WO2018020083A2 - Method and device for producing a custom-made shoe last - Google Patents

Abstract

The invention relates to a method for producing a custom-made shoe last from the 3D image of a reference shoe last and the 3D image of a customer's foot, for which the custom-made last is being produced, these images having previously been captured by a 3D scanner system or a sensing system, or produced by computer aided design software. An existing shoe last can thus be adapted, entirely automatically, to the measurements of a foot while preserving the appearance of the reference last. The first step consists of applying a set of algorithms in order to determine axes, points and portions in the 3D images of the customer's foot and of the reference last, solely on the basis of the geometry of these images and without any user intervention. The extracted information is used to compare the measurements of the customer's foot with the measurements of the reference last, and include measurements obtained for different functional parts of the foot (heel, instep, metatarsal joint, arch,...) and of the last (fitting, notch, instep, crease, end...). The second step of the method is that of modifying the reference last on the basis of the extracted information. Geometric conversion operators are applied to the 3D image of the reference last to adapt the different portions thereof to the measurements of the customer's foot. These operators are automatically parametrised on the basis of the information extracted in the first step. This results in a 3D image of a shoe last that can be used to produce a custom-made shoe in the same model as the initial reference last. The claimed method can be used to model and adapt any type of shoe last for men, women or children, for shoes of any model, heel height or material, and for feet of any type and size. It offers high reproducibility and accuracy in the process of creating a custom-made last from an existing last, thereby allowing it to be used in an industrial context.

Description

 METHOD AND DEVICE FOR REALIZING A CUSTOM SHOE SHAPE.

The present invention relates to a method for producing a simulation form in which a three-dimensional image of a shape consisting of a first set of points is acquired.

 It also relates to a device for implementing such a method.

 By form means a physical or digital object corresponding to the interior volume of an accessory, in this case clothing, in particular a shoe, called in this case form for shoe, and allowing a craftsman to apply a pattern (stem) to conform it in volume so as to form the accessory.

 By simulation form of an accessory is meant a similar material or virtual form that is to say the same or similar to the internal volume of the accessory that would be made by overmoulding directly on the accessory.

 The invention finds a particularly important, though not exclusive, application in the field of custom manufacturing of clothing accessories shaped around or obtained by taking into account a shape and especially in the manufacture of tailored shoes.

Although the invention is not limited to this application, it is particularly effective in areas where the accessories are intended to interact and / or accommodate at least a portion of the human body, said parts comprising particularly joints and for example in the field of orthopedic custom-made shoes.

 By tailored shoe means a shoe whose physical characteristics (including mechanical and thermal properties), aesthetic qualities and comfort, are specifically adapted to the foot of a given user and / or generated from measurements made on him.

 To date, the production of shoes is mainly carried out according to two modes of production.

 The first mode is industrial and allows high speeds but its ability to adapt to the needs and desires of users is limited to the choice between several sizes for a given shoe model.

 The second mode is artisanal and incorporates a custom production that goes through the creation of a form.

 It is a mode of production intended for the luxury or semi-luxury, in which the clientele has high requirements in terms of quality and in which to ensure a satisfaction of the final customer and its comfort, it is necessary to carry out several cycles test / test by manufacturing shapes and then manufacturing corresponding test shoes and customer testing, which significantly increases production times and costs.

 In fact, to manufacture a shoe, a wooden shape is produced, corresponding to the interior volume of the object to be manufactured and on which a fabric or material is pressed to work it and make it take shape.

The skilled craftsman, specialized in the realization of such forms, uses his know-how to integrate the mechanical constraints of the foot, the shoe and the materials that constitute it. He thus adapts the form on the basis of his empirical knowledge.

 The resulting shoe shapes therefore depend greatly on the talent of the former on the one hand and his knack for achieving form on the other hand.

 In addition, the shapes can undergo deformations over time, in particular due to the materials of manufacture of the form used for example by the work of wood, its expansion, its deformations due to moisture and / or wear over the shaping.

 In case of deterioration of the shape, it requires for the same shoe model to rebuild the same shape, without guarantee of conformity to the previous one.

 If this second mode of custom production better meets the needs and desires of customers, it suffers from significant manufacturing delays as well as design hazards and / or craftsmanship.

 For example, for two models of shoes requiring a different shape such as in particular for heel or flat shoes, the craftsman creates for each a form using his knowledge and intuition which does not guarantee a certain level of comfort equal or equivalent between the two resulting shoes.

There is known (Crispin LastMaker software published by the company AutoDesk® [registered trademark]) a method for manually modifying a three-dimensional image of a shoe shape using a computer shape design assistance software replacing the drawing utensils technique (pencil, eraser, ruler, ...) usual of the artisan.

 Indeed, in this method, a shoe shape is displayed on a screen and then manually manipulated by the craftsman who modifies it by playing on a limited number of parameters predefined by the software.

 However, this method does not make it possible to perform rapid modification and for a substantially constant result of the shape.

 The user, for example formier, remains indeed essential here and if the implementation of his know-how is facilitated, it is the sole source of modifications of a form for shoe and retains the disadvantages related to the human conception of form.

 This type of software is oriented towards the numerical assistance of the tasks necessary for the user to define a virtual form.

 This method therefore does not dispense with the creation cycles of form / fitting and therefore limits neither the costs nor the production time.

 It also requires a control screen allowing the operator to define and control the changes iteratively applies.

 The present invention therefore particularly to overcome the disadvantages of the prior art.

Thus the present invention aims to provide a method, and a device for implementing such a method, better than those previously known to the requirements of practice, in particular that for all types of feet and shoe models, it makes it possible to create a shape perfectly adapted to the user's foot, simple, fast, automatic way, with criteria of quality and comfort substantially constant.

 The invention makes it possible to dispense with the know-how of the formers without being subject to the hazard of human achievements and significantly reducing the costs and production delays by eliminating the iterations of the test / test cycles and the number of test shoes for disposal.

 Display means such as a screen is no longer essential with the invention.

 For this purpose, it proposes in particular a method for producing a shoe-shaped simulation form adapted to the foot of a user, in which a three-dimensional image of a shoe shape consisting of a first set of points is acquired, characterized in that

 acquiring a three-dimensional image of the user's foot consisting of a second set of points,

 first and second orientation data are determined for at least one subset respectively of the first and second sets of points,

 at least one foot model is produced, including a first user foot model comprising said three-dimensional foot image of the user and said first orientation data,

 at least one shoe shape model comprising said three-dimensional shape image and said second orientation data,

- positioning in space, by computing means arranged to apply first operators, each foot model with respect to the shoe shape model according to a first determined optimization criterion,

 the second operators are automatically determined by calculating means by comparison between the shoe shape model and a user foot model to determine a transformation unit to be produced,

 said transformations are applied to at least a third subset included in the first or second set of corresponding points of the foot model of the user or the shoe shape model, to obtain the simulation form.

 A three-dimensional image is here understood to mean a set or cloud of points of space defined by three coordinates in a coordinate system, preferably orthogonal, for example orthonormal.

 More precisely and in a manner consistent with the definitions appearing above, by foot model or shape model (forming three-dimensional models), we mean a three-dimensional image to which are added additional data for at least certain points including at least one vector of orientation associated with. each of said points.

 The three-dimensional model can therefore also include global information about the model.

The models thus have parameters some of which are points defined in a Cartesian coordinate system by three positional coordinates, but also oriented points defined by six coordinates, three of position and three of orientation defined by Euler angles or by coordinates of the direction vector of their orientation. The acquisition, formation or production of a three-dimensional image is also understood to mean the calculation, manipulation and / or storage of a three-dimensional image, for example using means for acquiring a set of points from the physical object concerned, such as for example a three-dimensional scanner.

 By operator is meant a set of ordered elementary operations of transformation of a (primitive) model into another (intermediate) model, or between a (intermediate) model and a simulation model, the calculation, manipulation and storage means. parameters of the model, including or not means for acquiring a set of points from a physical object such as a scanner in the case of a primitive model.

 The invention thus allows in particular a constant quality and increased repeatability in the manufacture of shapes.

 It also makes it possible to drastically reduce the costs as well as the design / production time of the forms and the storage requirements thereof, the design being able for example to be carried out according to the computing power of the means implemented in a system. time for example less than one minute.

 For example, it is possible with the invention to produce a custom shape for the two feet of a user and this, in a time well below the time required for the processes of the prior art to achieve only one .

In particular, it makes it possible to incorporate the specific know-how of the craftsman to build an industrialized knowledge model. and re-exploitable indefinitely without fluctuating quality.

