CN106510099A - Full-automatic complete shoe tree three-dimensional data measuring device and method - Google Patents
Full-automatic complete shoe tree three-dimensional data measuring device and method Download PDFInfo
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- CN106510099A CN106510099A CN201611259699.9A CN201611259699A CN106510099A CN 106510099 A CN106510099 A CN 106510099A CN 201611259699 A CN201611259699 A CN 201611259699A CN 106510099 A CN106510099 A CN 106510099A
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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
- A43D1/04—Last-measuring devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of a shoe tree three-dimensional data measuring device and method, in particular to a full-automatic complete shoe tree three-dimensional data measuring device and method, and aims to solve the problems that existing shoe tree three-dimensional information measuring device cannot balance three-dimensional data integrity, measuring process full automation, high three-dimensional data resolution ratio and precision and suitable measuring time well. A DLP projector is used for projecting a raster image, an industrial camera is used for collecting the raster image, a shoe tree clamp is used for clamping a shoe tree to be measured and is connected with the top end of a calibrating cylinder through a shoe tree clamp fixing base in a fastened mode, the bottom end of the calibrating cylinder is fixedly connected with a rotating shaft of an inner ring worm and gear transmission mechanism, an inner ring rotating limit switch is used for limiting rotation of the calibrating cylinder, a rotating shaft of an outer ring worm and gear transmission mechanism is fixedly connected with a side plate at one side of an inner ring frame, and an inner ring swing limit switch is used for limiting swing of the inner ring frame. The shoe tree three-dimensional data measuring device is used for measuring shoe tree three-dimensional data.
Description
Technical field
The present invention relates to shoe tree three-dimensional measurement technical field, and in particular to full-automatic complete shoe tree three-dimensional vision information skill
Art.
Background technology
Shoe tree is the basic and important mould of shoemaking, and used as the parent of shoes, which occupies very heavy in whole footwear industry
The status wanted, is the basis of footwear style in shoe-making process, determines the comfortableness of the shape and wear shoes of shoes, therefore shoe last designing
The requirement met by human engineering.At present, Chinese shoe industry is faced with and challenges, and the method for traditional craft last carving processed makes
Cycle length, precision are low, low production efficiency, seriously restrict the development of whole footwear industry, it is therefore necessary to existing shoe-making process
Carry out comprehensive automatic improving.With the fast development of computer and cad technique so that shoe last designing and manufacturing automation into
For may, it is the traditional shoe industry of transformation that cad technique is incorporated in the manufacturing and designing of shoe tree so as to developed to information-based direction
Key, existing standard shoe tree is carried out three-dimensional measurement by and the direction of future development, by Model Digitization then soft with CAD
Part carries out three dimensional design to last surface, obtains the three-dimensional data of standard shoe tree.Shoe tree is carried out using cad technique quick, smart
The premise of quasi- design is that to have accurate, comprehensive shoe tree three-dimensional digital data.
At present, the three-dimensional measurement technology of shoe tree is classified according to the principle of measurement, mainly has contact and noncontact
Formula is measured.
1st, contact type measurement：The Typical Representative of contact type measurement is exactly three coordinate measuring machine (CMM), and its measuring principle is
The characteristics of various geometric elements are converted into coordinate position a little, three coordinate measuring machine is that the precision of measurement is higher, but it
Speed is slow, and measurement process needs manual intervention, and it also requires the radius compensation popped one's head in measurement result, especially right
In this kind of object higher to the requirement of details three-dimensional information of shoe tree, the probe of contact type measurement is difficult to accomplish so little, more
Seriously contact type measurement can produce three-dimensional information loss in the position of fixed shoe tree, it is difficult to obtain complete three dimension of shoe tree
It is believed that ceasing, these shortcomings limit its application in shoe tree three-dimensional measurement.
2nd, non-contact measurement：The Typical Representative of non-contact measurement is optical three-dimensional measurement, and optical three-dimensional measurement is logical
Cross the methods and techniques that testee three-dimensional data is non-contactly obtained with optics and electronic machine.At present, three dimension of shoe tree
According to measuring method mainly have based on the method for line-structured light, based on the method for stereoscopic vision, based on RGB-D depth cameras
Method and the method based on laser measurement.
(1) method based on line-structured light：Line-structured light 3-D scanning is based on optic triangle method principle, and its ultimate principle is
From laser line generator to testee surface incident line structure light bar, Jing testees surface modulation is shot by camera and occurs to become
The structure light image of shape, then calculates the three of testee from the image for carrying testee three-dimensional surface shape information
Dimension data.The method has a noncontact, and scanning speed is fast, obtains abundant information, the advantages of scanning accuracy is high.But certainty of measurement
By physioptial restriction, there is occlusion issue, certainty of measurement is conflicting with speed, it is difficult to while being improved.It is disclosed
The method that shoe tree three-dimensional information is scanned by line-structured light have four kinds, the first adopts four laser instrument and eight cameras, light
The mode of road direct projection, volume are big, and hardware cost is high, and multigroup laser instrument and camera calibration process are complicated, in shoe last and last carving with locating meeting
There is three-dimensional data to lose；Three laser instrument and three cameras, three groups of laser instrument and camera is adopted for second to be located at shoe tree respectively
Upper left quarter, upper right quarter and bottom, which hardware cost are lower than the first, but lose more with locating three-dimensional data in shoe last and last carving
For serious；The third equally adopts multigroup laser instrument and camera, and difference is that laser instrument and camera are placed in parallel, by height
Direct reflection principle obtains Rhizoma Dioscoreae (peeled) deformation pattern and then extracts shoe tree three-dimensional information, and the method is just with high direct reflection principle
The modes of emplacement of camera and laser instrument is changed, also without solving the problems, such as both the above mode；4th kind of employing six is sharp
Light device and three cameras are divided into three groups, and per group includes two laser instrument and a camera, although as laser instrument price is less than phase
Machine and reduce hardware cost, but influencing each other in order to avoid per group of two laser instrument Rhizoma Dioscoreae (peeled), it is impossible to while open two swashing
Light device, affects scanning speed, and as laser Rhizoma Dioscoreae (peeled) is very fast with going out change in shoe last and last carving, hardly results in complete shoe tree three
Dimension data information, and the increase of number of lasers necessarily causes the complexity of calibration process.Four kinds of modes of the above also have one altogether
The problem of property, is exactly that shoe tree will be placed in glass platform in scanning process, and laser beam can produce refraction through glass
Effect, causes the laser Rhizoma Dioscoreae (peeled) that camera gets to be equipped with deviation with actual bit, needs to carry out algorithm compensation, and process is loaded down with trivial details.
