WO2020179549A1 - 三次元足計測システム - Google Patents

三次元足計測システム Download PDF

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Publication number
WO2020179549A1
WO2020179549A1 PCT/JP2020/007536 JP2020007536W WO2020179549A1 WO 2020179549 A1 WO2020179549 A1 WO 2020179549A1 JP 2020007536 W JP2020007536 W JP 2020007536W WO 2020179549 A1 WO2020179549 A1 WO 2020179549A1
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WO
WIPO (PCT)
Prior art keywords
feet
dimensional
external
dimensional camera
internal
Prior art date
Application number
PCT/JP2020/007536
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English (en)
French (fr)
Japanese (ja)
Inventor
元秀 荒山
Original Assignee
株式会社ドリーム・ジーピー
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Priority to JP2021503986A priority Critical patent/JPWO2020179549A1/ja
Publication of WO2020179549A1 publication Critical patent/WO2020179549A1/ja

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    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
    • A43D1/02—Foot-measuring devices

Definitions

  • the present invention relates to a three-dimensional foot measurement system, and more particularly to a three-dimensional foot measurement system that measures a foot using a three-dimensional camera.
  • FIGS. 16 and 17 are explanatory diagrams showing an example of such a device.
  • the foot F is inserted into the opening OP of the housing 9, and the foot F is placed on the transparent footrest G in the housing 9, and light rays are emitted from three directions.
  • the combined shape information of the foot F is three-dimensionally calculated by irradiating, imaging from each direction, calculating the shape, further converting the data into data in a common coordinate system, and then combining the data.
  • three measuring heads 7a, 7b, 7c are arranged inside the housing 9, three measuring heads 7a, 7b, 7c are arranged.
  • the measuring heads 7a, 7b, and 7c are light irradiation means 6a, 6b, 6c that irradiate the foot F with light, and CCD cameras 21a, 21b, 21c that capture an optical image formed on the surface of the foot F by the irradiation light, respectively. And include.
  • the measuring head 7a irradiates a light ray toward the upper surface portion of the foot and images the upper surface portion of the foot.
  • the measurement head 7b irradiates a light ray toward the sole surface portion and images the sole surface portion.
  • the measurement head 7c irradiates a light beam toward the rear part of the foot and images the rear part of the foot (for example, refer to Patent Document 1).
  • the present invention aims to provide a three-dimensional foot measuring system that can easily measure both feet in three dimensions in a short time.
  • the present invention provides a three-dimensional foot measurement system configured as follows.
  • the three-dimensional foot measuring system includes: (a) a housing in which light-transmitting plates for placing both feet are exposed on the upper surface; and (b) a case where the light-transmitting plates are imaged so as to image the both feet. First to third external three-dimensional cameras respectively arranged obliquely above, and (c) an internal three-dimensional camera arranged inside the housing so as to image the both feet on the translucent plate from below.
  • the first external three-dimensional camera images the insteps of both feet on the translucent plate from the front of both feet
  • the second external three-dimensional camera captures the heels of both feet on the translucent plate with both feet
  • the third external three-dimensional camera images the heels of both feet on the translucent plate from the diagonally rear left of both feet
  • the internal three-dimensional camera images the heels of both feet from the diagonally rear left of the translucent plate. It is configured to image the soles of both feet.
  • the base end portion is rotatably supported by the housing, has a shape extending obliquely upward from the base end portion of the light transmissive plate, and the first to third portions are at the tip end portion.
  • the external three-dimensional cameras are each fixed, and further include first to third support arms configured to be tiltable toward the upper surface of the housing.
  • the external 3D camera can be easily placed at a predetermined position. Further, the first to third support arms can be tilted, which is convenient for storage and transportation.
  • a mirror disposed inside the housing is further provided.
  • the internal three-dimensional camera is configured to capture images of the soles of the feet on the transparent plate via the mirror and the transparent plate.
  • the height of the housing can be prevented from increasing.
  • the data processing device includes the point cloud based on the data obtained by the first to third external three-dimensional cameras and the internal three-dimensional camera capturing images of the both feet on the transparent plate at the same time. The data are combined and the numerical value is calculated.
  • the shooting timing is not shifted, it is easy to combine the point cloud data. Moreover, the imaging time becomes the shortest, and the measurement time can be shortened.