 In addition, any gain in precision, especially in terms of accuracy and fidelity, even minimal is a significant advance in terms of comfort.

 However, the invention still allows an improvement in the field.

 The invention also makes it possible to form a shoe shape no longer necessarily starting from a shoe shape to be adapted but also from an existing shoe.

 Advantageously, the shoe shape, for example made of wood or plastic (3D printing for example), is produced from said simulation form.

 In advantageous embodiments, one or more of the following provisions are also and / or in addition:

 the first optimization criterion determined is an alignment criterion;

 at least one characteristic direction is determined for each model and the first alignment criterion is performed on said directions;

 - Positioning in space by calculation means by implementing a first step of global registration in which, for each foot model or shoe shape:

 a reference point is selected, said point being calculated from corresponding points of each model,

a first direction of the length or substantially the length of the model is determined by identifying a point which verifies a second position criterion determined with respect to the reference point,

 a second direction is determined by identifying a point verifying a third position criterion determined with respect to a straight line passing through the reference point of said model and directed by the direction of the length or substantially the length of said model,

 determining a third direction forming a base with the first and second directions, associated with a point to form a marker,

 then, for each foot model,

 constructing a third operator which sends the reference mark of the foot model to the mark of a foot model or shoe shape by minimizing a fourth determined criterion, and applies it to each foot model;

n positions in space by means of implementing a second end stage in which:

 a first substep in which a fourth point association operator is applied to the points of a foot model to associate them with points in the shoe shape model,

a second sub-step in which a determined transformation is determined which minimizes a determined fifth criterion between a determined number of points of a foot model and the corresponding corresponding points of the shoe shape model, and apply the determined transformation to the foot model,

 the first and second substeps are reiterated until the difference between the average difference in distance between the points of the foot model and those associated with the shoe shape model of the previous iteration and the iteration current is below a specified threshold;

 positioning in space and / or determining at least part of the third subassembly by implementing at least one of the following steps:

 a step of determining a first plane substantially corresponding to the support plane of a foot or shoe shape model,

 a step of determining a sphere substantially corresponding to a heel of foot or to a casing zone of a model of foot or of a shoe shape, in which a foot model, or shape model, is determined in a set of points substantially forming a spherical portion of the model corresponding to the heel of the foot model, respectively to the fitting zone of the shoe shape model, a step of detecting a metatarsal axis in which is detected in a model of foot or shoe form two extremal points substantially corresponding to a metatarsal axis;

at least one of the second operators comprises a step in which at least one second image of foot having been built elsewhere, it carries out a training step or morphing (in English language), wherein said morphing is performed between at least a second foot model and the first user foot model;

 at least one part of the third subassembly (to which the transformations are applied) is automatically determined by implementing, for a user foot model and for a shoe shape model, at least one of the following determining steps:

 the support plane and the extremal points having been determined, for each model two fourth and two fifth subsets of points respectively of end and body parts, corresponding to the sets of points on either side of each other, are determined. a second plane containing a line passing through the two extremal points and orthogonal to the support plane and / or,

the support plane having been determined, a sixth subset of points corresponding respectively to a set of points of the shape model and to the set of points of the first user foot model, corresponding to a plantar arch, is determined, below a third plane forming, with the first plane, an angle less than a determined threshold, the points of the third plane being determined by their distance less than a threshold determined at the support plane and a corresponding seventh subset is determined for each of said models at the points above said third plane and / or, an eighth and a ninth subset corresponding respectively to a set of points of a casing zone and to a set of points of a bead are determined.

 By nesting area is meant a volume element substantially forming a cavity or recess, for example substantially spherical or semi-spherical, to be received or accommodate a corresponding element by casing such as for example the area of a shoe receiving a heel of one foot or the area of a corresponding shoe shape;

 the transformations comprise a step in which, the sixth and seventh subsets having been determined, the sixth subset is adapted to align contained or contiguous points of the first plane of said sixth subset with the corresponding points of said seventh set. (central part) ;

 the transformations comprise a step in which, the fourth, sixth and seventh subassemblies having been determined, applying an affine transformation to the fourth end subset of the shape model to coincide or substantially coincide the points of said fourth subset; contained or contiguous set of the second plane with the corresponding points of the sixth and seventh subsets (the body part) of the shape while preserving the geometric proportions of the fourth subset of the shape model.

In an advantageous embodiment, a camber change operation is carried out on the model of foot by an operator thus making it possible to further improve the comfort.

 Advantageously, any form of arch shoe can thus undergo a pretreatment and / or post-treatment step where the shape undergoes a flattening and / or bending operation.

 This allows in particular to further optimize comfort and to transform a shoe for example flat or little arched heel shoe or high heel.

 This treatment further comprises and / or in addition at least one and / or the other of the following steps:

 at least one profile of a shape pattern is determined, said profile being substantially parallel or parallel to a direction substantially corresponding to the axis of the length of the shape pattern;

 the shape model, the limits of which are delimited by an angular criterion and / or of distances determined with respect to these profiles, is determined, slice by slice, the rotation which aligns the slice with a target camber profile, flat for the flattening operation and curve for the bending operation;

 centering the rotation of a slice on a remarkable point, for example a point on a determined profile of the shape model coinciding substantially with the most rigid bone zone of the foot;

- The model obtained has zones of stretching and compression controllable by the target profile. The invention also relates to a device for producing a simulation form comprising: a three-dimensional image of a shoe shape consisting of a first set of points, means for acquiring a three-dimensional foot image,

 at least one three-dimensional user foot image acquired by said acquisition means, and consisting of a second set of points,

 computing means connected to said acquisition means and arranged to determine first and second orientation data for at least one subset respectively of the first and second set of points and arranged to form at least one foot model of which a first user foot model comprising said user's three-dimensional foot image and said first orientation data,

 said calculating means being also arranged to form at least one shoe shape pattern comprising said three-dimensional shape image and said second orientation data, and arranged to position in space, by first operators, each foot model by to the shoe shape model according to a first determined optimization criterion,

said calculating means being further arranged to automatically determine second operators by comparison between the shoe shape model and a user foot model to determine a set of transformations to be made and arranged to apply to at least a third subset of points included in the corresponding first or second point set of the model of foot of the user or shoe shape model, said transformations to obtain the simulation form.

 Advantageously, the device comprises means for making the shoe shape from a simulation shape of wood and / or plastic.

 Advantageously and for this purpose the device comprises a three-dimensional printer or a means of material removal.

 The invention starts from the idea that a final shoe incorporates in itself, at least implicitly, a consistent set of responses to the constraints of quality and comfort for a given foot.

 Said given foot is however either available or theoretical and a priori inaccessible.

 The invention thus possibly allows a posteriori reconstruction of said foot adapted to the given shoe and to recover the implicit technical criteria ensuring the comfort and the quality to pass on the teaching and to make it profit a model of foot or shape for any shoe.

 To simulate this foot it is therefore necessary to use a finite number of parameters arranged to perform a suitable modeling.

 By primitive model we mean a model imagined by the designer of the model and which is supposed by the designer to be close, to see as close as possible to reality.

Intermediate model means a model resulting from a stage of the modeling process leading from the primitive model to the simulation model.

 By simulation model is meant a suitable model defined by the designer to simulate the behavior of what is simulated.

 The simulation model can be hardware and / or digital.

 In another form of formulation, the invention also relates to a method for producing a definitive shape (simulation model of the final shape of a shoe) for producing such a shoe, adapted to the foot of a user. , comprising a series of steps in which:

 intermediate models of a shoe shape are defined by operators on the parameters of the different models,

 one builds by means (of calculation, extraction, or any other operation):

 at least one primitive model of the client foot whose parameters are characterized by a finite number of points where each point is an object (a degraded mode of representation of this model is a cloud of points),

o A simulation model of the shape of the shoe (Here, for example, the parameters are characterized by the topological parameters of the surfaces or points of these surfaces defining an interior volume of said shoe simulation model, which volume may include the volume for a shoe. comfort sole, from the shape simulation model, which may also include the volume for a comfort sole, to adapt to the simulation model of the foot), each primitive foot model is positioned in space by operators with respect to the simulation model of the shape, so that each intermediate foot model is associated with the simulation model of the shape according to an optimization criterion (by example align the main direction settings of the models),

 operators are automatically determined a set of transformations to be made from comparisons between a shape simulation model and an intermediate foot model, and

 at least one subset of parameters of the intermediate foot model or the intermediate shape model are applied to all the operations determined by the operators in order to obtain the simulation model of the final shape, called the client form.

