KR101381128B1 - Scanner for the foot - Google Patents

Abstract

The present invention relates to a scanner capable of obtaining two-dimensional or three-dimensional shape information including the size of the foot. The present invention is an embodiment, a case, mounted on the case, a transparent scaffold on which the subject's feet rise, spaced apart from the scaffold and one side facing the scaffold, one side of the measuring bed toward the scaffold While maintaining the moving part for moving the measuring bed to the lower side and both sides of the scaffold, at least one mounted to the measuring bed, a laser irradiator that rotates and emits a sun laser beam, and irradiated to the sun laser beam Foot scanner including a measuring module including a camera for photographing the foot and the control unit for controlling the operation of the moving unit and the operation of the measuring module, and processing the image obtained from the measuring module to form the shape of the subject's foot To present.

Description

Foot scanner {Scanner for the foot}

The present invention relates to a scanner capable of obtaining two-dimensional or three-dimensional shape information including the size of the foot.

The shape of the foot, including the foot size, varies from person to person, and it is not easy to measure precisely because three-dimensional information must be handled. The shape information of the foot is treated as basic information for producing a product in the shoe or the foot manufacturing industry, and the medical field is required for the correction or the manufacture of special use shoes.

The body scanner for acquiring a three-dimensional shape takes a plurality of images of the body surface irradiated with a line laser and the like, and obtains information about the bending of the body by three-dimensionally analyzing these images. Such a method is widely used in patent documents mentioned later.

The prior art is a method of acquiring images while moving the camera including the laser irradiator while keeping the foot on the foot scanning equipment to secure the necessary image.

This approach causes the scan equipment to become large. Specifically, the minimum distance that a camera can recognize a foot, which is used for image acquisition in the current technology level, is about 150 mm. At least the inside and outside of the foot must be taken, so the camera or laser irradiator must be paired to face each other. Therefore, the scanning device for measuring the inside and the outside of the foot, including the moving means such as a camera should be at least 55cm in width. Scanners of this size take up a lot of space and have limitations in their installation location.

In addition, in terms of the technique of processing the acquired image, the conventional techniques have a considerable amount of computation since they must process the acquired images in accordance with the movement of the laser line. Therefore, there is a disadvantage in that the time required for measuring the shape of one foot becomes long, and the cost increases due to high performance equipment.

Furthermore, in order to improve the accuracy, accurate information on the amount of movement of the laser line is important for each image, and the related art requires expensive precision equipment such as an encoder or a trigger to measure the amount of movement of the laser line, that is, the displacement value of the laser irradiator. As a result, there is a problem that the manufacturing cost increases.

Republic of Korea Utility Model Registration No. 20-0256688 (2001.11.27) Republic of Korea Utility Model Registration No. 20-0290837 (2002.09.17)

The present invention is intended to improve the space utilization by reducing the size of the foot scanner, and to reduce the burden of image processing to be able to quickly drive even in a cheap and simple electronic device.

Other objects and advantages of the present invention will become apparent to those skilled in the art from the following detailed description.

In order to solve the above problems, the present invention is an embodiment, a case, mounted on the case, the transparent scaffold on which the subject's feet rise, spaced apart from the scaffold and one side facing the scaffold, one side of the measuring bed A laser irradiator which rotates and emits a line laser beam by moving at least one of the moving parts for moving the measuring bed to the lower side and both sides of the scaffold, while maintaining the state facing the scaffolding; A measurement module including a camera photographing the foot irradiated to the sun laser beam and controlling the operation of the moving unit and the operation of the measurement module, and processing the image obtained from the measurement module to form the shape of the subject's foot Present a foot scanner including a control unit.

Here, the moving part is fixed to each of the front end and the rear end of the measuring bed, and are installed inside the swing arm and the case extending upwards in parallel with each other, the swing arm and the measuring bed to the scaffold It may include a driving unit for rotating around.

In addition, the case is formed with a measurement space is inserted into the feet of the subject, the footrest may be installed at a height lower than the inlet of the measurement space opened to the upper.

Here, the plurality of measuring modules are installed in a plurality of spaced apart along the longitudinal direction of the measuring bed, each of the measuring modules, the area corresponding to the separation interval of the measuring module is to be responsible for the irradiation and imaging of the laser beam. Can be.