  • the data obtained by imaging the feet on the translucent plate by the first to third external three-dimensional cameras and the internal three-dimensional camera includes distance information and color information.
  • the data processing device is within a predetermined range from the data obtained by the first to third external three-dimensional cameras and the internal three-dimensional camera capturing images of the both feet on the transparent plate.
  • the data including the distance information and the color information is extracted, the point cloud data is synthesized using the extracted data, and the numerical value is calculated.
  • the point cloud data can be efficiently combined and the measurement time can be shortened.
  • FIG. 1 is an overall configuration diagram of a three-dimensional foot measurement system.
  • FIG. 2 is a front view of the imaging device.
  • FIG. 3 is a plan view of the image pickup apparatus.
  • FIG. 4 is a left side view of the image pickup apparatus.
  • FIG. 5 is a perspective view of the imaging device.
  • FIG. 6 is a front view of the image pickup apparatus.
  • FIG. 7 is a plan view of the image pickup apparatus.
  • FIG. 8 is a right side view of the image pickup apparatus.
  • FIG. 9 is an image diagram of the imaging device.
  • FIG. 1 is an overall configuration diagram of a three-dimensional foot measurement system.
  • FIG. 2 is a front view of the imaging device.
  • FIG. 3 is a plan view of the image pickup apparatus.
  • FIG. 4 is a left side view of the image pickup apparatus.
  • FIG. 5 is a perspective view of the imaging device.
  • FIG. 6 is a front view of the image pickup apparatus.
  • FIG. 7 is a plan view of
  • FIG. 10 is an image of data obtained by imaging with the first external three-dimensional camera.
  • FIG. 11 is an image of data obtained by imaging with the second external three-dimensional camera.
  • FIG. 12 is an image of data obtained by imaging with a third external three-dimensional camera.
  • FIG. 13 is an image of data obtained by imaging with an internal three-dimensional camera.
  • FIG. 14 is an image of the point cloud data synthesized for the right foot.
  • FIG. 15 is an image of the point cloud data synthesized for the left foot.
  • FIG. 16 is an explanatory diagram showing a state in which the feet are put in the housing.
  • FIG. 17 is an explanatory diagram showing a state inside the housing.
  • Example 1 A three-dimensional foot measurement system 10 of Example 1 will be described with reference to FIGS. 1 to 15.
  • FIG. 1 is an overall configuration diagram of the three-dimensional foot measurement system 10. As shown in FIG. 1, the three-dimensional foot measurement system 10 includes an imaging device 12 and a data processing device 30.
  • FIG. 2 is a front view of the image pickup device 12.
  • FIG. 3 is a plan view of the image pickup device 12.
  • FIG. 4 is a left side view of the imaging device 12.
  • FIG. 9 is an image diagram of the imaging device 12. As shown in FIGS. 1 to 4 and 9, in the image pickup apparatus 12, a translucent plate 15 for mounting both feet 2a and 2b (see FIG. 3) is exposed on the upper surface 14a of the housing 14.
  • the translucent plate 15 has a plate shape that allows light to pass through to the extent that the soles of both feet 2a and 2b placed on the translucent plate 15 are imaged by an internal three-dimensional camera 26 and three-dimensionally measured, as will be described in detail later.
  • the member may be transparent, semi-transparent, or cloudy. For example, if the soles of both feet 2a and 2b on the translucent plate 15 can be imaged and three-dimensionally measured, the portion farther than the soles of both feet 2a and 2b on the translucent plate 15 can be seen as seen through frosted glass. It does not matter if the light is seen through the transparent plate 15.
  • a member 17 is provided so as to cross the center of the translucent plate 15, or a sticker (not shown) is attached to the front surface or the back surface of the translucent plate 15 to form both feet 2a, The position where 2b is placed may be easy to understand.
  • the portion where the light transmitting plate 15 is exposed on the upper surface 14a of the housing 14 is preferably rectangular in length and width of about 30 to 40 cm, but may be smaller or larger than this.
  • a shape other than the rectangular shape, such as a circle or an ellipse, may be used.
  • two locations for the right foot and the left foot may be exposed.
  • a mirror 16 and one internal three-dimensional camera 26 are arranged, and the soles of both feet 2a and 2b on the translucent plate 15 are translucent from below. It is configured to be imaged by the internal three-dimensional camera 26 via the plate 15 and the mirror 16. It is preferable to use the mirror 16 because the height of the housing 14 can be prevented from increasing even if the focal length of the internal three-dimensional camera 26 is increased in order to increase the depth of field. However, it may be configured without using the mirror 16.
  • three support arms 18a, 18b, and 18c are attached to the housing 14.
  • the base end portions 18p, 18q, 18r are rotatably supported by the housing 14, and the external three-dimensional cameras 20, 22, 24 are attached to the tip portions 19a, 19b, 19c, respectively. Is fixed.