(2) method based on stereoscopic vision：The principle of stereoscopic vision is scenery same from two or more viewing points, with
The perceptual image under different visual angles is obtained, scenery is obtained by the position deviation between principle of triangulation calculating image pixel
Three-dimensional information.The characteristics of Stereo Vision is maximum is that shooting speed is fast, but Stereo Vision data processing amount is big, during process
Between it is long, and need to carry out the matching of two width images, when body surface gray scale dough-making powder deformationization is little, can affect to match and survey
Accuracy of measurement, the three-dimensional dot density of acquisition are relatively low, hardly result in the detailed information of object, the method field of industrial measurement application compared with
It is few.The published method for obtaining shoe tree three-dimensional information by stereoscopic vision has three kinds, and the first is using inner side photographic head group, outer
Side photographic head group and bottom photographic head group carry out shoe tree three dimensional data collection, and per group includes two video cameras, by inner side, outer
The correct image and splicing of side and bottom, and using edge extraction techniques obtain shoe tree three-dimensional data, the method into
This is low, but due to using IP Camera, shoe tree three-dimensional data precision to be difficult to meet and require, and shoe last and last carving with
Place can produce three-dimensional data disappearance, and hardly result in the details three-dimensional information of shoe tree；Shoe tree is distributed in using eight second
The camera of surrounding, by the mark point being distributed on shoe tree, arrives the position scanning of mark point using three CMMs and calculates
Machine, the multiple image of the foot type by collecting change the individual character vector in shoe tree statistic deformable model, until model is in each figure
The true picture of projection and foot type as in matches, and obtains the digitized shoe last model consistent with foot type, and the method is to pass through
The three-dimensional information of foot calculates the three-dimensional information of shoe tree, so be not real shoe tree three-dimensional data, and device is complicated, takes up room
Larger, labeling process is complicated, it is impossible to realize full-automatic acquisition shoe tree three-dimensional information；The third is special using several by digital camera
Levy curve carries out three-dimensional measurement to shoe tree, and the method needs also exist for being connected up according to the geometry and feature of shoe tree, then
Characteristic curve extraction is carried out by the image that logarithmic code camera shoots, three-dimensional information weight is carried out to shoe tree finally by characteristic curve
Build, the problem of the method is rebuilding shoe tree three-dimensional information model, with real shoe tree three-dimensional information only by labelling curve
Gap is certainly existed, and the wiring process on shoe tree is loaded down with trivial details, popularization and application are difficult in shoe tree 3 D Industrial fields of measurement.
(3) method based on RGB-D depth cameras：RGB-D video cameras can obtain RGB image and depth image number simultaneously
According to.RGB-D camera depths imaging principle be using pumped FIR laser (Light Coding) technology, wherein, RF transmitter
With the angled alignment target scene of infrared C MOS video cameras, and uneven transparent medium is positioned over generating laser camera lens
Before, RF transmitter launches a branch of infrared ray through laser speckle is formed in the scene after inhomogeneous medium, and CMOS is infrared to be connect
Receive device and obtain speckle image, and depth value is converted into mathematics triangle relation according to RGB-D intrinsic parameters of the camera.RGB-D
The advantage of camera without just can obtain in scene by mark point three-dimensional information a little, the real-time of gathered data
Good, reconstructing three-dimensional model speed is fast.But the depth image resolution and precision that RGB-D video cameras shoot acquisition is low, is not suitable for
For field of industrial measurement.The published method for retouching shoe tree three-dimensional information by RGB-D cameras has one kind, and which passes through three
The depth camera of Kinect models respectively from upper left quarter, upper right quarter and bottom obtaining shoe tree three-dimensional information, then by depth
Being spliced into shoe tree three-dimensional data, the problem of the method is the mode that camera is demarcated two-by-two, the Kinect camera spaces of low cost
Resolution and precision are all relatively low, it is impossible to obtain for the high accuracy required for follow-up CAD design, the three-dimensional letter of high-resolution shoe tree
Breath, and three Kinect cameras be difficult to obtain shoe last and last carving with three-dimensional data, data acquisition is imperfect, and if increasing phase
The quantity of machine will necessarily increase the complexity of cost and camera calibration.
(4) method based on laser measurement：The direct line of sight that laser measurement method is positioned by polygon lenses
Laser beam, is scanned measurement by high frequency sweep to body surface；Using triangle law, laser beam is anti-in body surface Jing
Received by laser receiver after penetrating, be then computed obtaining the coordinate of body surface.Laser scanning can accurately provide three-dimensional
Data message, data processing are simple, affected by environment little.But there is contradictory relation with sweep speed in high cost, precision, range finding,
And shoe tree is complicated three-dimensional surface, need also exist for solving multiple shoe tree three-dimensional data registrations using the method for laser measurement
Problem.Therefore there is presently no the method that shoe tree three-dimensional information measurement is carried out by laser.