On the other hand, the control unit is provided with an analysis unit for calculating the partial shape by analyzing the photographed image for each measurement module individually, and includes a collecting unit for collecting the partial shape obtained from each analysis unit to calculate the overall shape Can be.

On the other hand, the lower surface of the scaffold is a flat surface, both side surfaces are formed as a flat surface perpendicular to the lower surface, the lower surface and each side surface is opaque along the front and rear length of the scaffold with a constant protruding length Since the reference bar of protrudes, the step of the line laser beam may be formed on the irradiated surface according to the rotation of the laser irradiator.

On the other hand, it may include a marker portion mounted on the scaffold, which is photographed by the camera moved to any one of a lower position of the scaffold, a left position and a right position of the scaffold.

Further, the control unit controls the moving unit so that the measuring bed stays on the bottom, one side and the other side of the scaffold, and the lower shape of the foot of the subject to be mounted on the scaffold in the measuring module according to the position movement of the measuring bed. The measurement module may be controlled to acquire one side shape and the other side shape, and the three-dimensional shape of the foot may be calculated from the bottom shape, one side shape, and the other side shape.

According to an embodiment of the present invention, the measuring bed equipped with the measuring module by the moving unit is moved to the lower side and both sides of the subject's foot, and then scanned, thereby reducing the size of the device compared to the conventional technology.

It is possible to miniaturize the device by installing a plurality of measuring modules, and configuring each measuring module to acquire an image of a part of the foot.

Since the feet of the subject can be measured while being located inside the measurement space, the sun laser beam emitted from the laser irradiator is not irradiated to the external object. Thereby, the noise contained in the acquired image can be reduced.

The prior art required a high performance computing device to process the measured image. Accordingly, a separate space for installing a high performance computing device was required, and the price was increased. However, the present invention allocates the analysis units having a low processing performance to each measurement module to improve the processing speed while lowering the manufacturing cost.

Since the reference bar makes it easy to know the irradiation angle of the laser beam during the image processing process, it is possible to omit the expensive rotation sensor required to obtain the rotation angle of the laser irradiator. Therefore, there is an advantage that can lower the manufacturing cost.

Since the marker part presents a reference point when collecting the shape information measured at the lower part of the foot and both sides, the processing speed is faster and the quality of the final image is improved compared to the matching method due to the similarity by comparing the partial shapes in the conventional technology. It works.

The effects of the present invention will be clearly understood and understood by those skilled in the art, either through the specific details described below, or during the course of practicing the present invention.

1 is a schematic perspective view of a foot scanner according to an embodiment of the present invention.
Figure 2 is a perspective view of the main portion separated from the embodiment shown in FIG.
3 is a view showing a state of use of the moving unit employed in the embodiment shown in FIG.
Figure 4 is a perspective view showing the separation of the measurement module employed in the embodiment shown in FIG.
5 is a perspective view showing a state of use of the measurement module shown in FIG.
Figure 6 is a view showing the state of use of the embodiment shown in Figure 1, a side view showing the rotation of the laser irradiator in the order of (a), (b) and (c).
Figure 7 shows the relationship between the scaffold and the measurement module employed in the embodiment shown in Figure 1, (a) is a perspective view showing the use state of the scaffold, (b) and (c) is an image taken by the camera Figures schematically showing.
8 is a block diagram showing the main configuration of a control unit employed in the embodiment shown in FIG.

Hereinafter, with reference to the accompanying drawings will be described the configuration, function and operation of the foot scanner according to the present invention.

In addition, in the following description or drawings, terms such as 'first' and 'second' are used to distinguish components having technical meanings within the same range for convenience. That is, any one configuration may be arbitrarily referred to as a 'first configuration' or a 'second configuration'.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, therefore, are not to be construed as limiting the technical spirit of the invention. It is to be understood that the invention is not to be limited by any of the details of the description to those skilled in the art from the standpoint of a person skilled in the art that any or all of the drawings shown in the drawings are not necessarily the shape,

1 and 2 are views related to a foot scanner according to an embodiment of the present invention.

