CN109708698A - A rotary three-dimensional foot and plantar pressure scanner and its working method - Google Patents

Abstract

The present invention provides a kind of Rotary three-dimensional foot type and plantar pressure scanner and its working method, including vertical manipulation rack, foot type scans column, annulus guide rail, motor, pressure measurement plate, measure Control card, interaction process terminal, neonychium, network interface, USB interface, switch button and circumscripted power line, foot type scanning column is mounted on the rack base lateral surface of vertical operation bench, it is fixedly connected with annulus guide rail by screw rod, as annulus guide rail does steady circular's rotation under motor drive, upper part and lower part 3D true feeling camera module, which cooperate, when rotation obtains the 3 d image data of user's biped, it is mounted on the synchronous plantar nervous arch data for obtaining user of pressure measurement plate of rack base centre, measurement Control card is responsible for controlling foot type scanning column and pressure measurement plate acquisition data and to interaction process terminal Transmit data.The present invention can conveniently and efficiently synchronize the foot morphology for obtaining user and sport dynamics parameter and convergence analysis, and complementation scans and being capable of self calibration.

Description

A kind of Rotary three-dimensional foot type and plantar pressure scanner and its working method

Technical field

The present invention relates to foots to digitize automatic measurement field, in particular to a kind of Rotary three-dimensional foot type and plantar pressureScanner and its working method.

Background technique

Three-dimensional foot type measuring technology is the fields such as shoe industry, sufficient disease diagnosis and treatment rehabilitation and Foot-biomechanics analysis and researchBasic technology.Early stage often uses manual measurement, there are large labor intensity, low efficiency, it is accurate poor the defects of, and lack to footThe description of the global feature information of form.With the development of measuring technique, occur using scanning technique, synthetic technology of taking pictures,The technological means such as reverse mould technology, improve measurement efficiency and precision；Plantar nervous arch measuring technique is with pressure-measuring deviceTo human body, the mechanics of plantar pressure, geometry and time parameter values in static or dynamic process are measured device, to notAnalyze and research with the sport biomechanics characteristic under state, to disclose different foot pressure and mode andThe influence of nursing equipment (including article of footwear) to Foot-biomechanics feature is moved, improves equipment Design, analysis foot is damaged intoCause, development and assessment of function.Three-dimensional foot type data are synchronous with plantar nervous arch data to be obtained and analyzes, and is that shoes carry out productBe truly realized the necessary condition of biomethanics adaptability, and current shoes industry enterprise transformation flexible production and personalized customization mustStandby basis.

In the prior art, relatively conventional using the non-contact 3-D foot shape measurement instrument of optoelectronic scanning, be all mostlyIt is measured in enclosure space, and measures function without plantar nervous arch, equipment output data is more single.

Through retrieving, Authorization Notice No. is that Chinese utility model patent disclosed in CN206933528U " sweep by a kind of foot type three-dimensionalRetouch system ", the three-dimensional data of two insteps can be obtained around both feet rotation, including upper scanner, lower-left scanner, bottom right are sweptInstrument, reflection microscope group, turntable and glass support plate are retouched, when scanning system works, people stands on glass support plate, and upper scanner followsThe three-dimensional data of turntable rotary scanning both feet instep, lower-left scanner and bottom right scanner pass through reflection microscope group reflection scanning soleThe three-dimensional data in portion.Advantage is can to work under open environment, and user need to only stand can measure three-dimensional on the scannerFoot type data, the disadvantage is that not can be carried out plantar nervous arch measurement, output data is single, and has used three scanner combinationsScan task is completed, it is at high cost, also without the optical scanner principle and specific embodiment of open scanner.

Summary of the invention

It is at high cost using three or more optical scanners in the prior art to solve, and surveyed without plantar nervous archMeasure the more single problem of function, equipment output data, the problems such as embodiment is not specific, the present invention provides one kind rotary threeFoot type and plantar pressure scanner and its working method are tieed up, three-dimensional foot type is solved and plantar nervous arch integral type quickly scans surveyThe technical issues of amount.

The technical solution adopted by the present invention are as follows: a kind of Rotary three-dimensional foot type and plantar pressure scanner, including vertical behaviourControl rack, foot type scanning column, annulus guide rail, motor, pressure measurement plate, measurement Control card, interaction process terminal, neonychium,Network interface, USB interface, switch button and circumscripted power line；

The structural body part that the vertical manipulation rack is, including rack base, heel post and operation bench；

The foot type scanning column is used to obtain the 3 d image data of object to be swept, including top 3D true feeling camera mouldGroup, lower part 3D true feeling camera module and support regulating and controlling mechanism；

The annulus guide rail is connected to motor, and the rotary motion for scanning column for foot type provides round circular orbit；

The motor drives annulus guide rail to rotate by setting speed and direction under measurement Control card control, and then drivesFoot type scans column rotary motion；

The pressure measurement plate is mounted on the center of rack base, for obtaining the plantar nervous arch number of object to be sweptAccording to；

The measurement Control card is mounted on the inside of rack base, with motor, foot type scanning column, pressure measurement plate, friendshipMutual processing terminal, network interface, USB interface, switch button and circumscripted power line are electrically connected, and are responsible for control foot type and are scanned columnData are acquired with pressure measurement plate and to interaction process terminal transmission data；