(5) method based on area-structure light：The typical area-structure light three-dimension measuring system based on digital fringe projection by
One digital fringe projection instrument apparatus and (or multiple) industrial camera composition.During measurement using digital fringe projection device to
Testee projects raster image of one group of light intensity in Sine distribution, and shoots Jing testees surface simultaneously using industrial camera
The raster image modulated and deform, then using the raster image for photographing, obtains raster image according to phase calculation method
Absolute phase values, finally according to the advance systematic parameter demarcated or phase height mapping relation, from absolute phase values calculate by
Survey the three dimensional point cloud of body surface.The method can once obtain the three-dimensional data on one surface of object, and scanning speed is fast,
Precision and high resolution, are adapted to 3 D Industrial fields of measurement.Problem is that area-structure light can only once obtain the three of one face of shoe tree
Dimension data, obtains complete shoe tree three-dimensional data if desired, needs shoe tree is measured under different angles, then adopts
Index point automatic Mosaic technology is completed.The published method for retouching shoe tree three-dimensional information by area-structure light has one kind, the method
Simply by the three-dimensional data information of the face structure light scanning sole below sole, it is impossible to obtain the three-dimensional letter of complete shoe tree
Breath.
Analyze by more than, a three-dimensional scanner and method that can apply to shoe tree field of industrial measurement should meet
It is following to require：
(1) three-dimensional data is complete：As complete shoe tree three-dimensional data is follow-up CAD design software data source, which is complete
Property is most basic requirement.
(2) measurement process is full-automatic：During shoe tree three-dimensional vision information, participated in without the need for operator,
Measurement process is automatically finished, and on the premise of efficiency is saved, reduces the complexity of shoe tree three-dimensional measurement and the probability of error.
(3) three-dimensional data resolution and precision are higher：The shoe tree three-dimensional data for meeting precision and resolution requirement is equally
Premise and basis that follow-up CAD software is designed, because only that the data resolution of shoe tree three-dimensional information and precision meet wanting
Ask, be designed by follow-up CAD software just meaningful.
(4) time of measuring is appropriate：Time of measuring can not be oversize, should control within 1-2 minutes.
Existing shoe tree three-dimensional information measurement apparatus are difficult more than at 4 points and reach balance well, therefore are difficult in shoe tree three
Dimension field of industrial measurement is promoted use.
The content of the invention
The invention aims to solve the problems, such as above-mentioned existing shoe tree method for three-dimensional measurement, so as to provide it is complete from
Move complete shoe tree three-dimensional vision information device and method.
Full-automatic complete shoe tree three-dimensional vision information device of the present invention, including DLP projector, industrial camera, footwear
Lasting clamp tool, shoe tree fixture fixed seat, demarcation cylinder, internal ring rotary stopper switch, internal ring Worm and worm-wheel gearing, internal ring swing limit
Bit switch, outer shroud Worm and worm-wheel gearing, PC, control chamber, bearing, outer shroud framework and internal ring framework；
DLP projector is used to project raster image, and industrial camera is used to gather raster image；
Shoe tree fixture is used to clamp tested shoe tree, and shoe tree fixture is connected with the fastening of cylinder top is demarcated by shoe tree fixture fixed seat
Connect, the bottom for demarcating cylinder is fixedly connected with the rotating shaft of internal ring Worm and worm-wheel gearing, internal ring rotary stopper is switched for mark
The rotation of safety barrel carries out spacing；
Shoe tree fixture, shoe tree fixture fixed seat, demarcation cylinder and internal ring rotary stopper switch are respectively positioned in internal ring framework；
The base of outer shroud Worm and worm-wheel gearing is fixedly connected with the side plate of outer shroud framework side, and outer shroud worm and gear is passed
The rotating shaft of motivation structure is fixedly connected with the side plate of internal ring framework side, and internal ring swings limit switch and is arranged on outer shroud framework side
On side plate, carry out for the swing to internal ring framework spacing；The side of the side plate and internal ring framework opposite side of outer shroud framework opposite side
Plate is connected by bearing, makes internal ring framework realize swinging；
Control chamber is switched with internal ring rotary stopper and internal ring swings limit switch electrical connection, and control chamber is used to control internal ring
The rotation of Worm and worm-wheel gearing and outer shroud Worm and worm-wheel gearing；Control chamber is communicated with PC by RS232 interfaces, PC
Machine is connected with DLP projector by HDMI, and PC is connected with industrial camera by USB port.