Foot scanner 10 according to an embodiment of the present invention includes a case (1), scaffold (2), measuring bed (4), moving unit (5), measuring module (6) and the control unit.

The foot scanner to be presented is provided with the case 1 of the outline of a box substantially. In the drawing, a space opened upwardly is formed at the center of the case 1. This space is a portion on which the object to be measured is placed, hereinafter referred to as measurement space 11.

The measurement space 11 is open to the upper side, so that a person who is standing or sitting on the ground can easily insert a foot into a foot scanner placed on the floor. The front and rear sides of the measurement space 11 are opened based on the drawings, and the front and rear surfaces of the measurement space 11 may be covered by a separate membrane plate (not shown).

The footrest 2 is a plate-shaped member on which a foot of a subject is measured. In order to photograph the sole of the subject, the footrest 2 is made of a transparent material. Scaffolding is either clear glass or clear acrylic.

The footrest 2 is a substantially hexahedron, and the upper surface, the lower surface, and both side surfaces on which the feet are raised form a flat surface except for the reference bar 21 described later.

On one side and each side surface of the lower surface of the footrest 2, a reference bar 21 is formed in the front and rear directions of the foot climbing on the footrest 2. The reference bar 21 is a bar shape having the same rectangular cross-sectional area so as to protrude with a constant protruding length on each flat surface. The reference bar 21 is formed of an opaque material.

Furthermore, the inside of the transparent scaffold 2 includes a marker portion 22 photographed by a camera moved to any one of a lower position, a left position and a right position of the scaffold 2.

The marker portion 22 has a specific opaque color and may be a ball embedded in the inside of the scaffold. The color of the beads may be red.

The marker portion 22 is placed at a position where the sole and the marker portion do not overlap when the foot right of the footrest 2 is observed from the bottom. In one example, the marker portion 22 is located at a position farther from the distal end of the footrest 2, that is, at the end of the footrest 2.

The marker part 22 can be observed from the lower part of the scaffold 2, but can also be observed from the left side and the right side of the scaffold 2, too. In order to reliably observe the marker portion 22 at each position, the reference bar 21 is provided at a position not covering the marker portion 22. That is, if the marker portion 22 is installed at the center of the cross section of the scaffold, as shown in Fig. 7, the reference bar 21 of the side surface is formed to be somewhat lower than the center. Therefore, when viewed from the side, the marker portion can be observed without being blocked by the reference bar 21. In this way, the reference bar of the lower surface is disposed to be biased to any one side so as not to cover the marker portion on the lower surface.

The footrest 2 is fixed at a position inserted at a predetermined depth into the measurement space 11. In order to fix the footrest 2 to the inside of the measurement space 11, a fixing bracket 23 is connected to each of the front and rear ends of the footrest 2. The upper end portion 231 of the fixing bracket 23 is fixed to the stepped portion 12 formed in the case 1, and the end portion of the footrest 2 at the end of the lower extension portion 232 extending downward from the upper end portion 231. Combined.

The lower extension part 232 is spaced apart from the inner wall surface forming the measurement space 11. In a space spaced from the inner wall surface of the case 1, the moving part to be described later is located.

The footrest 2 is fixed to the inside of the measurement space 11 in the form suspended by the fixing bracket 23. As a result, the scaffold 2 is installed at a height lower than the entrance of the measurement space 11 opened upward.

The measuring bed 4 and the moving part 5 are members for moving the measuring module 6.

The measuring bed 4 is spaced apart from the footrest 2, and one surface thereof is facing the footrest 2. The measuring module 4 is provided with a measuring module described later.

On the other hand, the moving part 5 is a structure which moves the measurement bed 4 to the lower side and both sides of the footrest 2, maintaining the state which the one surface of the measurement bed 4 toward the footrest 2 is.

The moving part 5 is fixed to each of the front end part and the rear end part of the measuring bed 4, and is installed inside the case with a pair of swing arms 51 extending upwards in parallel with each other, And a driving unit (not shown) for rotating the measuring bed about the scaffold.

One end of the swing arm 51 is coupled to the end of the measurement bed 4, the other end is hinged to the inner surface of the measurement space (11). Both ends of the measuring bed 4 are coupled to the swing arm 51, so that the end of the swing arm 51 is rotated as a swing axis (see FIG. 3).