 The invention also relates in advantageous embodiments, moreover and / or in addition to a method implementing the following features, taken alone or in combination:

 a foot simulation model is constructed, each primitive foot model is positioned substantially identically to the shape simulation model, the set of operators is determined by comparison of each primitive foot model and the model. of shape simulation and, one applies the transformations on each primitive model of foot:

a shape simulation model is constructed, each primitive shape model is positioned in a substantially identical manner with respect to an intermediate model or a foot simulation model; determines the set of operators by comparing each primitive model of form and the intermediate model or simulation of the foot and applies the transformations on each primitive model of form;

the step of positioning in space comprises a first step of global registration in which a reference point is chosen in an intermediate model of foot or shape, or calculated from corresponding points of each model (for example the center of gravity). models, or the center of the heel and the casing area, respectively intermediate foot models and intermediate shape model) in each intermediate model of foot or shape, the direction of the length of the model is determined by identifying a point that satisfies a position criterion with respect to the reference point (for example, the point furthest from the reference point, or the point whose line passes through that point and the reference point is a collinear direction with a vector of the position correlation matrix of the points of the model), one determines in each intermediate model of foot or shape a point verifying a position riter relative to the straight line through the model reference point and directed by the direction of the model length that gives the direction of the model height (for example, the point in the model furthest from the line , or the point whose line passing through this point and the reference point is a collinear direction with an eigenvector of the position correlation matrix of the points of the model), we complete the family formed by the two directions found by the vector product of the two directions to obtain a base, one builds for each intermediate model of foot the operator who sends the mark of the model of foot on the reference mark of a model of reference, intermediate or simulation, foot or of shape by minimizing the average angular difference between their directions and it is applied to each intermediate model of foot;

 the positioning step comprises a second fine registration step comprising a first step in which a point association operator is applied to the points of an intermediate foot model in order to associate them with points in the intermediate or simulation model; of shape (for example, associating with a point of a first model the point of a second model closest to the line passing through the point of the first model and directed by the direction of orientation of the point of the first model) a second step in which an affine transformation is determined which minimizes a mean difference between a determined number of points of an intermediate foot model and the corresponding corresponding points of the shape simulation model, and the determined transformation is applied to the intermediate model of foot, and we memorize the gain in average deviation obtained, it repeats the first and second steps until the difference between re the average deviation of the previous iteration and the average deviation of the current iteration is below a given threshold;

 the positioning step comprises at least one of the following steps:

a step of determining a plane substantially corresponding to the support plane of a intermediate foot or shape model, a step of determining a sphere substantially corresponding to the heel or nesting zone of a primitive foot or shape model, wherein is determined in a primitive foot model, or respectively of shape, a set of points substantially forming a spherical portion of the model corresponding to the heel of the primitive foot model, respectively to the nesting zone of the primitive model of form a metatarsal detection step in which is detected in an intermediate model of foot or form two extremal points substantially corresponding to a metatarsal axis, at least a second foot image having been built elsewhere, a morphing step in which a morphing between at least a second foot model and the first model of foot.

 the automatic determination step comprises, for an intermediate foot model and an intermediate shape model, steps for determining:

 two subsets of points respectively of body part and end, corresponding to sets of points on either side of a second plane containing the line passing through two extremal points and orthogonal to the support plane,

two subsets respectively corresponding to a set of points of the first form and to all the points of the arch, where the points of the determined plane are determined by their small deviation in position and orientation to the support plane of each model (using an angular orientation threshold of the order of 20 degrees and a distance threshold of the order of 10 percent of the maximum distance between two points of the intermediate shape model, for example),

 two subsets respectively corresponding to a set of points of the casing zone and to all the points of the heel, where the points of the determined plane are determined by their small variation in position and orientation to the support plane each model (using an angular orientation threshold of the order of 20 degrees and a distance threshold of the order of 10 percent of the maximum distance between two points of the intermediate shape model, for example);

adapting the subset of the first shape portion of an intermediate shape model to coincide or substantially coincide the points of its boundary with those of the subset of the vault subset of an intermediate foot model, the subset of the stem of an intermediate shape model is adapted to the subset of the body of an intermediate foot model by coinciding or substantially coinciding the fitting zone and the width at the metatarsal joint. with the heel and the width of the body joint of the intermediate foot model, and applying an affine transformation to the end subset of the intermediate shape pattern to coincide or substantially coincide the points of said contained or contiguous subset the second plane with the corresponding points of the central part of the intermediate shape model. The invention will be better understood on reading the following description of embodiments given below by way of non-limiting example. It refers to the accompanying drawings in which:

 Figure 1 is a schematic representation of a device and data exchanged by said device according to one embodiment of the invention.

 Figure 2A shows a step diagram of a method according to one embodiment of the invention.

 Figures 2B and 2C show each and respectively a logic diagram of the method according to two embodiments of the invention.

 FIG. 3 illustrates the global registration operations, according to another embodiment of the invention.

 FIGS. 4A to 4C show the fine adjustment operations according to one embodiment of the invention.

 FIG. 5 schematically shows the result of an association operator by normal projection according to one embodiment of the invention.

 FIGS. 6A and 6B show, on the one hand, a shoe shape model corresponding on the other hand to the result obtained by plan detection operations according to one embodiment of the invention.

 Figs. 7A-7D illustrate the sphere detection operations according to an embodiment of the invention.

Figure 8 shows the sidepoint detecting operations according to an embodiment of the invention. Figure 9 illustrates the forming operations (morphing in English language) according to one embodiment of the invention.

 Figs. 10A, 10B, 10C show the shape generation operations according to one embodiment of the invention.

 Figure 11 schematically illustrates three embodiments of a stretching operator according to length, width and height respectively according to three embodiments of the invention.

 Fig. 12 shows the operations of a shape camber change operator according to one embodiment of the invention.

 Figure 1 shows schematically a device 1 implementing a method according to one embodiment of the invention.

 A user 2, wishing to obtain a shoe shape simulation model 3 adapted to and / or tailored to his physical foot, then uses the device that comprises means 4 for acquiring a three-dimensional image of the geometry. physical foot of said user 2.

 These acquisition means 4 are, for example, three-dimensional scanners, known per se, such as a fringe projection scanner (such as those marketed by ARTEC under the name EVA) or a laser device (such as those marketed by the company). VORUM company under the name YETI 3D foot).

 The acquisition means 4 comprise for example an enclosure 6 in which the user 2 positions at least one foot 7.

The acquired three-dimensional images are in this embodiment of the clouds or sets of points comprising at least three-dimensional coordinates of each point.

 One also acquires or builds (step El figure 2A) a three-dimensional image of a shoe shape. The three-dimensional shape image 9 thus consists of a first set of points 10 and a three-dimensional image of the foot 7 of the user 2 (step E2, FIG. 2A) consisting of a second set of 8 points.

 Sets of points are recorded, stored and / or transmitted as a digital file. The data corresponding to a set of points are organized, for example, so as to form an object in the sense of programming by object-oriented design, and groups the data among the parameters. For example, the points themselves are constituted as a point object comprising as a parameter the coordinates, and the set of points comprises as a parameter the set of point objects.

 The means 4 for acquiring a three-dimensional image are connected (arrow 11), for example * via a data bus, to communication means (not shown) themselves connected to calculation means 12, means 13 human / machine interface interface comprising data input means 14 and display means.

The method implemented by the device 1 then comprises a step of determining the orientation of at least one subset of points of the three-dimensional image of the foot 7 user 2 (step E3 Figure 2A) and a sub-set of points of the shoe shape image 9 (step E4, FIG. 2A). For this, we then choose a predetermined number of points of a 5.9 image of the foot 3 of the user's foot 2 or shoe form 2 to form said subsets. The determined number of points may for example be greater than 25% of the total number of points of the image 5.9 three-dimensional user foot or shoe shape, for example greater than 60% for example greater than 80%, for example 100%.

 Determining the orientation of a point from a three-dimensional image of an object (foot or shape), for example by forming a representation of this object in the form of polygonal facets oriented in a manner known per se ( as in the extension file formats .STL,. PLY or. Obj).

 Then, considering the facets whose point to be oriented is a vertex, we fix the normal to the point considered to be the sum of the normals of the facets whose point is a vertex, weighted by the surface of each of these facets.

 First and second orientation data 16, 17 are determined for at least one subset respectively of the first 10 and the second 8 set of points.

The data thus determined are additional orientation data 16, 17 associated with the first 10 and second 8 subset of points and correspond, for example for a geometric point object of a set (for example the center of gravity of this set). , an additional parameter of orientation. The additional orientation parameter 16, 17 consists for example of three coordinates, for example Cartesian or Euler angle.