The interaction process terminal is to have the processing equipment of calculating and input/output function, passes through survey mounted theretoExamination analysis software and measurement Control card carry out instruction interaction, control three-dimensional foot type and plantar pressure scanning process, handle simultaneouslyThe data sent from measurement Control card provide visual presentation and the application output of three-dimensional foot type and plantar pressure data；

The neonychium is covered on the upper surface of pressure measurement plate, to improve the comfort that user stands when measuring；

The network interface connects network for scanner and provides cable plug receptacle；

The USB interface connects external USB equipment for scanner and provides the interface of USB form；

The switch button is the button for controlling scanner on or off, is mounted on the heel post of vertical manipulation rackFront upper；

The circumscripted power line is the ground power line with three-prong plug, connects external 220V alternating current for scanner.

Preferably, the foot type scanning column is mounted on the lateral surface of rack base, connect with annulus guide rail by the way that screw rod is fixedIt connects, as annulus guide rail moves in a circle under motor drive around rack base lateral surface to scan the three-dimensional figure of object to be sweptAs data, the 3 d image data includes RGB image and point cloud data.

Preferably, the foot type scanning column is cooperated by two 3D true feeling camera modules and scans 3-D image numberAccording to wherein the top 3D true feeling camera module and the lower part 3D true feeling camera module are electrically connected with measurement Control cardIt connects, is made of a RGB camera, an infrared transmitter and an infrared sensor parallel arrangement；The top 3D is realSense camera module is mounted on the top of the support regulating and controlling mechanism, its imaging plane and weight face are clockwise at the angle a after installation；Lower part 3D true feeling camera module is mounted on the lower part of the support regulating and controlling mechanism, its imaging plane center line and protection after installationIt is concordant to pad upper surface；Pass through the combination of two camera modules and the regulation of installation site and angle, it is ensured that foot is arrived in scanningWhole 3 d image datas.

Preferably, the annulus guide rail and the motor are mechanically connected by rack-and-pinion, gear is mounted on the motorIn shaft, rack gear is fixed on the internal ring wall of the annulus guide rail, and the annulus guide rail is mounted on the side wall circle of rack baseIn annular groove, the motor is fixed on the inner sidewall of rack base, motor band movable tooth under measurement Control card controlWheel is rotated by setting speed and direction, and gear drives the rack gear on annulus guide rail internal ring wall mobile, so that annulus guide rail is pressedSetting speed and direction rotate, and then the foot type being fixedly connected with annulus guide rail scanning column is driven to do circle rotation movement.

Preferably, the embedded centre for being mounted on rack base of the pressure measurement plate, upper surface ledges frame pedestalUpper surface 3mm, pressure measurement plate use plug-in type modularized design, and the upper surface of pressure measurement plate is equipped with dot matrix flexibility pressureForce snesor detects the plantar nervous arch data of object to be swept, can according to customer requirement select 4 points/square centimeter and withOn pliable pressure sensor, pliable pressure sensor is by printing molding silver wire band connection to the measurement Control cardTo realize the acquisition transmission of plantar nervous arch data.

Preferably, the measurement Control card includes FPC connector, data acquisition module, high speed data transfer module, delaysStoring module, central processing unit, power management module and onboard data line, wherein FPC connector leads the silver on pressure measurement plateTape is stuck on measurement Control card, to the transducing signal on pressure measurement plate is transferred in measurement Control card, power supply220V voltage is converted into the operating voltage of scanner by management module, and data acquisition module controls 2 3D true feeling cameras respectivelyMould group acquisition 3 d image data, control pressure measurement plate acquisition plantar nervous arch data simultaneously carry out analog-to-digital conversion；Cache mould3 d image data and plantar nervous arch data after block caching analog-to-digital conversion；Central processing unit is to 3 d image data and footBottom pressure distributed data such as is denoised, is encoded at the pretreatment；High speed data transfer module is by pretreated 3 d image dataInteraction process terminal is transferred to by onboard data line with plantar nervous arch data.

Preferably, the neonychium uses 1mm thickness black silicagel pad, it is covered on the upper surface of pressure measurement plate, thereon tableStanding station location marker is printed to prompt user's standing that foot is stepped down in this position and measure in face.

Preferably, installing two angle connectors on the support regulating and controlling mechanism, top 3D true feeling camera module is underPortion 3D true feeling camera module passes through angle connector respectively and is fixed on support regulating and controlling mechanism, by adjusting angle when installationThe fixed angle of connector is spent to realize the angle a or concordantly fix.

Preferably, the interaction process terminal is mounted on the operation bench of the vertical manipulation rack by plugging modeFace can be laptop, tablet computer or industrial personal computer.