The driving unit, not shown, is mounted inside the case and has a configuration for rotating the moving unit. The drive unit includes an electric motor capable of controlling rotation, a reducer connected to a rotating shaft of the electric motor, and the like.

In addition to the electric motor and the reducer, the configuration of the drive unit for rotating the moving unit and the measuring bed may vary, and since the level is widely used in the general machine manufacturing field, a detailed description thereof will be omitted.

Since the other end of the swing arm 51 is connected to the inner wall surface of the measurement space 11 at the same height or slightly higher position than the footrest 2 remaining inside the measurement space 11, it is connected to the swing arm 51. One side of the measuring bed 4 that is rotated always faces the scaffold 2.

The measuring module 6 is mounted on one surface of the measuring bed 4. At least one measuring module 6 is mounted, and in the illustrated embodiment, three measuring modules 6 are arranged along the front and rear directions of the foot rising on the footrest 2.

4 to 5, each measurement module 6 includes a laser irradiator 61 and a camera 62. The laser irradiator 61 and the camera 62 are connected to the jig 63, and the jig 63 is connected to the measurement bed. If the hinge piece and the size gear which will be described later are formed on the measuring bed, the jig may be omitted.

The laser irradiator 61 emits a linear laser beam which forms a straight line when it is irradiated to a plane, and can rotate with the axis parallel to the left-right direction of the right foot to the footrest 2 as a rotation axis. The sun laser beam emitted from the laser irradiator 61 is irradiated to the skin of the foot to form a line that crosses in the left and right directions of the foot. This line moves back and forth of the foot by the rotation of the laser irradiator 61.

In order to rotate the laser irradiator 61, the hinge piece 631 and the curved recreation gear 632 are formed in the jig 63, and the hinge irradiator 61 is rotatably mounted to the hinge piece 631. The lower end portion may be equipped with a gear 611 meshing with the reggear 632 and a motor (not shown) for rotating the gear.

When the laser irradiator 61 is coupled to the jig 63, the gear 611 meshes with the recreation gear 632, and the laser irradiator 61 rotates with respect to the jig 63 by the rotation of the motor.

At this time, the rotation angle of the laser irradiator relative to the jig can be calculated by measuring the rotation speed of the motor. Alternatively, various configurations for rotating the laser irradiator 61 may be applied. It may also be equipped with a sensor for measuring the rotation angle of the laser irradiator.

On the other hand, the camera 62 is fixed to the jig 63 and is limited to the installation angle to take an image. As the laser irradiator 61 rotates, the sun laser beam moves, and the fixed camera 62 photographs the sun laser beam irradiated to the object.

As a plurality of measuring modules 6 are installed in the measuring bed 4 spaced apart from each other, each measuring module 6 is responsible for the irradiation of the sun laser beam and the imaging of the sun laser beam irradiated to the object in the area corresponding to the separation interval. Controlled to. That is, the three measuring beds 4 are in charge of sun laser beam irradiation and photographing by portions of the scaffold 2 divided into three.

If a single measuring module is fitted, one laser irradiator shall irradiate the sun's laser beam from the front to the rear of the foot and the camera shall be able to photograph the entire foot. In order to hold the entire foot in the camera, the distance between the camera and the foot must be secured, so the device of the scanner must be enlarged. In addition, since the laser irradiator must irradiate the entire laser beam to the entire foot, the time required for photographing increases as the irradiation interval is widened.

However, in the present invention, a plurality of cameras are installed, and each camera requires only a space corresponding to the minimum shooting distance of the camera by shooting only the corresponding area. In addition, since each laser irradiator only needs to irradiate the laser beam in the corresponding area, the section in which the laser irradiator is in charge becomes narrower, and the time required for photographing is shortened.

Referring to FIG. 8, the control unit controls the operation of the moving unit and the operation of the measurement module. The controller may process the image obtained by the measuring module to generate the shape of the foot of the subject. The control unit includes a central processing unit 71, a moving unit control unit 72, an operation panel 72 for receiving a user's operation command, an expression unit 74 for displaying processed shape information, and the like.