 The calculation means 12 thus form models from these three-dimensional image data 5, 9.

 At least a first foot model 18 of user 2 is then produced (step E5, FIG. 2A). The model 18 comprises, for example organized in an object, the three-dimensional image of the user foot 2 comprising the second set of points 8 and the second orientation data 16.

 More precisely, the models comprise at least one set of points 8 grouped in the form of a cloud of points that are independent of one another. The set comprises the coordinates of the points in a given coordinate system R, these coordinates being associated for example in an object comprising the additional data relating to said considered point, for example the orientation data 16, 17 such as three coordinates in the space additional vectors forming an orientation vector.

 By independent we mean more particularly here, that at this stage, apart from belonging to a given model, there is no link and / or data link, including association, between points.

 At least one shoe-shaped model 19 is also made (step E6, FIG. 2A).

The shoe shape model 19 similarly or identically comprises the foot model 7 of the user 2, the three-dimensional shoe-shaped image 9 corresponding to the first set 9 of dots and the first data 17 of associated guidance for at minus a subset of points of said image 9, determined as before.

 The three-dimensional image 9 is obtained for example by introducing data (arrow 21) into the calculation means 12 of the device 1, for example from a database 22 (arrow 23), or acquit (arrow 23 '). .

 When it is acquired, the three-dimensional image can be done for example by molding a boot 20 (for example by filling the foam with foam of said boot), and acquiring (arrow 24) the three-dimensional image of said molding. 26 by the acquisition means 4 of three-dimensional image of the device 1.

 At least the first foot model 18 of the user 2 and the model 19 shoe shape 20 are transmitted to the calculation means 12.

 Each model 18, 19 has, at least implicitly, its own reference R, R 'in space.

 The calculation means 12 then generates a three-dimensional global space with its own reference frame R '' and imports the said models 18, 19 or import one of the said models into the reference frame R, R 'of the other.

 Then positioning in space (step E7 Figure 2A), by the means 12 of calculation, said models 18 of foot 2 with respect to said model 19 for shoe shape (or vice versa).

For this purpose, by the calculation means 12, a first set of first operators is applied to said models (step E8, FIG. 2A). In one embodiment steps E7 and E8 are performed simultaneously and / or in a single step.

 The first set of first operators includes in particular a global swing / registration operator, fine swing / registration operator, an association operator which will be detailed with reference to FIGS. 3 to 5.

 The successive application of said first operators makes it possible to obtain a relative positioning by a precise and adjusted registration of the models making it possible to operate optimally comparisons, in particular distance between points.

 This positioning is performed according to a first determined optimization criterion.

 The first optimization criterion determined is for example a criterion of alignment or substantially alignment, by. example along a longitudinal plane (sagittal plane).

 For example, such an alignment may be performed by aligning at least one line or segment determined or calculated from each model to be aligned and / or mapped and / or superimposed.

 Then, for example automatically by means 12 of calculation, a second set of second operators is determined by comparison between the shoe shape model 19 and the user foot model 18 (step E9, FIG. 2A).

The second set of second operators comprises in particular a plan detection operator, a sphere detection operator, a shoe shape lateral point detection operator, a morphing operator, an extremal point detection operator of a foot. and an operator generation of the simulation form, which will be detailed with reference to Figures 6 to 10.

 The successive application of said second operators makes it possible to obtain the simulation form 3.

 The second operators are arranged to determine a set of transformations to be performed on the user's foot model 18 and / or the shoe shape model 19.

 At least a third subset of corresponding points of the foot model 7 of the user 2 or the shoe shape model 19, these transformations are applied to obtain the simulation form 3 (step E10, FIG. 2A).

 The third point subset is therefore a point subset of one of the foot or shape models.

 Thereafter the same reference numbers will be used to designate identical or similar elements.

 In one embodiment and with reference to FIG. 2A, the method comprises a preliminary step (step E1i) of determining and / or choosing the operating mode by the user 2. It comprises at least one mode or level of operation. and more specifically in the embodiment described here it comprises two levels of operation, respectively a first and a second mode.

The first mode, which will be more precisely described with reference to FIG. 2B, makes it possible to produce a definitive or simulation form 3 for producing a tailor-made shoe 26 according to a model 18 (intermediate) of foot 7 of the user 2, a model 19 (intermediate) shape shoe, called reference and a model 27 (intermediate) foot, said reference, associated audit, and / or from said model 19 of. form.

 The second mode, which will be more precisely described with reference to FIG. 2C, makes it possible to produce a definitive or simulation form 3 for producing a tailor-made boot 26 according to a model 18 (intermediate) of the foot of the user, and a model 19 (intermediate) shoe shape, said any.

 The interface means 13 of the device 1 comprise means 14 for selection such as for example a switch or button, physical or virtual, for example tactile on the display means.

 The choice is made for example by activation of the selection means 14 (Tl test).

 The determination can also be done automatically according to the data entered in said means 12 of calculations. For example, in the absence of data entry or data available from reference foot model 27, calculation means 12 automatically determines that the operating mode is the second mode or the first mode otherwise (step E12 for the first mode and E13 for the second mode).

 In an embodiment corresponding to an implementation of the second operating level, and also with reference to FIG. 2B, two foot models are respectively produced, a first user foot model 18 and a second foot reference model 27.

The second reference foot model 27 is constructed to be, and / or considered to be being, an ideal theoretical foot for the shoe model 19 and therefore of shoe shape considered.

 A shoe shape model 19 is also constructed.

 The shoe shape model 19 and the second foot model 27 incorporate geometric constraints and specificities and notions of comfort.

 The shoe shape model 19 is for example a model formed from a computer-assisted design modeling from the initial designer / craftsman of the shoe or the acquisition of a three-dimensional image of the shape used for the realization. of the shoe.

 Each model 18, 27 foot, first and second models are then positioned when the latter has been made, compared to the model 19 for a shoe shape.

 The positioning is performed as previously indicated and comprises successively, for each pair of foot / shape model, steps comprising the use of global balancing / registration operators 28 and end 29.

 Therefore, a common orientation of each model in the pair is successively obtained by a global sweep for each pair / model pair, the corresponding volumes then being substantially superposed (result 30) and then by a fine registration an optimal positioning corresponding to an operation of. putting on a shoe by a foot (result 31).

An association is then made of at least one set of points of the first model (model 18 of foot 7 user 2) with at least one set of points of the model of form 19 for shoe by example by an operator 32 associations by normal projection.

 The second foot model 27 comprises a subset of points for which a second additional information of association with a subset of points of the shoe shape model 19 is generated 34. The association information is a datum of couple formation of different model points.

 For example, the association includes generating additional data indicating for each point the point or points associated with it.

 At least one set of points of the first model 18 (user foot) is associated with at least one set of points of the second foot model 27 (reference), for example by a morphing operator.

 Morphing also associates two subsets of points of model 19 of shape and that of foot 18 user 2 with a different algorithm 35.

 A shoe form generation operator 36 is then applied to the associated model pairs (first model 18 of foot 7 user 2 / model of form 19 for shoe and first model 18 of foot 7 user 2 / second model 27 foot reference) .

 An embodiment of a shoe shape generation operator 36 will be described more specifically with reference to FIG.

For example, it starts from the idea that for each point, the space and the position between the shoe shape model 19 and the second theoretical reference model which has been virtually shod by positioning operations 28, 29 in said model 19 of shape, represents a space and a position considered optimal.

 A point of the second model 27 being associated on the one hand with a point of the shoe-shaped model 19 and on the other hand with a point of the first foot-model 7, user 2, for example, a vector of difference between the second foot model 27 and footwear model 19 which is reflected for example by translating the difference, to the first user foot model 18 to determine a point of the final shoe shape simulation 3.

 In one embodiment, a calculation is calculated, for example affine, iteratively minimizing the distance between the points translated by the shape generation operator 36 and the shoe shape model.

 This distance reduction is carried out by an ICP (Iterated Closest Point) algorithm known per se.

 In an embodiment corresponding to an implementation of the first level / mode of operation, and also with reference to FIG. 2C, only the first user foot model 18 is constructed.

 A shoe shape model 19 is also constructed.

 The shoe shape model 19 is any model.

The positioning step is then performed and balancing / global registration operators 28 and end 29 are applied between the user's foot model 18 and the shoe form model 19. Then (step 37) is detected characteristic portions (step 37 ') determined models.