The present invention also provides the working methods of Rotary three-dimensional foot type and plantar pressure scanner, comprising the following steps:

Step 101: circumscripted power line plugs electricity, presses the switch button on scanner, scanner powers on and self-test；

Step 102: opening the test analysis software being mounted in interaction process terminal, select self calibration button, scannerInto self-calibration mode, the foot type scanning column on scanner is rotated around rack base lateral surface steady circular with scan protectionPad, top 3D true feeling camera module obtain neonychium image data, self-calibration routines calculate neonychium centre coordinate andArea, then compare initial center coordinate and area come calibrate the focal length of upper and lower part 3D true feeling camera module, origin,The inside and outside parameters such as distortion parameter and calibration object world coordinates；

Step 103: entering user's log-in interface, new user registers first, and user name, property are inputted in interaction process terminalNot, it the essential informations such as date of birth, height, weight and saves, scan pattern is entered back into, after existing subscriber selects user name to log inInto scan pattern；

Step 104: after entering scan pattern, user takes off footgear, and strip plays the bottom of s trouser leg, and both feet are separately stood in scanner naturallyAt the standing place mark of rack base neonychium, start to measure, the foot type scanning column on scanner is on the outside of rack baseFace uniform rotation one week, the upper and lower part 3D true feeling camera module of foot type scanning column cooperates when rotation, and to obtain user doubleThe 3 d image data of foot is mounted on the synchronous plantar nervous arch number for obtaining user of pressure measurement plate of rack base centreAccording to；

Step 105: data collecting module collected 3 d image data and plantar nervous arch number in measurement Control cardAccording to and carry out analog-to-digital conversion, cache module caches the 3 d image data after analog-to-digital conversion and plantar nervous arch data, centerProcessor such as is denoised to data and is encoded at the pretreatment, and pretreated data are passed through built-in number by high speed data transfer moduleInteraction process terminal is transferred to according to line；

Step 106: interaction process terminal stores data by test analysis software after receiving data, edits, calculatesDeng processing, pass through the 3-D image number at the instep, side and gap of fusion upper and lower part 3D true feeling camera module acquisitionAccording to the three-dimensional foot type for reconstructing user, crucial three peacekeeping plantar pressure characteristic parameter of foot is extracted；

Step 107: the key characterization parameter of the displaying of interaction process terminal visualization three-dimensional foot type and extraction, storage result,Result can also be externally shared by network interface or USB interface.

The invention has the following advantages:

(1) Rotary three-dimensional foot type and plantar pressure scanner had both had three-dimensional foot type scanning and foot type parameter measurement functionCan, and have the function of plantar nervous arch measurement, Overall Acquisition foot morphology and kinetic parameter, comprehensive analysis foot formAnd biomechanical characterization, foot characteristic parameter collection is constructed, towards shoe industry, industry and the researches on exercise biomechanics of helping the disabled of helping the elderlyThe equal open shared data bank of fields foundation can be to promote shoe industry industrial upgrading, push the industry development, raising of helping the disabled of helping the elderlyResearches on exercise biomechanics level etc. provides required technology and platform is supported.

(2) it is designed using rotary scanning structure, the foot type by being equipped with 3D true feeling camera module scans column in motorIt is surrounded the uniform rotation of rack base lateral surface one week under drive along annulus guide rail, foot type scans the upper and lower part of column when rotation3D true feeling camera module, which cooperates, obtains the 3 d image data of user's biped, is mounted on the pressure of rack base centreThe synchronous plantar nervous arch data for obtaining user of measurement plate, so that user need to only take off footgear and stand naturally on the scanner,Three peacekeeping plantar pressure characteristic parameter of foot can be measured in 30 seconds by being not required to turn round or make any adjustments movement, and obtain threeTie up visual foot type and pressure-plotting, rotation structure and integrated test analysis design so that whole process efficiently justIt is prompt.Moreover, rotary scanning structure and working method design are so that only need to complete precisely using 2 camera modulesEfficient 3-D scanning and measurement, compared with public technology is with the technical solution of 3 or more camera modules, significantlyThe cost for reducing instrument and equipment is more advantageous to popularization and application.

(3) upper and lower part 3D true feeling camera module is installed at an angle to each otherly on the foot type scanning column of scanner, byOne RGB camera, an infrared transmitter and infrared sensor parallel arrangement composition, thus it is available to includingThe 3 d image data of RGB image and point cloud data can be realized more accurate three-dimensional measurement.Top 3D true feeling camera moduleIts imaging plane and weight face ensure that top 3D true feeling camera module can completely bow clockwise at the angle a in this way after installationThe 3 d image data on instep was photographed, the 3 d image data at side and gap can also be photographed；Lower part 3D true feeling cameraIts imaging plane center line is concordant with protective pad upper surface after the installation of mould group, ensures that lower part 3D true feeling camera module can be in this wayCompletely photographed the 3 d image data at foot side and gap, it is particularly possible to clearly photographed foot side and contact surface itBetween 3 d image data at gap；Pass through the complementation of two camera module upper and lower positions and shooting angle, it is ensured that scanningTo the 3 d image data of foot whole, more fine accurately three-dimensional foot type scanning and measurement are realized.

(4) in order to improve scanning accuracy, method for self-calibrating has also been devised, before booting scans every time scanner first press program intoRow self calibration, foot type scanning column when self calibration on scanner are rotated around rack base lateral surface steady circular with scan protectionPad, top 3D true feeling camera module obtain neonychium image data, self-calibration routines calculate neonychium centre coordinate andArea, then compare initial center coordinate and area come calibrate the focal length of upper and lower part 3D true feeling camera module, origin,The inside and outside parameters such as distortion parameter and calibration object world coordinates, then carry out 3-D scanning and measurement again, improve measurement accuracy.