In addition, when a plurality of measuring modules 751,752,753 are provided, an analysis unit 761,762,763 is separately provided for analyzing the photographed images for each measuring module 6 to calculate a partial shape of the foot. The control unit also includes a collecting unit 77 that collects the partial shapes calculated by the analysis units 761, 762, 763 and calculates the overall shape of the foot.

In the analysis units 761, 762 and 763 allocated to each measuring module 6, the image obtained by the camera is processed. These analyzing units 761,762, 763 have a dedicated central processing unit and other necessary computational modules. The output of these analysis units 761,762, 763 is the shape of the foot in the area where the measurement module is in charge of imaging.

The collecting unit 77 receives the shape of the foot calculated by each analysis unit and calculates the overall shape of the foot. The configuration of the collecting unit 77 is similar to that of the analysis unit, and after excluding the overlapping part from the partial shape, the partial shape is made to form the overall shape.

Hereinafter will be described the operation of the foot scanner according to an embodiment of the present invention.

After the foot of the subject is lifted on the footrest 2, scanning operation is started by user's operation. First, the shape acquisition of the sole is performed in a state in which the measuring bed 4 is positioned below the footrest 2, as shown in FIG.

In the state where the measuring bed 4 is located under the scaffold 2, the controller controls the laser irradiator 61 of each measuring module to operate the sun laser beam. As shown in Fig. 6A, the laser irradiator 61 starts to irradiate the sun laser beam toward the sole front end.

As shown in Figs. 6B and 6C, the control unit rotates the laser irradiator 61 so that the sun laser beam irradiates the sole from the front to the back.

In addition, during the movement of each sun laser beam is taken an image in the area through the camera 62.

During this process, the rotation angle of the laser irradiator 61 is measured separately or calculated using a reference bar.

FIG. 7 is a view related to a method of calculating the laser irradiator rotation angle using the reference bar 21.

In FIG. 7A, the position of the camera 62 is fixed. When the laser irradiator 61 rotates, the sun laser beam irradiated to the scaffold 2 is moved from one position to two positions. Since the reference bar 21 protrudes from the scaffold 2 toward the measurement module 6, the sun laser beam irradiated onto the scaffold forms a step according to the rotation angle of the laser irradiator 61.

FIG. 7B is an image photographed when irradiating one position, and FIG. 7C is an image photographed when irradiating two positions. Since the protruding length of the reference bar 21 is known and the distance between the measurement module 6 and the footrest 2 is also known, the line laser beam and the reference bar 21 irradiated to the surface of the foothold 2 are irradiated. The angle of the laser irradiator 61 can be calculated through the step D of the line laser beam irradiated onto the surface of the laser beam.

Referring back to FIG. 6, the straight line of the sun laser beam crosses the sole of the foot and leaves a curved line, which is photographed by the camera 62. By the rotation of the laser irradiator 61, the sun laser beam for irradiating the sole is moved in the longitudinal direction of the foot, and the image of the sun laser beam is collected to obtain an image of the curved sole sole plane.

Each analysis unit collects and collects images taken by the corresponding measurement module 6 to calculate a partial shape of the sole. Here, a part of the partial shape overlaps with the partial shape calculated by the neighboring measurement module.

The collecting unit deletes overlapping portions of the partial shapes obtained from each analysis unit, and connects the partial shapes to obtain the entire shape of the sole.

By doing so, it is possible to obtain three-dimensional shape information about the entire sole of the foot, that is, the lower shape of the foot.

If the three-dimensional shape of the entire sole is not calculated, but the image is simply collected, two-dimensional shape information of the sole can be obtained.

Further, in order to obtain three-dimensional shape information of the entire foot including the foot, the control unit operates the moving unit 5, so that the measuring bed 4 moves to one side of the footrest.

Since the measuring bed 4 performs the seesaw movement, the measuring module 6 mounted on the rotated measuring bed 4 is still facing the foot.

Subsequently, the control unit measures the one side of the right foot on the scaffold by operating the measuring module 6 while the measuring bed 4 is fixed. In addition, through the analysis unit and the collecting unit, it is possible to calculate the overall shape, that is, the shape of one side of the foot to look at one side.