 At least one of the following elements is then identified, each element being defined by a set of model points and / or by an equation whose solutions correspond to at least one point of the considered model:

 a lower portion of planar shape, said first support plane corresponding or substantially corresponding to the support plane, and a plantar portion respectively of the shoe pattern 19 and the user foot model 18, and / or

 casing elements of one model in the other such as for example a spherical portion and a heel portion respectively of the shoe pattern 19 and the user foot model 18, and / or

 extremal points corresponding or substantially corresponding to the ends of a metatarsal hinge axis on the foot model 18 of the user 2 and two associated or corresponding points on the model 19 form.

 A morphing step 35 'is then performed between the model 18 of the user's foot 7 and a third model 38 (FIG. 1) of previously constructed nominal foot.

 The third nominal foot model 38 is a foot model representing any physical foot or considered as any.

Any foot is determined to represent a statistically unspecified foot shape or a particular foot chosen for its low distinctiveness. For example this model of foot includes lengths and relative distributions of toes, malleolar positions and dimensions, most commonly represented in a sample of a given human population.

 For each model, a marker is then identified and a resetting operation 39 is performed.

 More specifically, the identification of lower portions, nesting elements and extremal points having been made, a reference origin is chosen, for example the centers of the spheres detected in a previous step (casing elements for example).

 We associate at the origin:

 a normal vector at the first plane of support,

a vector generating a straight line passing through the orthogonal projections support plane of the origin and the middle of the segment connecting the extremal points of the axis of the metatarsal articulation and in the direction of origin towards midpoints,

 the vector product of the two preceding vectors determining the third vector of the marker.

 Determining (step 40) the rigid transformation that sends the mark thus formed for the model 18 of foot 7 user 2 to the reference of the model 19 shoe shape and applies said transformation to the model 18 foot 7 user 2.

 An adaptation training operator 41 is then applied in which:

Is isolated for example by first extracting a model portion corresponding to fourth and fifth subsets of points of said models. These subsets correspond respectively to the end portion of the foot (tip) and shape (tip) for shoe and their complement (body) in the set of points of the model considered. The end points are defined as those located on the other side of the plane which contains the straight line connecting the two extreme points of the foot and orthogonal to the plane of the vault or the support plane.

 A sixth and seventh subset of points are then isolated from the foot and shape models in all the points of the body (fifth subsets).

 The sixth subassembly comprises the points of the arch portion and a corresponding lower portion of the shoe shape pattern 19 and is extracted into the foot model 7 user 2 the points associated with the pattern 19 points of shape for shoes.

 The transformation that fits the characteristic portions (one of the fifth subsets and the seventh subset) of the first shoe shape model 19 is calculated at the points of the characteristic portions (one of the fourth subsets and the sixth subset). of the 18 foot model.

 As shown in FIG. 11, this transformation is carried out for example by composition of three transformations in three independent directions corresponding exactly or substantially to the axes of length, width and height of the foot and shape models.

The first of these three transformations is a stretch transformation along the length direction (Arrow E _t i) of the F shape model. The stretch factor (ratio of the lengths along the stretching axis given before and after stretching) is calculated so that the transformation when applied to the seventh subset of the F-shaped model matches the length between two points Pfi, P _f 2 on the direction of the length of the shape model with the length between two points P _p i, P _P 2 on the direction of the length l _p of the foot model Pi, the distance can be chosen as Euclidean, or as the length of a geodesic on a surface implicitly described by the points of the sixth subsets of the models of form and foot.

 These two points may be for example the projection of the center of a sphere by normal association on the sixth or seventh point subset of the model of foot or shape, and the association by normal projection of the middle of the two extremal points of the metatarsal axis of the foot or shape model on these same subsets.

The second transformation is a transformation similar to the first but in the direction of the width (arrow E _t2 ) of the shape model. The two points P'fi, P'f2 _/ P'pir ^p 'p2 used to calculate the distances which must be equal after transformation can be for example the projection by association by normal projection of the extremal points of the metatarsal axis of the model Pi of foot or of form F on a subset of points of the model of foot or shape respectively corresponding to the vault or the first shape.

The third transformation is a height-stretching transformation (arrow E _t3 ) of the shape model F, which afterwards applied to the model of shape makes the length of the circumference Ci _r i coincide with a portion of the model F point cloud of the shape lying between two parallel planes with the length of the circumference Ci _r 2 of a portion of the point cloud of the model Foot Pi lying between two parallel planes.

 For example, both planes can be taken on either side of the border between the tip and the body of the model of form F and between the end and the body of model Pi of foot, or on both sides of a plane containing the width direction of the foot model or of the F-shape and making an angle of a determined value with the length direction of the foot or shape model.

 A value of this angle can be for example 0.5 rad and 1.5 rad for example between 0.7 rad and 1 rad for example 0.79 rad, corresponding substantially with a circumference (transverse section) at the neck foot (ankle) in a foot or shape pattern.

 The complementary central part (the remaining body, or fifth subset, minus the sixth and seventh sets of points) of the initial cloud (before isolation of the subsets) of the shape model is transformed by a transformation identical or similar to the transformations of stretching previously described.

 The portion of complementary central portion of the first of extracted form is adjusted to make it coincide on its border with the complementary central part of the treated cloud.

One finds the affine transformation of the fourth set of point of the end of the form which makes coincide as well as possible its border with the border of the fifth set of points of the central body part with which it must be in contact while preserving the geometric proportions of the fourth set of point of the end of the form.

 For example, the factors of this transformation refines in the height and width direction of the shape pattern can be determined to best match the end boundary with the shape model body boundary. The stretching factor in the shape length direction can be set equal to the product of the two previously calculated stretching factors.

The border is, for example, the set of points of the periphery of a model or part of a model according to a section, at one end of the model or part of said model, for example the frontal section of the circumferences. Ci _r i and Ci _r 2 in Figure 11.

 Figure 3 schematically shows different states of a global swing operator 28 or global registration. By global balancing is meant more particularly here, a relative positioning operation in space and / or in a reference, two models 42, 43 relative to each other so that at least one characteristic direction 44 , 45, 46 and 47, 48, 49 relative to each model is substantially aligned with each other.

 In the embodiment more particularly described here, the point clouds correspond respectively to the foot model model 19 and the shoe model model 19 model clouds respectively to the model clouds 18 and 27.

By characteristic direction 44, 45, 46 and 47, 48, 49 is meant more particularly here, a a curve, for example oriented and substantially rectilinear, generated from the data of a model and associated therewith.

 For each model 42, 43 the calculation means 12 define and / or calculate a point 50, 51 of centering or reference belonging to each model 42, 43 and belonging or not to the point cloud of said model.

 In the embodiment more particularly described here, the centering points are calculated to form an additional point of the model. The calculation can for example be that of the determination of an isobarycentre of each cloud.

 In one embodiment, the calculating means 12 determine at least one characteristic direction 44, 45, 46 and 47, 48, 49, for example by carrying out, in a manner known per se of the person skilled in the art, a step of calculation by SVD (acronym for singular value decomposition known in French under the name decomposition in singular value).

 For each model 42, 43 foot or shoe shape, is determined a first direction 46, 47 of the length or substantially the length of the model by identifying a point which verifies a second position criterion determined with respect to the point reference / centering.

The second position criterion valid here, for example the point having the greatest distance between it and the reference / centering point or the point whose line passing through this point and the reference / centering point has a collinear or substantially collinear direction with a proper vector of the matrix derived from the calculation of SVD for the model 19 of shoe shape.

 For each model 18, 42 of foot or of shape 19, 43 for shoe, a second direction 44, 49 is then determined by identifying a point verifying a third criterion of position determined with respect to a straight line 52, 53 passing through the reference of said model and directed by the direction of the length or substantially the length of said model.

 The third determined position criterion validates, for example, the point whose distance to the line 52, 53 is the greatest, or the point whose line passing through this point and the reference point has a collinear or substantially collinear direction with a vector. of the matrix derived from the calculation of SVD for the shoe shape model.

 A third direction 45, 48 is then determined, forming a base with the first 46, 47 and second 44, 49 directions.

 The calculation means 12 then generate for each model 42, 43 a set of three directions 44, 45, 46 and 47, 48, 49 characteristics forming a base of the space.

 For each model we associate the centering point and the characteristic directions 44, 45, 46 and 47, 48, 49 so as to form a reference RI, R2 of the model.

The method then comprises a step 54 of superimposing the at least two models 42, 43 or sending a model on the other. The points 50, 51 of centerings of each model 42, 43 are put into coincidence and / or superposition, all the point clouds of each model being displaced from each other. identical way (same displacement vector) to the displacement of the centering point considered.