The first full-automatic complete shoe tree three-dimensional vision information method of the present invention, the method are comprised the following steps：
The demarcation of step one, face structure three-dimensional measuring system：
DLP projector projects sinusoidal grating to scaling board, and industrial camera shoots the scaling board image with sinusoidal grating, leads to
Cross the demarcation that calibration algorithm realizes measuring system；
The clamping of step 2, tested shoe tree：
Shoe tree fixture is inserted in the metal canula at tested shoe tree system mouth, clamps tested shoe tree；
Adjustment shoe tree fixture and shoe tree fixture fixed seat make the center of tested shoe tree and the center superposition of internal ring framework；
Step 3, sticking sign point：
In tested shoe tree and/or the side wall sticking sign point of demarcation cylinder；
The three-dimensional vision information of step 4, shoe tree to be measured：
Control chamber sends measurement signal to PC by RS232 interfaces, and PC control DLP projector and industrial camera are to working as
The three-dimensional information of the shoe tree to be measured of front position is measured, and obtains three-dimensional data；
Step 5, shoe tree to be measured swing N °：
Control chamber drives outer shroud Worm and worm-wheel gearing, makes N ° of internal ring frame stroke；
Step 6, shoe tree to be measured swing to N ° of three-dimensional vision information：
Control chamber sends measurement signal to PC by RS232 interfaces, and PC control DLP projector and industrial camera are to working as
The three-dimensional information of the shoe tree to be measured of front position is measured, and the three-dimensional data obtained by index point and last time measurement is carried out automatically
Registration；
Step 7, shoe tree axial-rotation to be measured：
Control chamber drives internal ring Worm and worm-wheel gearing to make shoe tree rotation to be measuredDegree；
Three-dimensional vision information after step 8, shoe tree axial-rotation to be measured：
Control chamber sends measurement signal to PC by RS232 interfaces, and PC control DLP projector and industrial camera are to working as
The three-dimensional information of the shoe tree to be measured of front position is measured, and the three-dimensional data measured with last time by index point is matched somebody with somebody automatically
It is accurate；
Playback on step 9, shoe tree swaying direction to be measured：
Control chamber drives outer shroud Worm and worm-wheel gearing, makes internal ring framework swing back N °；
Repeat step four obtains the three-dimensional data of complete shoe tree to be measured to step 9 until shoe tree to be measured rotation is turned around.
The measuring method of second of the present invention full-automatic complete shoe tree three-dimensional vision information device, the method include
Following steps：
The demarcation of step one, face structure three-dimensional measuring system：
DLP projector projects sinusoidal grating to scaling board, and industrial camera shoots the scaling board image with sinusoidal grating, leads to
Cross the demarcation that calibration algorithm realizes measuring system；
Area-structure light three-dimension measuring system can be made up of a DLP projector and an industrial camera, it is also possible to by one
Individual DLP projector and two industrial camera compositions (two industrial cameras are respectively positioned at the left and right sides of DLP projector), industrial phase
Machine is at an angle with DLP projector.
The clamping of step 2, tested shoe tree：
Shoe tree fixture is inserted in the metal canula at tested shoe tree system mouth, clamps tested shoe tree；
Adjustment shoe tree fixture and shoe tree fixture fixed seat make the center of tested shoe tree and the center superposition of internal ring framework；
Step 3, sticking sign point：
In tested shoe tree and/or the side wall sticking sign point of demarcation cylinder；
There is certain skill due to pasting index point, so individually patch index point can only operation once, can on cylinder is demarcated
The workload of operator is reduced, the efficiency of measurement is improved；
Step 4, shoe tree axial-rotation to be measured：
Control chamber drives internal ring Worm and worm-wheel gearing to make shoe tree rotation to be measuredDegree, M is the positive integer more than 1；
Three-dimensional vision information after step 5, shoe tree axial-rotation to be measured：
Control chamber sends measurement signal to PC by RS232 interfaces, and PC control DLP projector and industrial camera are to working as
The three-dimensional information of the shoe tree to be measured of front position is measured, and obtains three-dimensional data；
Step 6, shoe tree to be measured swing N °：
Control chamber drives outer shroud Worm and worm-wheel gearing, makes N ° of internal ring frame stroke；0 ＜ N ＜ 90；
Step 7, shoe tree to be measured swing to N ° of three-dimensional vision information：
Control chamber sends measurement signal to PC by RS232 interfaces, and PC control DLP projector and industrial camera are to working as
The three-dimensional information of the shoe tree to be measured of front position is measured, and obtains three-dimensional data；
Step 8, three-dimensional data registration：
Autoregistration is carried out to the three-dimensional data that step 5 and step 7 are obtained by index point；
Position after being rotated and swung due to shoe tree, can see public index point by industrial camera, by index point
Automatic Mosaic technology, realizes the registration of the shoe tree three-dimensional data of two above position, and registration is into one group of shoe tree three-dimensional data；
Repeat step four obtains the three-dimensional data of complete shoe tree to be measured to step 8 until shoe tree to be measured rotation is turned around.
Area-structure light 3-D scanning technology is combined by the present invention with two-axis platcform, realizes full-automatic complete shoe tree three-dimensional
The measurement of data, the beneficial effect brought have：
(1) two-axis platcform of autonomous Design is combined by area-structure light three-dimensional measurement, acquisition that can be comprehensive, without dead angle is complete
Whole shoe tree three-dimensional data.
(2) although area-structure light metering system can only obtain the shoe tree three-dimensional information of an angle every time, by mark
Mark on note cylinder point (only need to paste once), then in conjunction with the rotation of two-axis platcform, you can to realize shoe tree three-dimensional data
Automatically scanning, whole scanning process is without the need for manual intervention.
(3) using area-structure light three-dimensional measurement mode, it is ensured that the shoe tree three-dimensional data of measurement has high resolution and essence
Degree, fully meets requirement of the field of industrial measurement to data precision and resolution.
(4) time of measuring is very fast, and the three-dimensional shoe last for meeting follow-up CAD software design requirement can be obtained within 1-2 minutes
Data, greatly reduce the time of DATA REASONING, improve the work efficiency of last carving factory.
The present invention is applied to measurement shoe tree three-dimensional data.