(5) the sensing detection element using highdensity dot matrix pliable pressure sensor as pressure measurement plate, canFiner plantar nervous arch information is got, molding sensor manufacturing process is printed using integration, it is ensured that pressureThe stability of measurement plate, available vola mechanics, geometric shape parameter and time abundant from plantar nervous arch informationPliable pressure sensor is also connect by parameter using FPC connector with measurement Control card, and direct plug buckle can be completedInstallation or replacement, improve installation reliability and convenience, so that more emat sensor is more convenient.

(6) homemade measurement Control card is mounted in scanner gantry pedestal, including FPC connector, data acquisition moduleBlock, high speed data transfer module, cache module, central processing unit, power management module and onboard data line, wherein FPC connectionSilver wire band on pressure measurement plate is stuck on measurement Control card by device, so that the transducing signal on pressure measurement plate be transmittedInto measurement Control card, 220V voltage is converted into the operating voltage of scanner, data acquisition module point by power management moduleIt Kong Zhi not 2 3D true feeling camera module acquisition 3 d image datas, control pressure measurement plates acquisition plantar nervous arch dataAnd analog-to-digital conversion is carried out, and 3 d image data and plantar nervous arch data after cache module caching analog-to-digital conversion, centreReason device the pretreatment such as is denoised, is encoded to 3 d image data and plantar nervous arch data, and high speed data transfer module willPretreated 3 d image data and plantar nervous arch data are transferred to interaction process terminal by onboard data line.It is thisIC design simplifies installation, and maintenance is more convenient.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment requiredAttached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for abilityFor the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attachedFigure.

Fig. 1 is the composed structure signal of Rotary three-dimensional foot type provided in an embodiment of the present invention and plantar pressure scannerFigure；

Fig. 2 is the main modular communication link of Rotary three-dimensional foot type provided in an embodiment of the present invention and plantar pressure scannerConnect schematic diagram；

Fig. 3 is the work step process of Rotary three-dimensional foot type provided in an embodiment of the present invention and plantar pressure scannerFigure.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.

As shown in Figure 1, Rotary three-dimensional foot type and plantar pressure scanner include vertical manipulation rack 1, foot type scanning column2, annulus guide rail 3, motor 4, pressure measurement plate 5, measurement Control card 6, interaction process terminal 7, neonychium 8, network interface 9,Usb 10, switch button 11 and circumscripted power line 12；Vertical manipulation rack 1 includes rack base 101, heel post 102 and behaviourControl platform 103；Foot type scanning column includes that top 3D true feeling camera module 201, lower part 3D true feeling camera module 202 and support are adjustedControl mechanism 203.

Foot type scanning column 2 is mounted on the lateral surface of rack base 101, is fixedly connected with annulus guide rail 3 by screw rod, withAnnulus guide rail 3 moves in a circle under the drive of motor 4 around 101 lateral surface of rack base to scan the 3-D image of object to be sweptData.Foot type scans column 2 and passes through two 3D true feeling camera modules collaborative work scanning 3 d image datas, wherein top 3DTrue feeling camera module 201 and lower part 3D true feeling camera module 202 are electrically connected with measurement Control card 6, by a RGBCamera, an infrared transmitter and an infrared sensor parallel arrangement composition；Top 3D true feeling camera module 201 is installedOn the top of support regulating and controlling mechanism 203, its imaging plane and weight face are clockwise at the angle a after installation；Lower part 3D true feeling cameraMould group 202 is mounted on the lower part of support regulating and controlling mechanism 203, its imaging plane center line is concordant with protective pad upper surface after installation；Pass through the combination of two camera modules and the regulation of installation site and angle, it is ensured that the 3-D image of foot whole is arrived in scanningData.It supports and two angle connectors, top 3D true feeling camera module 201 and lower part 3D true feeling is installed on regulating and controlling mechanism 203Camera module 202 is fixed on support regulating and controlling mechanism 203 by angle connector respectively, by adjusting angle when installationThe fixed angle of connector realizes the angle a or concordant fixed.

Annulus guide rail 3 and motor 4 are mechanically connected by rack-and-pinion, and gear is mounted in the shaft of motor 4, rack gear installationIt is fixed on the internal ring wall of annulus guide rail 3, annulus guide rail 3 is mounted in the side wall annular groove of rack base 101, and the installation of motor 4 is solidIt is scheduled on the inner sidewall of rack base 101, the band moving gear in the case where measurement Control card 6 is controlled of motor 4 is turned by setting speed and directionDynamic, gear drives the rack gear on 3 internal ring wall of annulus guide rail mobile, so that annulus guide rail 3 is rotated by setting speed and direction,The foot type being fixedly connected with annulus guide rail 3 scanning column 2 is driven to do circle rotation movement in turn.

Motor 4 drives annulus guide rail 3 to rotate by setting speed and direction in the case where measurement Control card 6 controls, and then drivesFoot type scans 2 rotary motion of column.