 For example, a third operator 55 is constructed for each foot model 18, 42, which sends the reference mark R1 of the model 18, 42 of the user's foot 7 to the marker R2 of a model 38 of foot or of a form 19 for a shoe. minimizing a given fourth criterion and applying it to each intermediate foot model.

 The fourth criterion determined is for example the mean square deviation in distance and / or angle, between the characteristic directions of each model.

 For a given model, a set of points of said model is determined and / or chosen. A normal projection operator 32 is associated with the selected points at their corresponding points of another model, as will be more specifically described with reference to FIG.

 The possible combinations of association of the three reference vectors R1, R2 of the foot models with those of the shape model are simulated.

 More specifically, the combinations comprise, the six permutation transformations associating the directions of the base vectors of the foot models with those of the shoe shape model and for each of the said six permutations, the eight associations by sense of said vectors are also simulated.

 For example, for permutations, given a first mark (A; B; C) and a second mark (D; E; F), a permutation corresponds to an association of the type

([A, D]; [B, Ë]; [C, F]) or ([A, D]; [B, F]; [C, E]) or ([A, E]; [B, D]; [C, F]) or ([,, E]; [B, F]; [C, D]) or

([Â, F]; [B, D]; [C, Ë]) or ([Â, F]; [B, Ë]; [C, D]).

 An association by meaning corresponds to a transformation which, with a pair of vectors, associates said vectors with each other in the same direction or in the opposite direction, for example a association by associated sense for the permutation

([A, D]; [B, E]; [C, F]), vectors A to D in the same direction, B to E in the same direction and C to F in opposite directions.

 The combinations are thus forty-eight in number.

 At each of these simulations 54, 56, 57, 58, the distance between the two point clouds is iteratively minimized. This minimization is performed by an image registration.

 In the embodiment more particularly described here, three-dimensional images or models are recalibrated / approximated by an ICP algorithm.

 At least one iteration is performed, for example at least two iterations, for example five ICP iterations for each simulation.

 The final rigid transformation is selected which minimizes a given criterion, for example, the average square of the distance between the pair of associated points between the transformed / close point cloud and the reference cloud.

FIGS. 4A to 4C schematically show steps resulting from a fine balancing or fine balancing operator 29. By fine swinging is meant more particularly here, a relative positioning operation in the space of two models previously balanced / recalibrated globally relative to each other so that both models have at least one of their characteristic direction substantially aligned.

 At this stage the two models are oriented or substantially oriented in the same direction in a common reference.

 A determined transformation is determined which minimizes a determined fifth criterion between a determined number of points 59 of a foot model and the corresponding corresponding points 60 of the shoe shape model, and the determined transformation is applied to the foot model.

 The fine swing operator thus comprises an association step by the fourth association operator 32, for example by normal projection, between said points.

 To do this, a determined number of control points 62 is selected, for example greater than 1% of the total number of points of the model, for example greater than 5%, for example 10%.

 The normal projection operator 32 is then used with the fifth criterion determined for example a determined distance threshold value, for example proportional to a given distance from a model.

The distance can be taken between points of the models determined or calculated from them. For example, the determined distance is calculated by the calculation means 12 to be the greatest distance between a point 62 belonging to the model and a calculated point, for example an isobarycenter, or the centroid of the model considered. The proportional threshold value is then between 5% and 50% of the determined distance, for example between 10% and 40%, for example 25%.

 Finely calibrate / balance three-dimensional images or models by an ICP algorithm. As much of the operator's iteration is performed as necessary so that the difference between the average distance difference between the points of the foot model and those associated with the shoe shape model of the previous iteration and the current iteration is less than at a certain threshold.

The difference in mean distance difference di, i; d ₂ , i; d3, i (i natural integer representing the iteration) between the control points and their associated corresponding points between two iterations is thus lower than a determined threshold.

 The determined threshold is for example less than 1%, for example less than 0.25%, for example 0.1% of the distance before the last ICP.

 Figure 5 schematically shows the result of an association operator 32. In this embodiment, the association is made by normal projection. By association by normal projection is meant more particularly here, an association operation of an oriented source point 63 and a reference point 64 each belonging to a cloud of different points.

A line 65 passing through the source point 63 carried by its orientation vector 66 is determined. The reference point cloud 67 is pre-qualified, the points 68 being at a distance D from the source point below a determined distance threshold (d ≤ D). Each pre-qualified dot 67 of the point cloud 67 is assigned a score based on the distance e1, e2, e3, ... e _N (N natural number) between the point and said line. We select the reference point with the lowest score.

 An additional association information is then established between the source point 63 and the reference point 64 finally retained.

 Figure 6A schematically shows the result of a plan detection operator 69 as well as the points 70 forming a plantar arch. In the embodiment more particularly described here, the plan detection operator is formed from an operator known to those skilled in the art under the operator name of Ransac (acronym for RANdom SAmple Consensus) for determination. aberrations in data series.

 Figure 6A shows a three-dimensional shoe shape model and the plane 69 determined from said model.

 The plane 69 is a support plane of a foot model or shoe shape.

 The operations of this plan detection are illustrated in FIG. 6B.

A threshold value of position and a threshold value of determined orientations are chosen. The position threshold value is, for example, less than 100 units of distance, for example less than 50 units of distance, for example 20 units of distance. The orientation threshold value is for example less than 0.5 radiants, for example less than 0.1 radiants, for example 0.02 radiants. For each oriented point of a scatter plot, we determine the plane P passing through this point and orthogonal to its orientation vector.

 The subset of oriented points of said cloud whose distance 11, 12, 13, 14, 15, 16 with the plane considered is less than or equal to the position threshold Sp and whose angle βΐ, β2, β3, β4 is selected is selected. , β5, β6 formed between the orientation vector of the point considered with the vector normal to the plane (or orientation vector of the generating point) is less than or equal to the orientation threshold S0.

 Each plane thus defined is associated with a score corresponding to the number of points of the subset thus defined and positioned in the space on the side of the plane towards which point the orientation vector of the point considered.

 We select the plane P having the highest score.

In one embodiment, the parameters of the plane that best approximates the selected points are recalculated. The calculated plane is the one that minimizes a distance criterion with the selected points, such as the mean squared distance of the points selected in the calculated plane. One way of calculating this plane is to determine whether the cloud of points formed by the selected points is substantially contained in a remarkable plane of the marker of the selected points, such as the plane containing the first two elements of the base of the marker. If the cloud formed by the selected points is substantially contained in this remarkable plane, we estimate the parameters of the plane which approximates the cloud by using one. parametrization by the third variable of the reference z = f (x, y). If the cloud formed by the selected points is not substantially contained in the remarkable plane evoked, we can use a parametrization of the type x = g (y, z) or y = h (x, z) to calculate the parameters of the plane which minimizes the mean square distance criterion for the selected points.

 In Figure 7A are shown two models of shapes and two foot models 73, 74 according to one embodiment of the invention.

 A first foot model 73 or a first shape model 71 comprises eighth and ninth subsets of points respectively forming a heel 75 and a casing zone 76.

 On the second foot model or second shape model there is shown a set of points forming a sphere or substantially a sphere corresponding to said heel and casing area.

 FIGS. 7B to 7D show a state in the steps of determination of said spheres, according to one embodiment of the invention, in which a set of points substantially forming a shoe, or a shoe shape, is determined in a foot model; spherical portion of the model corresponding to the heel of the foot model, respectively to the casing area of the shoe shape model.

A sphere is determined whose center 80 is, for example, the point which minimizes the sum of the distances to the two straight lines 81, 82 passing through each of the initial points 83, 84 and carried by their orientation vector 85, 86. The radius r is calculated for example by determining the average distance of the two points 83, 84 considered at the center 80 calculated.

 A threshold value of position and a threshold value of determined orientations are chosen. The position threshold value is for example less than 20 units of distance, for example less than 10 units of distance, for example 5 units of distance. The threshold value of orientation is for example less than 1 radiant, for example less than 0.25 radiant, for example 0.1 radiant.

 The subset of oriented points of said cloud whose distance with the considered sphere is less than or equal to the position threshold is selected and whose angle formed between the orientation vector of the point considered with the line passing through the center and the considered point is less than or equal to the orientation threshold.

 In one embodiment, at least one non-zero tolerance variable ε is determined and this quantity is added to the position threshold value and / or the threshold value of orientations for making distance and angle comparisons.

 Each sphere thus defined is associated with a score corresponding to the number of points of the subset thus defined.