Description of the drawings
Fig. 1 is the structural representation of the full-automatic complete shoe tree three-dimensional vision information device described in specific embodiment one；
Fig. 2 is the structural representation of the shoe tree fixture in specific embodiment two；
Fig. 3 is the axial sectional view of Fig. 2；
Fig. 4 is the structural representation of the shoe tree fixture fixed seat in specific embodiment three；
Fig. 5 is the structural representation that the hexagon in specific embodiment four demarcates cylinder；
Fig. 6 is the structural representation that the hexagon with flank in specific embodiment four demarcates cylinder；
Fig. 7 is the cylindrical structural representation for demarcating cylinder in specific embodiment four；
Fig. 8 is the cylindrical structural representation for demarcating cylinder with flank in specific embodiment four；
Fig. 9 is the theory structure schematic diagram of the control chamber in specific embodiment five；
Figure 10 is the schematic diagram of the demarcation of the face structure three-dimensional measuring system in specific embodiment six；
Figure 11 is that the measurement apparatus in specific embodiment six coordinate hexagon to demarcate the schematic diagram of cylinder original state；
Figure 12 is that the measurement apparatus in specific embodiment six coordinate hexagon to demarcate cylinder internal ring N ° of state of frame stroke
Schematic diagram；
Figure 13 is that the measurement apparatus in specific embodiment six coordinate hexagon to demarcate cylinder shoe tree rotation to be measuredDegree
View；
Figure 14 is that the measurement apparatus in specific embodiment six coordinate hexagon demarcation cylinder internal ring framework to swing back into initially
Location status schematic diagram；
Figure 15 is that the measurement apparatus mating band flank hexagon in specific embodiment six demarcates the signal of cylinder original state
Figure；
Figure 16 is that the measurement apparatus mating band flank hexagon in specific embodiment six demarcates cylinder internal ring frame stroke
N ° of view；
Figure 17 is that the measurement apparatus mating band flank hexagon in specific embodiment six demarcates cylinder shoe tree rotation to be measuredDegree view；
Figure 18 is that the measurement apparatus mating band flank hexagon demarcation cylinder internal ring framework in specific embodiment six swings back
To initial position schematic diagram；
Figure 19 is that the measurement apparatus in specific embodiment six coordinate cylinder to demarcate cylinder original state schematic diagram；
Figure 20 is that the measurement apparatus in specific embodiment six coordinate cylinder demarcation cylinder internal ring N ° of state of frame stroke to show
It is intended to；
Figure 21 is that the measurement apparatus in specific embodiment six coordinate cylinder to demarcate cylinder shoe tree rotation to be measuredDegree shape
State schematic diagram；
Figure 22 is that the measurement apparatus in specific embodiment six coordinate cylinder demarcation cylinder internal ring framework to swing back into initial bit
Configuration state schematic diagram；
Figure 23 is that the measurement apparatus mating band flank cylinder in specific embodiment six demarcates cylinder original state schematic diagram；
Figure 24 is that the measurement apparatus mating band flank cylinder in specific embodiment six demarcates N ° of cylinder internal ring frame stroke
View；
Figure 25 is that the measurement apparatus mating band flank cylinder in specific embodiment six demarcates cylinder shoe tree rotation to be measuredDegree view；
Figure 26 is that the measurement apparatus mating band flank cylinder demarcation cylinder internal ring framework in specific embodiment six swings back into
Initial position schematic diagram；
The schematic perspective view of the full-automatic complete shoe tree three-dimensional vision information device described in Figure 27 specific embodiments one；
Figure 28 is the three-dimensional data chart of the shoe tree to be measured obtained by the present invention.
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1 and Fig. 2, it is full-automatic described in present embodiment
Complete shoe tree three-dimensional vision information device, including DLP projector 1, the first industrial camera 21, the second industrial camera 22, shoe tree folder
Tool 4, shoe tree fixture fixed seat 5, demarcation cylinder 6, internal ring rotary stopper switch 7, internal ring Worm and worm-wheel gearing 8, internal ring swing
Limit switch 9, outer shroud Worm and worm-wheel gearing 10, PC 11, control chamber 12, bearing 13, outer shroud framework 14 and internal ring framework
15；
DLP projector 1 is used to project raster image, and two industrial cameras are used to gather raster image；
Shoe tree fixture 4 is used to clamp tested shoe tree 3, and shoe tree fixture 4 is by shoe tree fixture fixed seat 5 and 6 top of demarcation cylinder
It is fastenedly connected, the bottom for demarcating cylinder 6 is fixedly connected with the rotating shaft of internal ring Worm and worm-wheel gearing 8, internal ring rotary stopper switch 7
Carry out for the rotation to demarcating cylinder 6 spacing；
Shoe tree fixture 4, shoe tree fixture fixed seat 5, demarcation cylinder 6 and internal ring rotary stopper switch 7 are respectively positioned on internal ring framework 15
It is interior；
The base of outer shroud Worm and worm-wheel gearing 10 is fixedly connected with the side plate of 14 side of outer shroud framework, outer shroud worm gear snail
The rotating shaft of bar drive mechanism 10 is fixedly connected with the side plate of 15 side of internal ring framework, and internal ring swings limit switch 9 and is arranged on outer shroud
On the side plate of 14 side of framework, carry out for the swing to internal ring framework 15 spacing；The side plate of 14 opposite side of outer shroud framework and interior
The side plate of 15 opposite side of ring framework is connected by bearing 13, makes internal ring framework 15 realize swinging；
Control chamber 12 swings limit switch 9 with internal ring rotary stopper switch 7 and internal ring and is electrically connected, and control chamber 12 is used to control
The rotation of internal ring Worm and worm-wheel gearing 8 processed and outer shroud Worm and worm-wheel gearing 10；Control chamber 12 by RS232 interfaces with
PC 11 communicates, and PC 11 is connected with DLP projector 1 by HDMI, and PC 11 is connected with industrial camera by USB port.