Then, the control unit operates the moving unit 5 again to move the measuring bed 4 to the other side of the foot, and as described above, calculates the overall shape of the foot viewed from the other side, that is, the other side of the foot.

In this way, the moving part is operated to calculate the lower shape, one side shape, and the other side shape of the foot, and then the combinations are combined to calculate the three-dimensional shape of the foot.

At this time, the position of the marker part 22 photographed by the camera 62 is utilized as a reference point which combines a lower shape, one side shape, and the other side shape. That is, by arranging each shape to match the markers existing in the lower shape, one side shape and the other shape, it is easy to see the overlapping portions and the three sides of the foot by deleting or supplementing the corresponding portions. To obtain the overall shape.

In the above description of the invention, the algorithm for processing the image acquired by the camera, that is, distortion correction by the skin surface divergence of the laser beam, lens distortion correction, position calibration between the laser irradiation and the camera, position calibration for the laser beam rotation, Descriptions of well-known algorithms such as trimming and connection of partially overlapping images are omitted.

Those skilled in the art can clearly understand the present invention within the above-described range by applying the mathematical knowledge and known algorithms known to those skilled in the field of image processing to which the present invention pertains.

10: scanner
1 case 11 measuring space 12 step
2: footrest 21: reference bar 22: marker portion
23: fixing bracket 231: upper portion 232: lower extension portion
4: measuring bed
5: moving part 51: swing arm
6: measuring module 61: laser irradiator 62: gear 62: camera
63: jig 631: hinge 632: recreation gear
71: central processing unit 72: moving unit control unit 73: operation panel
74: display unit 751, 752, 753: first to third measurement module
761,762,763: analysis unit 77: collection unit
D: step

Claims (8)

case,
A transparent scaffold mounted on the case and the feet of the subject to rise;
A measuring bed spaced apart from the scaffold and having one surface facing the scaffold,
A moving part for moving the measuring bed to the lower side and both sides of the scaffold, while maintaining one side of the measuring bed facing the scaffold,
At least one measuring module mounted on the measuring bed, the laser irradiating unit which rotates and emits a sun laser beam, and a measuring module including a camera which photographs a foot irradiated to the sun laser beam;
A control unit for controlling the operation of the moving unit and the operation of the measurement module, and processing the image obtained from the measurement module to form a foot shape of the subject under test;

The moving unit includes:
A swing arm fixed to each of the front end part and the rear end part of the measuring bed and extending upwardly in parallel with each other;
The foot scanner, which is installed inside the case and includes a driving unit for rotating the swing arm and the measuring bed about the footrest. delete In claim 1,
The case has a measuring space is formed is inserted into the foot of the subject,
The footrest scanner is installed at a height lower than the entrance of the measurement space opened to the upper portion. In claim 1,
The measuring module is provided with a plurality of spaced apart in the longitudinal direction of the measuring bed,
Each measurement module,
Foot scanner, characterized in that for irradiating and photographing the sun laser beam in the area corresponding to the separation interval of the measurement module. 5. The method of claim 4,
The control unit
Each measuring module is equipped with an analysis unit that analyzes the photographed image to calculate the partial shape.
A foot scanner, comprising a collecting unit for collecting the partial shapes obtained in each of the analyzing units to calculate an overall shape. In claim 1,
The lower surface of the scaffold is a flat surface, both side surfaces are formed as a flat surface perpendicular to the lower surface,
An opaque reference bar protrudes along the front and rear lengths of the scaffolding on each of the lower surface and the both side surfaces at a constant protruding length.
Foot scanner, characterized in that the step of the sun laser beam is formed on the surface irradiated by the rotation of the laser irradiator. In claim 1,
Mounted on the scaffold,
And a marker portion photographed by the camera moved to any one of a lower position of the scaffold, a left position and a right position of the scaffold. In claim 1,
Wherein,
The moving part is controlled so that the measuring bed stays on the lower side, the one side and the other side of the scaffold,
The measurement module is controlled to acquire a lower shape, one side shape, and the other shape of the foot of the subject to be measured on the scaffolding according to the movement of the measuring bed.
Foot scanner for calculating a three-dimensional shape for the foot from the bottom shape, one side shape and the other side shape.

Images