 The comparison score is compared with the score obtained and if the score obtained is greater than said comparison score, the value of the score obtained is retained as a new comparison score to be retained and / or memorized.

The sphere is determined by calculation iteration of a score and comparison of the scores obtained between two iterations. The determination comprises a limited fixed number of iterations. This number depends on the number of possible combinations of choices of two points among all the points of a model and it is inferior. The determined number is for example greater than 500, for example greater than 5000, for example 10000.

 After determining a first comparison score equal to zero, two points having an orientation in a given model are randomly selected or not.

 We select the sphere associated with the last retained comparison score.

 We will describe an operator for detecting lateral points of a form comprising a step of detecting a metatarsal axis in which two extreme points substantially corresponding to a metatarsal axis are detected in a foot model or shoe shape with reference to Figure 8.

 The determination of said points comprises a projection step, for example orthogonal, on a plane 90 of the shoe shape model.

 The plane 90 is for example a support plane detected by a plane detection operator or substantially parallel to it.

 By substantially parallel means here a plane forming angles with the support plane, the maximum angle is less than a determined threshold for example between 0.1 rad and 0.5 rad for example 0.25 rad.

A finite surface is then obtained in a plane comprising an outer envelope 91. Said surface comprises two subsets of points, a proximal portion 92 of heel and a metatarsal distal portion 93, convex, interconnected by a third portion 94 of connection.

 The heel and metatarsal portions 92 have a maximum width (front direction) greater than that of the third portion 94 of connection.

A first segment 95 is then detected on an inner side of the surface in the longitudinal direction (sagittal direction). The first segment 95 is the longest segment between ^'two points respectively corresponding to the envelope of the heel and metatarsal parts, said segment being external to the surface.

 By outer segment on the surface is meant that all the points of the surface vis-à-vis the segment by projection on the sagittal plane is on one side of said segment.

 The first segment connects the side of the heel part an internal fitting point and at the other end an internal point of articulation.

 A second segment is then detected on an outer side of the surface in the longitudinal direction (sagittal direction).

 The second segment 96 is the longest segment between two points corresponding to the envelope respectively of the heel and metatarsal portions, said segment being external to the surface.

 For each segment 96 tested iteratively, an angular condition is verified.

To verify the respect of the angular condition by the second segment tested, the projected point B is determined on the plane of the isobarycenter of the point cloud of the shape. The projected point of isobarycenter B is orthogonally projected on the first segment and the second segment tested to obtain the points B1 and B2 respectively on said segments.

 We verify the angle formed by (ΒΙ, Β, B2) is greater than a determined threshold for example 40 °, for example 45 °.

 The first segment 95 connects on the side of the heel part an external fitting point and at the other end an external articulation point.

 In one embodiment, the ends of the segment are determined to be nesting or hinge points by comparing their distance from the projection of the center of the sphere detected by the sphere detection operator, whichever is greater. distance corresponding to the points of articulation.

 In one embodiment, an extremal point detection operator of a foot model is determined.

 This operator comprises as input a cloud of oriented points of foot model and a cloud of oriented points of third nominal foot model.

 The extremal points of the metatarsal axis are first determined on the nominal foot.

 Image registration is performed, for example as previously described, of said foot model of the user with the third nominal foot model.

In one embodiment, a fine swing or fine registration of said user's foot model is performed with the third nominal foot model. We then perform a morphing of the two foot models (user and nominal).

 The result is an association of the points of the nominal foot model whose extremal points with those of the user foot model.

 A sixth determined criterion is then applied to determine the extremal points of the user foot model.

 For example, the sixth determined criterion corresponds to the choice of the point of the most user foot model of the associated extremal point of the third nominal foot model among the set of points associated with the extremal points.

 In one embodiment, the normal projection in the first plane of the center of the ball of the heel or the casing member as well as the extremal points of the foot or shape model are sent / superimposed to the corresponding points of the foot model. or corresponding form.

 In Figure 9 are shown states of a morphing operator. Morphing is here understood as a point association operation of two point clouds.

 For example, for at least a determined number of points of a first cloud, the set of points 93 of said cloud is determined in the vicinity of the point considered, for example at a distance less than a determined threshold.

 The determined number is for example greater than 50% of the total number of points of the cloud considered, for example greater than 80%, for example 100%.

The determined threshold is for example chosen so that the number of points of the cloud in said neighborhood is less than a specified percentage threshold of the total number of points in the cloud.

 For example, the determined percentage threshold of the total number of cloud points is less than 5%, for example less than 2%, for example 1%.

 One associates, for example by normal projection, a point of said neighborhood of the first point cloud to a point of a second point cloud 94.

 We perform a registration of the set of points of the neighborhood considered on all points of the second cloud associated with said points of the first cloud.

 The registration is for example carried out by at least one iteration of ICP.

 Each point in the first cloud is associated with the point associated with it by the ICP.

 FIG. 10 shows the states of the steps of a shape generation operator.

For each point P _pr of a foot model 95 associated with a shape model 96, the associated point P _fr is identified in the shoe shape model 96.

A formation vector 97 is determined originating from the point P _pr of the foot model and at the end the associated point P _fr of the shoe shape model.

The point P _pc of the user foot model 98 associated with that of the foot model 95 is determined.

A shoe-shaped point P _fc 99 is determined by translating the point P _pc of the user foot model 98 with the formation vector 97.

In one embodiment, an adaptation training operator is used. The embodiment of a simulation shoe shape will now be described with reference to FIGS. 1 and 2.

 A user 2 presents himself, for example directly in a shoe store.

 It has at least one of its feet 7 or both successively or not in means 4 of acquisitions of three-dimensional image, for example a three-dimensional scanner which acquires an image of the foot or feet 7.

 The user 2 then selects, for example by means 14 for selecting means 13 for interface of the device 1, if he wishes to make a shoe shape 3 chosen in a (for example virtual) shoe model catalog for which a data base 22 of the device 1 comprises a model 19 adapted shoe shape and a corresponding reference foot model 27, or if it wishes to obtain a shoe shape 20 for example from a shoe model 25 which he has previously provided.

 The user 2 therefore chooses between a first or a second mode of operation.

 In the first mode of operation, the user visualizes on the display means the model that he wishes and introduced by the interface means 13, the relevant data such as for example its size, weight or age.

 User 2 then has no other operation to perform.

In the second mode of operation, the user 2 must for example introduce the shoe 20 into the image acquisition means 4 and ask the device to generate a digital model of form 19.

 Once this operation performed here again the user 2 has no other operation to perform.

 The calculating means 12 then automatically generate, without further intervention, a model of simulation form 3 adapted to the foot (s) of the user 2 who can for example then control the creation of said simulation form 3 for example materially 100 by means of shape creation (arrow 101) for example of. three-dimensional printer type (not shown) or the type of material removal machine such as a lathe or a numerically controlled milling machine.

 We will also describe a shape template camber operator including a slice step (front section) of the template and a step of aligning these slices on a target profile with reference to Fig. 12. A profile is defined as a curve included in a plane without auto-intersection.

A lower profile 102 of the shape model 103 is determined, for example by normal projection in the height direction of the shape model of a set of points of a straight line 104 passing through a remarkable point of the shape model, for example the center of the casing zone 105, whose direction coincides exactly or substantially with the length direction 106 of the shape model. The lower profile is obtained by associating these points with points in the lower half of the shape model, determined by an orientation criterion, for example determined as the part formed by the points satisfying a certain orientation criterion with the direction used for normal projection, for example retaining and / or qualifying points whose direction makes an angle in absolute value less than 90 ° with the direction used for normal projection. The points associated with the points of the line 104 are located with a normal projection association operator. The points of the shape model localized during the association in a median plane are then orthogonally projected in the width of the shape model, for example the plane 107 containing a remarkable point of the shape model, for example the origin of the model. shape, and two directions coinciding exactly or substantially with the length and width directions of the shape pattern.

 A central profile 108 is determined to substantially coincide with the area defined or defined as the least deformable foot, a bony line from the center of the heel to the end of the toes. This line can be estimated by a distance criterion with respect to the lower profile, for example by moving each point of the lower profile by a given length, for example greater than or equal to 1 cm, for example 2 cm, in the direction of the normal to the profile at each point.

The shape model is sliced 109 at cutoff points 110 spaced along a distance criterion along the central profile, for example such that the length per arc along the profile is constant between each cutoff point. The boundaries of the slices 111 are orthogonal planes with the central profile and passing through the cutoff points. The number of slices can be set to a value greater than a percentage of the number of points in the pattern cloud. This operator also works when one takes infinitely fine slices (theoretical slice of zero thickness or for example less than a micrometer).