The device of present embodiment is two-axis platcform formula structure, and it is just in that DLP projector projects one group of light intensity to tested shoe tree
The raster image of string distribution, the raster image can be deformed by shoe tree surface modulation, and footwear are included in the raster image of deformation
The three-dimensional information on last carving surface；DLP projector or so respectively has an industrial camera, and three fixes in one plane, DLP projector
Positioned at center, industrial camera 21 and industrial camera 22 are located at the left and right sides respectively, and have a certain degree with 1 shape of DLP projector,
Two industrial camera synchronous acquisition DLP projectors project the raster image that shoe tree surface deforms, for shoe tree surface three
The resolving of dimension information；Shoe tree fixture is used to clamp shoe tree so that shoe tree will not produce loosening during two-axis platcform rotation
Or the displacement of relative turntable；Internal ring rotary stopper switch 7 is located on the base plate of internal ring framework, and the outer wall of demarcation cylinder 6 is provided with one
Metal column, realizes, to demarcating the spacing of the rotation of cylinder 6, demarcating bottom and the internal ring Worm Wheel System machine of cylinder 6 by metal column
The rotating shaft of structure 8 is fixedly connected, and demarcates cylinder 6 and is fixed by screws on the base of internal ring framework 15, internal ring Worm Wheel System machine
Structure provides rotary power of the shoe tree in internal ring；Internal ring swings the side plate top that limit switch 9 is arranged on 14 side of outer shroud framework, interior
15 side plate top of ring framework is provided with a metal column, is realized by the metal column to the spacing of the swing of internal ring framework 15；Outer shroud
Worm and worm-wheel gearing provides rotary power of the shoe tree in outer shroud；PC is used for the control of shoe tree three-dimensional vision information, data
Process, data processing is carried out using PC (computer) and belongs to prior art；Control chamber 12 and internal ring Worm and worm-wheel gearing 8
With the worm and gear motor connection of outer shroud Worm and worm-wheel gearing 10；Control chamber 12 is soft with the Shoe last CAD Scan Design of PC
Part communicates；Outer shroud framework is used to support whole two-axis platcform.
Specific embodiment two：Present embodiment is illustrated with reference to Fig. 2 and Fig. 3, present embodiment is to being embodied as
Full-automatic complete shoe tree three-dimensional vision information device described in mode one is described further, in present embodiment, the shoe tree
Fixture 4 includes sleeve 41, internal polished rod 42 and clamp nut 43；
The outer wall of sleeve 41 is provided with screw thread, and sleeve 41 is closely surrounded outside internal polished rod 42,
One end of sleeve 41 is conical cylinder, and end face is the bottom surface of cone, and conical cylinder is provided with strip crevice, internal polished rod 42
One end be the taper matched with conical cylinder, the other end of internal polished rod 42 is provided with external screw thread, clamp nut 43 and interior lights
Bar 42 is threadedly coupled.
When rotational fastener nut 43, as shown in Fig. 2 internal polished rod 42 moves right and makes a left side for threaded sleeve 41
End radius becomes big, and then by frictional force realizing the clamping function to shoe tree 3.The direction of strip crevice is preferably female along taper
The direction of line, it is also possible to have certain angle with generatrix direction.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 4, present embodiment is to specific embodiment two
Described full-automatic complete shoe tree three-dimensional vision information device is described further, and in present embodiment, the shoe tree fixture is solid
Reservation 5 includes rectangular channel 51, screwed hole 52 and clamp-screw 53；
One end of shoe tree fixture fixed seat 5 is provided with rectangular channel 51, and sleeve 41 is by screwed hole 52 and shoe tree fixture fixed seat 5
Threaded connection, the other end of shoe tree fixture fixed seat 5 are provided with the groove communicated with screwed hole 52, and clamp-screw 53 passes through the groove, uses
In fastening sleeve 41.
Screw is connected through rectangular channel 51 with 4 screwed holes for demarcating 6 top of cylinder, and causes which by its rectangular groove structure
Can be adjusted in the distance for demarcating cylinder horizontal direction, make the center of 3 horizontal direction of tested shoe tree and the level of internal ring framework 15
The center superposition in direction.Distance of the shoe tree fixture 4 in vertical direction is adjusted by turnbarrel 41 so that tested shoe tree 3 is vertical
The center in direction and the center superposition of 15 vertical direction of internal ring framework, are then fixed by clamp-screw 53, such shoe tree
During internal ring framework 15 rotates, its center is used for positioned at the visual field of DLP projector 1, industrial camera 21 and industrial camera 22
In the range of.
Specific embodiment four：Present embodiment is illustrated with reference to Fig. 5 to Fig. 8, present embodiment is to being embodied as
Full-automatic complete shoe tree three-dimensional vision information device described in mode three is described further, in present embodiment, the demarcation
Cylinder includes cylindrical bodies and base；
The top of cylindrical bodies is provided with screwed hole, and bottom is fixed with base, and base is provided with base fixing hole, by base
Fixing hole is fixedly connected with the rotating shaft of internal ring Worm and worm-wheel gearing；The side of cylindrical bodies is used for sticking sign point 17.
Index point is used for the registration of shoe tree three-dimensional data.
In present embodiment, the cylindrical bodies are hexagon or cylinder.
In present embodiment, the cylindrical bodies also include flank, and flank is used for sticking sign point, flank and cylindrical bodies
The angle of acute angle folded by side is more than 30 ° and is less than 60 °.