  • the tip portions 19a, 19b, 19c have the same tubular shape, and the external three-dimensional cameras 20, 22, and 24 are fixed inside the tip portions 19a, 19b, 19c.
  • Apertures 19u, 19v, 19w (19u is not shown) having the same shape are formed in the tips 19a, 19b, 19c, and the external three-dimensional cameras 20, 22, and 24 image through the openings 19u, 19v, 19w. To do.
  • the support arms 18a, 18b, 18c have a shape extending diagonally upward from the base end portions 18p, 18q, 18r of the light transmitting plate 15, and the tip portions 19a, 19b, 19c are arranged diagonally above the light transmitting plate 15, respectively.
  • the external three-dimensional cameras 20, 22, and 24 are arranged obliquely above the translucent plate 15 so as to image the feet 2a and 2b on the translucent plate 15, respectively.
  • the first external three-dimensional camera 20 is arranged in front of both feet 2a and 2b on the translucent plate 15 by the first support arm 18a.
  • the second external three-dimensional camera 22 is arranged by the second support arm 18b on the light-transmitting plate 15 obliquely to the right rear of the feet 2a, 2b.
  • the third external three-dimensional camera 24 is arranged by the third support arm 18c to the left of the feet 2a, 2b on the translucent plate 15 and diagonally rearward.
  • the external 3D cameras 20, 22, 24 can be easily arranged at predetermined positions.
  • FIGS. 5 to 8 are views showing a state in which the support arms 18a, 18b, 18c are laid down.
  • 5 is a perspective view of the imaging device 12
  • FIG. 6 is a front view of the imaging device 12
  • FIG. 7 is a plan view of the imaging device 12
  • FIG. 8 is a right side view of the imaging device 12.
  • the support arms 18a, 18b, 18c are configured to be able to be tilted toward the upper surface 14a of the housing 14.
  • the image pickup device 12 becomes compact, which is convenient for storage and transportation.
  • the external 3D cameras 20, 22, 24 and the internal 3D camera 26 are 3D cameras having a built-in depth sensor that acquires depth information, and for example, an Intel (registered trademark) RealSense (registered trademark) depth camera is used. ..
  • the present invention is not limited to this, and a three-dimensional camera such as Microsoft's Kinect (registered trademark) may be used.
  • FIG. 10 is an image of data obtained by the first external three-dimensional camera 20 imaging both feet 2a and 2b on the transparent plate 15. As shown in FIG. 10, the first external three-dimensional camera 20 images the insteps of both feet 2a and 2b on the translucent plate 15 and their surroundings from the front of both feet 2a and 2b.
  • FIG. 11 is an image of data obtained by the second external three-dimensional camera 22 capturing images of both feet 2a and 2b on the translucent plate 15. As shown in FIG. 11, the second external three-dimensional camera 22 images the heels of both feet 2a and 2b on the translucent plate 15 and their surroundings from the diagonally right rear side of both feet 2a and 2b.
  • FIG. 12 is an image of data obtained by the third external three-dimensional camera 24 imaging both feet 2a and 2b on the translucent plate 15. As shown in FIG. 12, the third external three-dimensional camera 24 images the heels of both feet 2a and 2b on the translucent plate 15 and their surroundings from diagonally left rear of both feet 2a and 2b.
  • FIG. 13 is an image of data obtained by capturing images of both feet 2a and 2b on the translucent plate 15 by the internal three-dimensional camera 26. As shown in FIG. 13, the internal three-dimensional camera 26 images the entire soles of the feet 2a and 2b on the transparent plate 15 from below.
  • the data processing device 30 shown in FIG. 1 can be configured with a laptop computer, a tablet PC, or the like.
  • the data processing device 30 is connected to the external 3D cameras 20, 22, 24 and the internal 3D camera 26, and supplies power to the external 3D cameras 20, 22, 24 and the internal 3D camera 26.
  • the data processing device 30 receives data from the external three-dimensional cameras 20, 22, 24 and the internal three-dimensional camera 26, and executes predetermined data processing.
  • the data processing device 30 is on the translucent plate 15 from the data obtained by simultaneously imaging both feet 2a and 2b on the translucent plate 15 by the external three-dimensional cameras 20, 22, 24 and the internal three-dimensional camera 26.
  • the point cloud data representing the three-dimensional shapes of both feet 2a and 2b are synthesized, and the numerical values representing the characteristics of each of the two feet 2a and 2b on the translucent plate 15 are calculated using the combined point cloud data.
  • the point cloud data represents the three-dimensional shape of the entire foot including the instep, heel, sole, and the like.
  • the point cloud data may include color information of each point.
  • the numerical values to be calculated are, for example, foot length, foot width, foot circumference, and the like.
  • FIGS. 14 and 15 are synthesized from the data shown in FIGS. 10 to 13.
  • FIG. 14 is an image showing point cloud data combined for the right foot 2a.
  • FIG. 15 is an image showing the point cloud data combined for the left foot 2b.
