the moving paths of the first and second laser scanners will be described.

3 illustrates an embodiment of a method for correcting an error applied to an error correction method according to the present invention.

Referring to FIG. 3 , position correction of a laser or a camera may be performed in a grid correction unit 31 in which a plurality of continuously formed polygonal shapes are uniformly disposed. Referring to (a) of FIG. 3, a laser light L1 may be guided along a predetermined path of the grating correction unit 31 by a laser, and an image of the laser light L1 may be acquired by a camera. . The grating correction unit 31 may have, for example, a chessboard-like shape, but is not limited thereto and may have various structures capable of determining the direction of the laser light L. The lattice correction unit 31 may be colored so that at least two different colors are distinguished from neighboring lattices while squares having the same size are uniformly disposed. And, by detecting the position where the laser light L is detected at the corner of the grating, the relative position of the laser and the camera can be confirmed at each position of the circular movement guide or linear movement guide described above. Another advantage of using the grating correction unit 31 as a means for position detection is that the position change of the laser scanner can be calculated while operating in units of steps of a motor serving as a driving means. As shown in (b) of FIG. 3, the grating correction unit 31 detects the path of the laser beams (L1 to LN) at different positions of the moving guide, and detects the position passing through the corner in the determined grating, thereby positioning each step of the motor. can be detected. Alternatively, an operating error may be calculated by comparing the detection values of the rotation detection sensor and the movement detection sensor installed in each laser scanner. As shown in (c) of FIG. 3, the grating correction unit 31 may be a means for detecting the relative positions of the rotational movement laser scanner and the linear movement laser scanner. For example, the rotational movement laser scanner and the linear movement laser scanner may be moved to predetermined relative positions, and at each position, the laser light (UL1 to ULK) by the rotational movement laser scanner and the laser light (UL1 to ULK) by the linear movement laser scanner ( Relative errors can be detected by detecting paths in the grating correction units 31 of LL1 to LLK). In this way, an error due to a positional change of the laser scanner is detected by the grid correction unit 31 or a correction unit having a structure similar thereto, and the error may be applied to scan data or may be corrected in advance. Below, a process of generating a 3D foot model by such error correction will be described.

4 illustrates an embodiment of a method for generating a 3D foot model according to the present invention.

Referring to FIG. 4 , the method of generating a 3D foot model includes setting a rotation angle of a scan group composed of a laser and a camera (P41); Correcting errors of the laser and the camera at the set rotation angle (P42); Scanning a foot shape by a plurality of laser scan groups (P43); calculating each point group for a plurality of laser scan groups (P44); Common coordinates of each point group are set, and data acquired based on the point values of each point group are matched (P45); Converting matched data into mesh data (P46); and generating a 3D model of the foot from the mesh data (P47).

At least two laser scanners may be prepared, and each laser scanner may be moved along a different direction relative to the foot. As described above, a rotational movement laser scanner and a linear movement laser scanner may be prepared for acquisition of scan data. The rotational motion laser scanner for scanning the lateral area of the foot and the upper area of the foot may be moved along a rotational motion path formed around the foot. A rotation angle along a rotational movement path of the rotational movement laser scanner may be set, and a linear movement distance of the linear movement laser scanner may be set according to the rotational angle of the rotational movement laser scanner (P41). When the rotation angle and the movement distance are set, errors according to the rotation angle and the movement distance may be detected and corrected in the rotational movement path and the linear movement path (P42). Position calibration of the laser installed in the laser scanner and the camera and position calibration between the laser scanners may be performed according to the method described above. When position correction is completed at different locations of the laser scanner or possible errors are stored (P42), scan data for the foot may be acquired while each laser scanner is moved along the movement path (P43). For example, the upper part and the side part of the foot may be scanned by the rotary motion laser scanner, and the side part and the lower part of the foot may be scanned by the linear motion laser scanner. The rotary motion scanner and the linear motion laser scanner may have a common scanning area, and a laser point of each scanning area is selected by the rotational motion laser scanner and the linear motion laser scanner to calculate a measured value such as a distance. Yes (P44). Scan data according to the shape of the foot may be obtained by each laser scanner, and for example, scan data for the entire foot part according to the shape of the foot may be obtained by matching the side part corresponding to the common measurement part as a standard. It can (P45). In this method, when matching data of rotational scan data and linear scan data is generated, it can be converted into mesh data (P46). The mesh data may be created by, for example, a method of determining points having different directions with respect to the shape of the foot, but is not limited thereto. When mesh data is generated from the 3D registration scan data in various ways (P46), the mesh data may be connected to generate a 3D model of the foot (P47). In addition, customized shoes can be manufactured by the 3D model created in this way. The 3D model can be created in a variety of ways and is not limited to the presented embodiment. For example, a 3D model can be linked with a kiosk system to form an automated shoe system.