Fig. 5 is the structural representation that hexagon demarcates cylinder, and 611 is six prismatic mains, 612 is screwed hole, 613 is bottom
Seat, 614 are base fixing hole, are connected with shoe tree fixture fixed seat 5 by screwed hole 612；
Fig. 6 is the structural representation that the hexagon with flank demarcates cylinder, 621 is six prismatic mains, 622 is screwed hole,
623 it is base, 624 is base fixing hole, Fig. 5 compares flanks 625 many in six prism sides, has an advantage in that six prisms
Main body and flank 625 can paste index point simultaneously, improve the precision of shoe tree three-dimensional data registration；
Fig. 7 is the structural representation that cylinder demarcates cylinder, 631 is six prismatic mains, 632 is screwed hole, 633 is base,
634 is base fixing hole, is connected with shoe tree fixture fixed seat 5 by screwed hole 632；
Fig. 8 be with flank cylinder demarcate cylinder structural representation, 641 be six prismatic mains, 642 be screwed hole, 643
It is base fixing hole for base, 644, in many flanks 645 of cylindrical side compared with Fig. 7, has an advantage in that cylinder body
641 and flank 645 can paste index point simultaneously, improve shoe tree three-dimensional data registration precision.
Specific embodiment five：Present embodiment is illustrated with reference to Fig. 9, present embodiment is to specific embodiment three
Described full-automatic complete shoe tree three-dimensional vision information device is described further, and in present embodiment, control chamber 12 includes master
Control plate 121, swing limit switch circuit 122, oscillating motor drive circuit 123, RS232 serial port circuits 124, electric rotating machine drive
Circuit 125 and rotary stopper on-off circuit 126；
Master control borad 121 is connected by swinging limit switch circuit 122 and internal ring swing limit switch 9, by oscillating motor
Drive circuit 123 is connected with outer shroud Worm and worm-wheel gearing 10, is connected with PC 11 by RS232 serial port circuits 124, is used for
The transmission of data and control signal, is connected with internal ring Worm and worm-wheel gearing 8 by electric rotating machine drive circuit 125, is used for
The rotation of cylinder 6 is demarcated in control, is connected with internal ring rotary stopper switch 7 by rotary stopper on-off circuit 126.
Specific embodiment six：Present embodiment is illustrated with reference to Figure 10 to Figure 28, present embodiment is based on concrete
The measuring method of the full-automatic complete shoe tree three-dimensional vision information device described in embodiment one, the method are comprised the following steps：
The demarcation of step one, face structure three-dimensional measuring system：
DLP projector 1 projects sinusoidal grating to scaling board, and industrial camera shoots the scaling board image with sinusoidal grating,
The demarcation of measuring system is realized by calibration algorithm；
Area-structure light three-dimension measuring system includes DLP projector and industrial camera, and area-structure light three-dimension measuring system can be with
It is made up of a DLP projector and an industrial camera, it is also possible to constitute (two by a DLP projector and two industrial cameras
Individual industrial camera is respectively positioned at the left and right sides of DLP projector), industrial camera is at an angle with DLP projector.
The clamping of step 2, tested shoe tree：
Shoe tree fixture 4 is inserted in the metal canula at the system mouth of tested shoe tree 3, clamps tested shoe tree 3；
Adjustment shoe tree fixture 4 and shoe tree fixture fixed seat 5 make the center of tested shoe tree 3 and the center weight of internal ring framework 15
Close；
Step 3, sticking sign point：
In tested shoe tree 3 and/or demarcate the side wall sticking sign point 17 of cylinder 6；
There is certain skill due to pasting index point, so individually patch index point can only operation once, can on cylinder is demarcated
The workload of operator is reduced, the efficiency of measurement is improved；
Step 4, device playback：
Limit switch 9 is swung by internal ring rotary stopper switch 7 and internal ring and detects that demarcation cylinder 6 and internal ring framework 15 are no respectively
In initial position, if not passing through internal ring Worm and worm-wheel gearing 8 and outer shroud Worm Wheel System respectively in initial position
Mechanism 10 makes demarcation cylinder 6 and internal ring framework 15 return initial position；
Internal ring rotary stopper switch 7 and internal ring are swung limit switch 9 and are realized using photoswitch；The outer wall for demarcating cylinder 6 sets
There is a metal column, realize, to demarcating the spacing of the rotation of cylinder 6, demarcating metal when cylinder 6 returns initial position by metal column
Post shelters from light beam, and photoswitch can't detect light beam, and in initial position, photoswitch is not able to detect that light to demarcate cylinder 6
Beam.15 side plate top of internal ring framework is provided with a metal column, and when internal ring framework 15 returns initial position, the metal column shelters from light
Beam, photoswitch can't detect light beam, and internal ring framework 15 in initial position, photoswitch is not able to detect that light beam.
The three-dimensional vision information of step 5, shoe tree to be measured：
Control chamber 12 sends measurement signal, PC 11 control DLP projector 1 and industry to PC 11 by RS232 interfaces
Camera is measured to the three-dimensional information of the shoe tree to be measured of current location；
Step 6, shoe tree to be measured swing N °：
Control chamber 12 drives outer shroud Worm and worm-wheel gearing 10, makes internal ring framework 15 swing N °；
Step 7, shoe tree to be measured swing to N ° of three-dimensional vision information：
Control chamber 12 sends measurement signal, PC 11 control DLP projector 1 and industry to PC 11 by RS232 interfaces
Camera is measured to the three-dimensional information of the shoe tree to be measured of current location, and the three-dimensional data measured with last time by index point 17 is entered
Row autoregistration；
Step 8, shoe tree axial-rotation to be measured：
Control chamber 12 drives internal ring Worm and worm-wheel gearing 8 to make shoe tree rotation to be measuredDegree, M is just whole more than 1
Number；
Three-dimensional vision information after step 9, shoe tree axial-rotation to be measured：
Control chamber 12 sends measurement signal, PC 11 control DLP projector 1 and industry to PC 11 by RS232 interfaces
Camera is measured to the three-dimensional information of the shoe tree to be measured of current location, and the three-dimensional data measured with last time by index point 17 is entered
Row autoregistration；
Playback on step 10, shoe tree swaying direction to be measured：
Control chamber 12 drives outer shroud Worm and worm-wheel gearing 10, makes internal ring framework 15 swing back into initial position；
Repeat step five obtains the three-dimensional data of complete shoe tree to be measured to step 10 until shoe tree to be measured rotation is turned around.