Pressure measurement plate 5 embeds the centre for being mounted on rack base 101, table on upper surface ledges frame pedestal 101Face 3mm, pressure measurement plate 5 use plug-in type modularized design, and the upper surface of pressure measurement plate 5 is equipped with dot matrix pliable pressureSensor detects the plantar nervous arch data of object to be swept, and can select 4 points/square centimeter or more according to customer requirementPliable pressure sensor, pliable pressure sensor is by printing molding silver wire band connection to measuring Control card 6 with realityThe acquisition transmission of existing plantar nervous arch data.

As shown in Fig. 2, measurement Control card 6 includes FPC connector 61, data acquisition module 62, high speed data transfer mouldBlock 63, cache module 64, central processing unit 65, power management module 66 and onboard data line 67, wherein FPC connector 61 willSilver wire band on pressure measurement plate 5 is stuck on measurement Control card 6, so that the transducing signal on pressure measurement plate 5 be transmittedInto measurement Control card 6,220V voltage is converted into the operating voltage of scanner, data acquisition module by power management module 6662 control 2 3D true feeling camera module acquisition 3 d image datas, control pressure measurement plates 5 respectively acquires plantar nervous archData simultaneously carry out analog-to-digital conversion；3 d image data and plantar nervous arch data after the caching analog-to-digital conversion of cache module 64；Central processing unit 65 pretreatment such as is denoised, is encoded to 3 d image data and plantar nervous arch data；High-speed data passesPretreated 3 d image data and plantar nervous arch data are transferred to interaction by onboard data line 67 by defeated module 63Processing terminal 7.Neonychium 8 uses 1mm thickness black silicagel pad, is covered on the upper surface of pressure measurement plate 5, thereon surface printing stationVertical station location marker is measured with prompting user's standing that foot is stepped down in this position.Interaction process terminal 7 is installed by plugging modeOn the operation bench 103 of vertical manipulation rack 1, laptop, tablet computer or industrial personal computer can be.

As shown in figure 3, the present invention provides the working method of Rotary three-dimensional foot type and plantar pressure scanner, workMethod the following steps are included:

Step 101: circumscripted power line plugs electricity, presses the switch button 11 on scanner, scanner powers on and self-test；

Step 102: opening the test analysis software being mounted in interaction process terminal 7, select self calibration button, scannerInto self-calibration mode, the foot type scanning column 2 on scanner is rotated around 101 lateral surface steady circular of rack base to scan and protectProtection pad 8, top 3D true feeling camera module 201 obtain the image data of neonychium 8, and self-calibration routines calculate in neonychium 8Heart coordinate and area, then compare initial center coordinate and area come calibrate upper and lower part 3D true feeling camera module focal length,The inside and outside parameters such as origin, distortion parameter and calibration object world coordinates；

Step 103: enter user's log-in interface, new user registers first, inputted in interaction process terminal 7 user name,The essential informations such as gender, date of birth, height, weight simultaneously save, and enter back into scan pattern, and existing subscriber selects user name to log inEnter scan pattern afterwards；

Step 104: after entering scan pattern, user takes off footgear, and strip plays the bottom of s trouser leg, and both feet are separately stood in scanner naturallyAt the standing place mark of 101 neonychium 8 of rack base, start to measure, the foot type scanning column 2 on scanner surrounds rack base101 lateral surface uniform rotation one week, the upper and lower part 3D true feeling camera module collaborative work of foot type scanning column 2 obtains when rotationThe 3 d image data for taking family biped is mounted on the synchronous foot for obtaining user of pressure measurement plate 5 of 101 centre of rack baseBottom pressure distributed data；

Step 105: the data acquisition module 62 in measurement Control card 6 acquires 3 d image data and plantar nervous archData simultaneously carry out analog-to-digital conversion, 3 d image data and plantar nervous arch data after the caching analog-to-digital conversion of cache module 64,Central processing unit 65 such as is denoised to data and is encoded at the pretreatment, and high speed data transfer module 63 leads to pretreated dataIt crosses onboard data line 67 and is transferred to interaction process terminal 7；

Step 106: interaction process terminal 7 stores data by test analysis software after receiving data, edits, calculatesDeng processing, pass through the 3-D image number at the instep, side and gap of fusion upper and lower part 3D true feeling camera module acquisitionAccording to the three-dimensional foot type for reconstructing user, crucial three peacekeeping plantar pressure characteristic parameter of foot is extracted；

Step 107: interaction process terminal 7 visualizes the key characterization parameter of three-dimensional foot type and extraction, storage result,Result can also be externally shared by network interface 9 or usb 10.

Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodimentAll details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present inventionPrinciple and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is onlyIt is limited by claims and its full scope and equivalent.