  • the point cloud data When the point cloud data is combined from the data obtained by simultaneously imaging with the three-dimensional cameras 20, 22, 24, 26, there is no image shift, so the point cloud data can be easily combined. Moreover, the imaging time becomes the shortest, and the measurement time can be shortened.
  • the data obtained by the first to third external three-dimensional cameras 20, 22, 24 and the internal three-dimensional camera 26 imaging both feet 2a and 2b on the translucent plate 15 includes distance information and color information. including.
  • the data processing device 30 is predetermined from the data obtained by the first to third external three-dimensional cameras 20, 22, 24 and the internal three-dimensional camera 26 imaging both feet 2a and 2b on the translucent plate 15.
  • Data including distance information and color information within a predetermined range are extracted, and the extracted data is used to synthesize point cloud data representing the three-dimensional shapes of both feet 2a and 2b on the translucent plate 15, and the synthesized points.
  • the group data is used to calculate a numerical value representing a characteristic of each of the feet 2a and 2b on the transparent plate 15.
  • the predetermined range of the color information is set to include the skin color
  • the predetermined range of the distance information is set to include both feet 2a and 2b on the transparent plate 15.
  • point cloud data can be efficiently combined and measurement time can be shortened.
  • Measurement results such as point cloud data of both feet 2a and 2b and numerical values representing characteristics of each of both feet 2a and 2b may be sent from the data processing device 30 to a server and stored in a database.
  • a server By accumulating the measurement results, it becomes easy to use and utilize the measurement results.
  • the three-dimensional foot measuring system 10 uses three external three-dimensional cameras 20, 22, 24 and one internal three-dimensional camera 26 to measure the three-dimensional shape of both feet 2a, 2b from four directions. Therefore, compared with the case of measuring a three-dimensional shape from three directions, the entire feet 2a and 2b can be imaged without a blind spot, and the measurement can be performed with high accuracy. In particular, it is possible to accurately measure the shape of the heel, which has a great influence on the fitting of the shoe.
  • the measurement accuracy deteriorates when the angle formed by the normal of the surface passing through the point and the irradiation light irradiated to the point approaches vertical.
  • the part that the irradiation light does not reach becomes a blind spot and cannot be measured. Since the irradiation light is emitted from a single point with its direction changed, it is not parallel light. Therefore, when the heel is imaged from the rear with only one external three-dimensional camera, blind spots are easily formed on the left and right side surfaces, and it is difficult to accurately measure the shape of the heel.
  • By imaging the heel from diagonally right rear and diagonally left rear with two external three-dimensional cameras it is possible to prevent blind spots from occurring on the left and right sides, so the shape of the heel can be measured accurately.
  • the imaging time is short, and since the entire feet 2a and 2b are simultaneously imaged from four directions, the measurement is completed in a short time.
  • the measurement can be performed only by placing both feet 2a and 2b on the translucent plate 15, and since the imaging time is short, the time to keep both feet 2a and 2b stationary is also short.
  • the three-dimensional foot measuring system 10 can easily perform the three-dimensional measurement of the entire feet 2a and 2b in a short time, and can easily measure the feet of a small child.
  • the base end portions 18p, 18q, 18r of the support arms 18a, 18b, 18c may be configured to be detachably supported by the upper surface 14a and the side surface 14s of the housing 14. Also in this case, the external three-dimensional cameras 20, 22 and 24 can be easily arranged at predetermined positions.
  • the function of the data processing device 30 may be shared by a terminal such as a notebook computer or a tablet PC and a server. Specifically, the data input to the terminal from the external 3D camera and the internal 3D camera is sent from the terminal to the server, and the server synthesizes the point cloud data to calculate the numerical value representing the characteristic of the foot. It may be configured. Alternatively, the terminal may be configured to combine the point cloud data, the combined point cloud data may be sent from the terminal to the server, and the server may calculate the numerical value representing the feature of the foot.
  • the three-dimensional foot measurement system of the present invention can easily measure both feet in three dimensions in a short time, and can easily measure the feet of a small child.
  • 4 or more external 3D cameras may be used, or 2 or more internal 3D cameras may be used.
  • the measurement accuracy can be improved and the measurement range can be expanded. For example, it becomes possible to measure the length and height of the leg up to the knee.