 The orientation of the wafer is determined according to the orientation of the two faces of the wafer, for example as an average of these orientations, or by the two points of the central profile closest to the two faces of the wafer, for example the direction of the line that passes through these two points. The target orientation is a direction determined at. from the points of the target profile, flat 111 for the flattening operation and curved 112 for the bending operation, assumed inscribed in the same plane as the lower profile. For example, the target direction of a slice can be determined as the direction of the vector formed by calculating the difference between the point of the target profile closest to the front face of the slice and that closest to the back face of the slice. slice.

The rotation applied to .la. slice is an axial rotation that aligns the slice with the target direction. One way to determine the direction of the axis is to take the direction of normal from the plane containing the lower and target profiles. The angle of rotation is determined by an angular criterion between the direction of the slice and the target direction, for example the angular difference between two vectors of these respective directions in the plane in which the lower and target profiles are inscribed. The center of the rotation is selected on the central profile by a distance criterion along the central profile, for example the point 113 at equal distance of the two cut points of the wafer in the sense of the distance of length per arc.

 The outer envelope 116 of the cloud of points obtained is then retained as a shape model after modification of the camber.

 Areas 114 where multiple slices meet translate compression zones that can be controlled by adjusting the target profile, for example by reducing or increasing the convexity of the target profile depending on whether these areas are on the top or bottom of the target pattern. shape after modification of camber. The zones 115 where the slices deviate translate zones of stretch, which can also be controlled by adapting the target profile, for example by reducing or increasing the concavity of the target profile according to whether these zones are on the top or the bottom of the shape model after camber modification.

 As is obvious and as also follows from the above, the present invention is not limited to the embodiments more particularly described. On the contrary, it embraces all the variants and in particular those in which the shape comprises and / or takes into account a comfort and / or orthopedic sole, and those in which the method applies to the production of other objects, in particular articulated objects, in particular glasses, hearing implants, orthoses and prostheses.

Claims

1. A method of producing a simulation form (3) for a shoe (20) adapted to the foot (7) of a user (2), in which a three-dimensional image (9) of a shoe shape is acquired ( 20) consisting of a first set (10) of points, characterized in that

acquiring a three-dimensional image (5) of the user's foot (7) (2) consisting of a second set (8) of points,

determining first and second orientation data (16, 17) for at least one subset respectively of the first (10) and second (8) sets of points,

at least one foot model (19) is made including a first user foot model (18, 27) comprising said user's three-dimensional foot image (5) and said first orientation data (16),

at least one shoe shape pattern (19) comprising said three-dimensional image (9) of shape and said second orientation data (17),

positioning in space, by calculation means (12) arranged to apply first operators, each foot model (18, 27) with respect to the shoe shape model (19) according to a first optimization criterion determined ,

calculating second operators is automatically determined by comparison between the shoe shape model (19) and the shoe model. user foot (18, 27) for determining a set of transformations to be performed,

said transformations are applied to at least a third subset included in the first or second set of corresponding points of the foot model (18) of the user or the shoe form pattern (19) to obtain the simulation form (3).

 2. Method according to claim 1, characterized in that the first determined optimization criterion is an alignment criterion.

3. Method according to claim 2, characterized in that at least one characteristic direction is determined for each model and the alignment criterion is performed on said directions.

4. Method according to any one of the preceding claims, characterized in that it is positioned in space by computing means by implementing a first step of global registration in which, for each foot model or shoe shape :

 a reference point is selected, said point being calculated from corresponding points of each model,

 a first direction of the length or substantially of the length of the model is determined by identifying a point which satisfies a second determined position criterion with respect to the reference point,

a second direction is determined by identifying a point verifying a third position criterion determined with respect to a line passing through the reference point of said model and directed by the direction of the length or substantially the length of said model,

 determining a third direction forming a base with the first and second directions, associated with a point to form a marker,

 then, for each foot model,

 a third operator is constructed which sends the reference mark of the foot model to the mark of a foot or shoe shape model while minimizing a fourth determined criterion, and it is applied to each foot model.

5. Method according to claim 4, characterized in that it positions in space by calculation means by implementing a second fine registration step in which:

 a first substep in which a fourth point association operator is applied to the points of a foot model to associate them with points in the shoe shape model,

a second sub-step in which a determined transformation is determined which minimizes a determined fifth criterion between a determined number of points of a foot model and the corresponding corresponding points of the shoe shape model, and the determined transformation is applied to foot model, the first and second substeps are reiterated until the difference between the average difference in distance between the points of the foot model and those associated with the shoe shape model of the previous iteration and the iteration current is below a specified threshold.

6. Method according to any one of the preceding claims, characterized in that positioning in space and / or at least a portion of the third subassembly is determined by implementing at least one of the following steps:

 a step of determining a first plane substantially corresponding to the support plane of a foot or shoe shape model,

 a step of determining a sphere substantially corresponding to a heel of foot or to a casing zone of a foot model or shoe shape, in which is determined in a foot model, or respectively of a shape, a set of points substantially forming a spherical portion of the model corresponding to the heel of the foot model, respectively to the fitting zone of the shoe shape model,

 a step of detecting a metatarsal axis in which two extremal points substantially corresponding to a metatarsal axis are detected in a foot model or shoe shape.

7. Method according to any one of the preceding claims, characterized in that at least one of the second operators comprises a step in which at least a second foot image having been built elsewhere, a training or morphing step is performed in which said morphing is performed between at least a second foot model and the first user foot model.

8. A method according to any one of the dependent claims of 6, characterized in that automatically determines at least a portion of the third subassembly by implementing, for a user foot model and a shoe shape model at least one of the following determining steps:

 the support plane and the extremal points having been determined, for each model, two fourth and two fifth subsets of points, respectively of end and body parts, corresponding to sets of points on either side of each other, are determined. a second plane containing a line passing through the two extremal points and orthogonal to the support plane and / or,

the support plane having been determined, a sixth subset of points corresponding respectively to a set of points of the shape model and to the set of points of the first user foot model, corresponding to a plantar arch, is determined, below a third plane forming with the first plane an angle less than a determined threshold, the points of the third plane being determined by their distance less than a threshold determined at the bearing plane and a seventh subassembly is determined corresponding for each of said models to the points above said third plane and / or, determining eighth and ninth subsets respectively corresponding to a set of points of a nesting zone and to a set of points of a heel .

9. Process according to claim 7, characterized in that the transformations comprise a step in which:

 the sixth and seventh subsets having been determined, the sixth subset is adapted to align contained or contiguous points of the first plane of said sixth subset with the corresponding points of said seventh set, and / or

the fourth, sixth and seventh subset having been determined, applying an affine transformation to the fourth end subset of the shape model to coincide or substantially coincide the points of said fourth contained or contiguous subset of the second plane with the corresponding sixth and seventh subsets of the shape while preserving the geometric proportions of the fourth subset of the shape model.

Method according to one of the preceding claims, characterized in that

At least one profile of a shape model is determined, said profile being substantially parallel or parallel to a direction substantially corresponding to the axis of the length of the shape model,

 The shape model whose boundaries are determined by an angular criterion and / or a distance determined with respect to these profiles is sliced,

 the rotation which aligns the wafer with a target camber profile, flat for the flattening operation and curve for the bending operation is determined, slice by slice,

 centering the rotation of a slice on a remarkable point, for example a point on a determined profile of the shape model coinciding substantially with the most rigid bone zone of the foot,

 - The model obtained has zones of stretching and compression controllable by the target profile.

11. Device for producing a simulation form comprising:

 a three-dimensional image of a shoe shape consisting of a first set of points, means for acquiring a three-dimensional foot image,

 at least one three-dimensional user foot image acquired by said acquisition means, and consisting of a second set of points,

computing means connected to said acquisition means and arranged to determine first and second orientation data for at least one subset respectively of the first and second set of points and arranged for forming at least one foot model including a first user foot model comprising said user's three-dimensional foot image and said first orientation data,

 said calculating means being also arranged to form at least one shoe shape pattern comprising said three-dimensional shape image and said second orientation data, and arranged to position in space, by first operators, each foot model by to the shoe shape model according to a first determined optimization criterion,

 said calculating means being further arranged to automatically determine second operators by comparison between the shoe shape model and a user foot model to determine a set of transformations to be made and arranged to apply to at least a third subset of points included in the corresponding first or second set of points of the foot model of the user or shoe shape model, said transformations to obtain the simulation form.

12. Device according to claim 11 characterized in that it comprises a three-dimensional printer.