5 illustrates an embodiment of a kiosk system for automatically ordering shoes to which the method for generating a 3D foot model according to the present invention is applied.

Referring to FIG. 5 , the kiosk device 51 and the scanner device 52 may be operated in conjunction with each other, and the kiosk device 51 may include, for example, a base 511 fixed to the ground; an accommodation space 512 formed above the base 511; and a display unit 513 disposed above the accommodating space 512 . The kiosk device 51 may include an installation frame 51 extending in a vertical direction, and various means such as a control module for operation, a communication module, or a graphic module may be disposed inside the accommodation space 512. . The scanner device 52 may have a structure capable of being fixed to the ground, for example, a scanner 521 having a scan inlet 522 so that one foot is scanned, and a balance unit 523 coupled to the side of the scanner 521. ) may be included. While the non-scanning foot is located in the balance unit 523, the scanning foot may be introduced into the scanner 521 through the scanning inlet 522. An operation of the scanner device 52 may be displayed on the display unit 513 and a scanning process may be displayed on the display unit 513 . A user can input information necessary for the operation of the scanner device 52 to the display unit 513 of the kiosk device 51, and the kiosk device 51 communicates with the management server 53 to monitor the scanner device 52. use can be approved. The scanner device 52 may have the above-described scanning means, and when the 3D scan data of the user's foot is obtained by the scanner device 52, it is stored in the kiosk device 51, and the management server 53 and can be used as data for manufacturing shoes. The kiosk device 51 having various structures may be interlocked with the scanner device 52 to form a shoe manufacturing system and is not limited to the presented embodiment.

The method for correcting errors in foot 3D scanning according to the present invention allows errors that may occur in the process of acquiring 3D scan data to be corrected in advance in the process of acquiring 3D scan data by a laser scanner and a camera. As a result, accurate 3D data for various foot parts are obtained, so that customized shoes suitable for each individual can be manufactured. The error correction method according to the present invention can be applied to the manufacture of standardized shoes as well as the manufacture of personalized shoes. In addition, the foot 3D model generation method according to the present invention can be applied to an automatic ordering and supplying system for shoes in conjunction with an ordering device such as a kiosk device, for example.

Although the present invention has been described in detail with reference to the presented embodiments above, those skilled in the art will be able to make various modifications and variations without departing from the technical spirit of the present invention with reference to the presented embodiments. . The present invention is not limited by these variations and modifications, but is limited only by the claims appended below.

21, 25: movement guide 22, 26: carrier
23, 27: laser 24, 28: camera
31: grating correction unit

Claims (1)

To scan the lateral part of the foot and the upper part of the foot, the rotation angle along the rotational movement path of the rotational movement laser scanner including the laser and the camera moving along the rotational movement path formed around the foot is set, and the scanning of the sole and side region of the foot is set. Setting a linear movement distance of a linear movement laser scanner including a laser and a camera located on the lower part of the foot and moving linearly according to a rotation angle of the rotational movement laser scanner;
Correcting position errors of each laser and camera of the rotational movement laser scanner and the linear movement laser scanner and position errors between the rotational movement laser scanner and the linear movement laser scanner at the set rotation angle and movement distance;
scanning a foot shape by means of a rotational movement laser scanner and a linear movement laser scanner;
Calculating each point group for the rotational movement laser scanner and the linear movement laser scanner;
setting common coordinates of each point group, and matching data obtained based on point values of each point group;
converting the matched data into mesh data; and
Generating a 3D model of the foot from the mesh data;
In the step of correcting the positional error, the rotational movement laser scanner and the linear movement laser scanner may be moved to a predetermined relative position, and at each position, the laser light (UL1 to ULK) by the rotational movement laser scanner and the linear movement laser scanner relative errors are detected by detecting paths in the grating correction unit 31 of the laser lights LL1 to LLK by
The matching step includes forming scan data for the entire foot part according to the shape of the foot by being matched based on the side part corresponding to the common measurement part of the rotational movement laser scanner and the linear movement laser scanner,
A scanner device 52 having a structure fixable to the ground and including a scanner 521 having a scan inlet 522 so that a user's foot is scanned and a balance unit 523 coupled to a side of the scanner 521; and the above steps are performed by a kiosk device 51 in which the scanner device 52 is interlocked and operated, and the kiosk device 51 includes a base 511 fixed to the ground; An accommodation space 512 formed above the base 511 and in which a control module for operation, a communication module, and a graphic module are disposed; and a display unit 513 disposed above the accommodation space 512, displaying the operation and scanning process of the scanner device 52, and allowing a user to input information required for the operation of the scanner device 52. How to create a 3D model of a foot.

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