Claims (10)

Translated fromChinese

1.一种旋转式三维脚型与足底压力扫描仪，其特征在于：包括立式操控台架、脚型扫描柱、圆环导轨、电机、压力测量板、测量控制板卡、交互处理终端、保护垫、网络接口、USB接口、开关按钮和外接电源线；其中：1. A rotary three-dimensional foot type and plantar pressure scanner is characterized in that: comprising a vertical control platform, a foot type scanning column, a circular guide rail, a motor, a pressure measurement board, a measurement control board, an interactive processing terminal , protective pad, network interface, USB interface, switch button and external power cord; of which:所述立式操控台架是旋转式三维脚型与足底压力扫描仪的结构本体部分，包括台架底座、侧立柱和操控台；The vertical control platform is the structural body part of the rotary three-dimensional foot and plantar pressure scanner, including a platform base, a side column and a control platform;所述脚型扫描柱用于获取待扫对象的三维图像数据，包括上部3D实感摄像头模组、下部3D实感摄像头模组和支撑调控机构；The foot-shaped scanning column is used to obtain the three-dimensional image data of the object to be scanned, and includes an upper 3D real-sensing camera module, a lower 3D real-sensing camera module and a support control mechanism;所述圆环导轨与电机连接，为脚型扫描柱的旋转运动提供圆环形轨道；The circular guide rail is connected with the motor to provide a circular orbit for the rotational movement of the foot-shaped scanning column;所述电机在测量控制板卡控制下带动圆环导轨按设定速度和方向旋转，进而带动脚型扫描柱旋转运动；The motor drives the circular guide rail to rotate according to the set speed and direction under the control of the measurement control board, thereby driving the foot-shaped scanning column to rotate;所述压力测量板安装在台架底座的中央，用于获取待扫对象的足底压力分布数据；The pressure measuring plate is installed in the center of the bench base, and is used to obtain the plantar pressure distribution data of the object to be scanned;所述测量控制板卡安装在台架底座的内部，与电机、脚型扫描柱、压力测量板和交互处理终端分别电连接，负责控制脚型扫描柱和压力测量板采集数据并向交互处理终端传输数据；The measurement control board is installed inside the bench base, and is electrically connected to the motor, the foot-shaped scanning column, the pressure measurement board and the interactive processing terminal, and is responsible for controlling the foot-shaped scanning column and the pressure measurement board to collect data and send it to the interactive processing terminal. transfer data;所述交互处理终端为具备计算和输入输出功能的处理设备，通过安装在其上的测试分析软件与测量控制板卡进行指令交互，控制三维脚型和足底压力扫描过程，同时处理从测量控制板卡发送来的数据，提供三维脚型和足底压力数据的可视化展示和应用输出；The interactive processing terminal is a processing device with functions of calculation and input and output. The test and analysis software installed on it interacts with the measurement control board to control the three-dimensional foot shape and the pressure scanning process of the sole of the foot. The data sent by the board card provides visual display and application output of 3D foot shape and plantar pressure data;所述保护垫覆盖在压力测量板的上表面，以提高用户站立测量时的舒适性；The protective pad covers the upper surface of the pressure measuring plate to improve the comfort of the user when standing and measuring;所述网络接口为扫描仪连接网络提供网线接插口；The network interface provides a network cable socket for the scanner to connect to the network;所述USB接口为扫描仪连接外部USB设备提供USB形式的接口；The USB interface provides an interface in the form of USB for the scanner to connect to an external USB device;所述开关按钮是用于控制扫描仪开或关的按钮，安装在立式操控台架的侧立柱的正面上部；The switch button is a button used to control the scanner to be turned on or off, and is installed on the front upper part of the side column of the vertical console;所述外接电源线是带三芯插头的接地电源线，为扫描仪连接外部220V市电。The external power cord is a grounded power cord with a three-core plug, which connects the scanner to an external 220V commercial power.2.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述脚型扫描柱安装在台架底座的外侧面，与圆环导轨通过螺杆固定连接，随着圆环导轨在电机带动下围绕台架底座外侧面做圆周运动以扫描待扫对象的三维图像数据，所述三维图像数据包括RGB图像和点云数据。2. The rotary three-dimensional foot and plantar pressure scanner according to claim 1, wherein the foot-shaped scanning column is installed on the outer side of the gantry base, and is fixedly connected with the annular guide rail through a screw rod, and is connected with the circular guide rail through a screw rod. Driven by the motor, the circular guide rail makes a circular motion around the outer side of the gantry base to scan the three-dimensional image data of the object to be scanned, and the three-dimensional image data includes RGB images and point cloud data.3.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述脚型扫描柱通过两个3D实感摄像头模组协同工作扫描三维图像数据，其中所述上部3D实感摄像头模组和所述下部3D实感摄像头模组均与测量控制板卡电连接，均由一个RGB摄像头、一个红外发射器和一个红外传感器平行排布组成；所述上部3D实感摄像头模组安装在所述支撑调控机构的上部，安装后其成像平面与重锤面顺时针成a角；下部3D实感摄像头模组安装在所述支撑调控机构的下部，安装后其成像平面中心线与防护垫上表面平齐；通过两个摄像头模组的组合以及安装位置和角度的调控，确保扫描到足部全部的三维图像数据。