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  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
PCT/JP2020/007536 2019-03-03 2020-02-25 三次元足計測システム WO2020179549A1 (ja)

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JP2019038100 2019-03-03

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TW (1) TW202108032A (enrdf_load_stackoverflow)
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116952303A (zh) * 2023-07-27 2023-10-27 浙江卓诗尼鞋业有限公司 鞋类多项功能综合检测设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6364139B2 (enrdf_load_stackoverflow) * 1982-03-25 1988-12-09
JP2006053147A (ja) * 2004-08-11 2006-02-23 Acushnet Co 物体を走査する装置および方法
JP2009159015A (ja) * 2007-12-25 2009-07-16 Elmo Co Ltd 撮像装置
JP2013509927A (ja) * 2009-11-04 2013-03-21 フットバランス システム オイ 中敷きならびに中敷き製造のための方法およびシステム
JP2015099116A (ja) * 2013-11-20 2015-05-28 セイコーエプソン株式会社 成分分析装置
US20170255185A1 (en) * 2016-03-01 2017-09-07 Glen D. Hinshaw System and method for generating custom shoe insole

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6364139B2 (enrdf_load_stackoverflow) * 1982-03-25 1988-12-09
JP2006053147A (ja) * 2004-08-11 2006-02-23 Acushnet Co 物体を走査する装置および方法
JP2009159015A (ja) * 2007-12-25 2009-07-16 Elmo Co Ltd 撮像装置
JP2013509927A (ja) * 2009-11-04 2013-03-21 フットバランス システム オイ 中敷きならびに中敷き製造のための方法およびシステム
JP2015099116A (ja) * 2013-11-20 2015-05-28 セイコーエプソン株式会社 成分分析装置
US20170255185A1 (en) * 2016-03-01 2017-09-07 Glen D. Hinshaw System and method for generating custom shoe insole

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116952303A (zh) * 2023-07-27 2023-10-27 浙江卓诗尼鞋业有限公司 鞋类多项功能综合检测设备
CN116952303B (zh) * 2023-07-27 2024-04-30 浙江卓诗尼鞋业有限公司 鞋类多项功能综合检测设备

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