3. The rotary three-dimensional foot and plantar pressure scanner according to claim 1, wherein the foot scan column scans three-dimensional image data through two 3D real-sensing camera modules working together, wherein the upper The 3D real-sensing camera module and the lower 3D real-sensing camera module are all electrically connected to the measurement control board, and are composed of an RGB camera, an infrared transmitter and an infrared sensor arranged in parallel; the upper 3D real-sensing camera module It is installed on the upper part of the support control mechanism. After installation, the imaging plane and the weight surface form an angle a clockwise; the lower 3D real-sensing camera module is installed on the lower part of the support control mechanism. The upper surface of the pad is flush; through the combination of the two camera modules and the adjustment of the installation position and angle, it is ensured that all the 3D image data of the foot is scanned.4.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述圆环导轨与所述电机通过齿轮齿条机械连接，齿轮安装在所述电机转轴上，齿条安装固定在所述圆环导轨的内环壁，所述圆环导轨安装在台架底座的侧壁圆环槽内，所述电机安装固定在台架底座的内侧壁，电机在所述测量控制板卡控制下带动齿轮按设定速度和方向转动，齿轮带动圆环导轨内环壁上的齿条移动，从而使得圆环导轨按设定速度和方向旋转，进而带动与圆环导轨固定连接的脚型扫描柱做圆周旋转运动。4. The rotary three-dimensional foot and plantar pressure scanner according to claim 1, wherein the annular guide rail and the motor are mechanically connected through a rack and pinion, and the gear is mounted on the motor shaft, The rack is installed and fixed on the inner ring wall of the annular guide rail, the annular guide rail is installed in the annular groove of the side wall of the gantry base, the motor is installed and fixed on the inner side wall of the gantry base, and the motor is installed in the Under the control of the measurement control board, the gear is driven to rotate at the set speed and direction, and the gear drives the rack on the inner ring wall of the ring guide rail to move, so that the ring guide rail rotates at the set speed and direction, and then drives the ring guide rail to be fixed. The connected foot-shaped scanning column makes a circular rotation.5.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述压力测量板内嵌安装在台架底座的正中央，其上表面突出台架底座上表面3mm，压力测量板采用接插式模块化设计，压力测量板的上表面安装有点阵式柔性压力传感器，检测待扫对象的足底压力分布数据，可以根据客户要求选择4点/平方厘米及以上的柔性压力传感器，柔性压力传感器通过印刷成型的银导线带连接到所述测量控制板卡以实现足底压力分布数据的采集传输。5 . The rotary three-dimensional foot and plantar pressure scanner according to claim 1 , wherein the pressure measuring plate is embedded in the center of the bench base, and its upper surface protrudes from the upper surface of the bench base. 6 . 3mm, the pressure measurement board adopts a plug-in modular design, the upper surface of the pressure measurement board is equipped with a dot matrix flexible pressure sensor to detect the pressure distribution data of the foot of the object to be scanned, and 4 points/square centimeter and above can be selected according to customer requirements The flexible pressure sensor is connected to the measurement control board through a printed and formed silver wire tape to realize the collection and transmission of the plantar pressure distribution data.6.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述测量控制板卡包括FPC连接器、数据采集模块、高速数据传输模块、缓存模块、中央处理器、电源管理模块和内置数据线，其中，FPC连接器将压力测量板上的银导线带卡在测量控制板卡上，从而将压力测量板上的传感信号传输到测量控制板卡中，电源管理模块将220V电压转换成扫描仪的工作电压，数据采集模块分别控制2个3D实感摄像头模组采集三维图像数据、控制压力测量板采集足底压力分布数据并进行模数转换；缓存模块缓存模数转换后的三维图像数据和足底压力分布数据；中央处理器对三维图像数据和足底压力分布数据进行去噪、编码等预处理；高速数据传输模块将预处理后的三维图像数据和足底压力分布数据通过内置数据线传输给交互处理终端。6. The rotary three-dimensional foot shape and plantar pressure scanner according to claim 1, wherein the measurement control board comprises an FPC connector, a data acquisition module, a high-speed data transmission module, a cache module, a central processing controller, power management module and built-in data cable, wherein, the FPC connector clips the silver wire on the pressure measurement board to the measurement control board, so as to transmit the sensing signal on the pressure measurement board to the measurement control board, The power management module converts the 220V voltage into the working voltage of the scanner. The data acquisition module respectively controls two 3D real-sensing camera modules to collect 3D image data, and controls the pressure measurement board to collect the plantar pressure distribution data and perform analog-to-digital conversion; the cache module caches The three-dimensional image data and plantar pressure distribution data after analog-to-digital conversion; the central processor performs preprocessing such as denoising and coding on the three-dimensional image data and plantar pressure distribution data; the high-speed data transmission module transfers the preprocessed three-dimensional image data and The plantar pressure distribution data is transmitted to the interactive processing terminal through the built-in data line.7.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述保护垫采用1mm厚黑色硅胶垫，覆盖在压力测量板的上表面，其上表面印刷站立位置标识以提示用户站立将脚踩在此位置进行测量。7 . The rotary three-dimensional foot and plantar pressure scanner according to claim 1 , wherein the protective pad adopts a 1mm thick black silicone pad, which is covered on the upper surface of the pressure measuring plate, and the upper surface is printed with standing A position marker is used to prompt the user to stand and place their foot on this position for measurement.8.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述支撑调控机构上安装两个角度连接件，上部3D实感摄像头模组和下部3D实感摄像头模组分别通过角度连接件安装固定在支撑调控机构上，安装时通过调整角度连接件的固定角度来实现a角或平齐固定。8. The rotary three-dimensional foot shape and plantar pressure scanner as claimed in claim 1, wherein two angle connectors are installed on the support control mechanism, an upper 3D real-sensing camera module and a lower 3D real-sensing camera module The groups are respectively installed and fixed on the support control mechanism through the angle connectors, and the angle a or the flush fixation can be realized by adjusting the fixed angle of the angle connectors during installation.9.如权利要求1所述的旋转式三维脚型与足底压力扫描仪，其特征在于：所述交互处理终端通过接插方式安装在所述立式操控台架的操控台上面，可以是笔记本电脑、平板电脑或工控机。9 . The rotary three-dimensional foot and plantar pressure scanner according to claim 1 , wherein the interactive processing terminal is installed on the console of the vertical console by a plug-in method, and can be a Laptop, Tablet or IPC.10.一种旋转式三维脚型与足底压力扫描仪的工作方法，其特征在于：扫描仪的工作方法包括以下步骤：10. A working method of a rotary three-dimensional foot shape and plantar pressure scanner, wherein the working method of the scanner comprises the following steps:步骤101：外接电源线插上电，按下扫描仪上的开关按钮，扫描仪上电并自检；Step 101: Plug in the external power cord, press the switch button on the scanner, the scanner is powered on and self-checks;步骤102：打开安装在交互处理终端上的测试分析软件，选择自校准按钮，扫描仪进入自校准模式，扫描仪上的脚型扫描柱围绕台架底座外侧面匀速圆周转动以扫描保护垫，上部3D实感摄像头模组获取保护垫的图像数据，自校准程序计算保护垫的中心坐标和面积，再对照初始中心坐标和面积来校准上部和下部3D实感摄像头模组的焦距、原点坐标、畸变参数和标定物世界坐标等内外参数；Step 102: Open the test analysis software installed on the interactive processing terminal, select the self-calibration button, the scanner enters the self-calibration mode, and the foot-shaped scanning column on the scanner rotates around the outer side of the gantry base at a constant speed to scan the protective pad. The 3D RealSense camera module obtains the image data of the protective pad, and the self-calibration program calculates the center coordinates and area of the protective pad, and then calibrates the focal length, origin coordinates, distortion parameters and Internal and external parameters such as the world coordinates of the calibration object;步骤103：进入用户登陆界面，新用户首先注册，在交互处理终端上输入用户名、性别、出生年月、身高、体重等基本信息并保存，再进入扫描模式，已有用户选择用户名登陆后进入扫描模式；Step 103: Enter the user login interface, the new user first registers, input basic information such as user name, gender, date of birth, height, weight and other basic information on the interactive processing terminal and save it, and then enter the scanning mode, after the existing user selects the user name to log in enter scan mode;步骤104：进入扫描模式后，用户脱下鞋袜，撸起裤脚，双脚自然分开站立在扫描仪台架底座保护垫的站立位置标识处，开始测量，扫描仪上的脚型扫描柱围绕台架底座外侧面匀速转动一周，转动时脚型扫描柱的上部和下部3D实感摄像头模组协同工作获取用户双足的三维图像数据，安装在台架底座正中央的压力测量板同步获取用户的足底压力分布数据；Step 104: After entering the scanning mode, the user takes off his shoes and socks, rolls up his trousers, and stands with his feet apart naturally at the standing position mark on the protective pad of the base of the scanner bench, and starts the measurement. The foot-shaped scanning column on the scanner surrounds the bench. The outer side of the pedestal base rotates at a constant speed for one week. When rotating, the upper and lower 3D real-sensing camera modules of the foot-shaped scanning column work together to obtain the 3D image data of the user's feet. The pressure measuring plate installed in the center of the bench base simultaneously obtains the user's feet Bottom pressure distribution data;步骤105：测量控制板卡中的数据采集模块采集三维图像数据和足底压力分布数据并进行模数转换，缓存模块缓存模数转换后的三维图像数据和足底压力分布数据，中央处理器对数据进行去噪和编码等预处理，高速数据传输模块将预处理后的数据通过内置数据线传输给交互处理终端；Step 105: The data acquisition module in the measurement control board collects three-dimensional image data and plantar pressure distribution data and performs analog-to-digital conversion. The cache module caches the three-dimensional image data and plantar pressure distribution data after the analog-to-digital conversion. The data is preprocessed such as denoising and encoding, and the high-speed data transmission module transmits the preprocessed data to the interactive processing terminal through the built-in data line;步骤106：交互处理终端接收数据后由测试分析软件对数据进行存储、编辑、计算等处理，通过融合上部和下部3D实感摄像头模组获取的足背、侧面和缝隙处的三维图像数据重构出用户的三维脚型，提取关键的足部三维和足底压力特征参数；Step 106: After the interactive processing terminal receives the data, the data is stored, edited, calculated and processed by the test analysis software, and the three-dimensional image data of the dorsum of the foot, the side and the gap obtained by the upper and lower 3D real-sensing camera modules are reconstructed. The user's 3D foot shape extracts key 3D and plantar pressure characteristic parameters of the foot;步骤107：交互处理终端可视化展示三维脚型和提取的关键特征参数，存储结果，也可以通过网络接口或USB接口对外共享结果。Step 107: The interactive processing terminal visually displays the three-dimensional foot shape and the extracted key feature parameters, stores the results, and can also share the results externally through a network interface or a USB interface.