It is further described with reference to demarcation of the Figure 10 to the face structure three-dimensional measuring system of step one, it is whole to demarcate
Process needs to gather 12 pictures of the scaling board 16 in diverse location, drives outer shroud Worm Wheel System by control chamber 12 first
Mechanism 10, makes internal ring framework 15 drive scaling board 16 to swing away from 20 degree of initial position, then successively by 16 dextrorotation of scaling board
It turn 90 degrees, after being rotated by 90 ° every time, sinusoidal grating, industrial camera 21 and industry is projected to scaling board 16 by DLP projector 1
Camera 22 shoots the scaling board image totally 4 with sinusoidal grating, drives outer shroud Worm Wheel System secondly by control chamber 12
Mechanism 10, makes internal ring framework 15 drive scaling board 16 to swing away from 30 degree of initial position, and the above-mentioned flow process of repetition obtains scaling board image 4
, drive outer shroud Worm and worm-wheel gearing 10 finally by control chamber 12, make internal ring framework 15 drive scaling board 16 swing away from
40 degree of initial position, the above-mentioned flow process of repetition obtain scaling board image 4, obtain 12 pictures altogether, DLP are thrown by calibration algorithm
Shadow instrument 1, industrial camera 21 and industrial camera 22 are demarcated.
Step 5 is further described to ten with reference to Figure 11, Figure 12, Figure 13 and Figure 14, wherein demarcate cylinder 6 being
Hexagon demarcates cylinder, coordinates hexagon to demarcate the schematic diagram of cylinder original state as shown in figure 5, Figure 11 is measurement apparatus,
The position carries out step 5, and the state after execution step six is Figure 12, in Figure 12 measurement apparatus cooperation hexagon demarcation cylinder
Ring framework 15 swings N ° of view, carries out step 7 in the position, and the state after execution step eight is Figure 13, and Figure 13 is surveyed
Amount device coordinates hexagon to demarcate cylinder shoe tree rotation to be measuredDegree view, carries out step 9 in the position, performs
State after step 10 is Figure 14, and Figure 13 is that measurement apparatus coordinate hexagon demarcation cylinder internal ring framework 15 to swing back into initial bit
Configuration state schematic diagram.
Step 5 is further described to ten with reference to Figure 15, Figure 16, Figure 17 and Figure 18, wherein demarcate cylinder 6 being
Band flank hexagon demarcates cylinder, as shown in fig. 6, Figure 15 is measurement apparatus mating band flank hexagon demarcates cylinder original state
Schematic diagram, carries out step 5 in the position, and the state after execution step six is Figure 16, and Figure 16 is measurement apparatus mating band flank
Hexagon is demarcated cylinder internal ring framework 15 and swings N ° of view, carries out step 7 in the position, after execution step eight
State is Figure 17, and Figure 17 is that measurement apparatus mating band flank hexagon demarcates cylinder shoe tree rotation to be measuredDegree state is illustrated
Figure, carries out step 9 in the position, and the state after execution step ten is Figure 18, and Figure 18 is six rib of measurement apparatus mating band flank
Cylindricality is demarcated cylinder internal ring framework and swings back into initial position schematic diagram.
Step 5 is further described to ten with reference to Figure 19, Figure 20, Figure 21 and Figure 22, wherein demarcate cylinder 6 being
Cylinder demarcates cylinder, coordinates cylinder to demarcate cylinder original state schematic diagram as shown in fig. 7, Figure 19 is measurement apparatus, in the position
Step 5 is carried out, the state after execution step six is Figure 20, and Figure 20 is that measurement apparatus coordinate cylinder to demarcate cylinder internal ring framework
15 swing N ° of view, carry out step 7 in the position, and the state after execution step eight is Figure 21, and Figure 21 is measurement dress
Put cooperation cylinder and demarcate cylinder shoe tree rotation to be measuredDegree view, carries out step 9, execution step ten in the position
State afterwards is Figure 22, and Figure 22 is that measurement apparatus coordinate cylinder to demarcate cylinder internal ring framework 15 and swing back into initial position to show
It is intended to.
Step 5 is further described to ten with reference to Figure 23, Figure 24, Figure 25 and Figure 26, wherein demarcate cylinder 6 being
Band flank cylinder demarcates cylinder, as shown in figure 8, Figure 23 is the cylindrical cylinder original state of demarcating of measurement apparatus mating band flank illustrating
Figure, carries out step 5 in the position, and the state after execution step six is Figure 24, Figure 24 measurement apparatus mating bands flank cylinder
Demarcating cylinder internal ring framework 15 and swinging N ° of view, step 7 is carried out in the position, the state after execution step eight is figure
25, Figure 25 is that measurement apparatus mating band flank cylinder demarcates cylinder shoe tree rotation to be measuredDegree view, in the position
Step 9 is carried out, the state after execution step ten is Figure 26, and Figure 26 is that two measurement apparatus mating band flanks cylinder demarcates cylinder
Internal ring framework 15 swings back into initial position schematic diagram.
Shoe tree 3 and the index point 17 demarcated on cylinder 61, demarcation cylinder 62, demarcation cylinder 63, demarcation cylinder 64 on Figure 11 to Figure 26
Can individually be attached on shoe tree 3, can individually be attached to demarcation cylinder 61, demarcate cylinder 62, demarcate cylinder 63, demarcate on cylinder 64, it is also possible to
Shoe tree is attached to simultaneously and is demarcated on cylinder.The shape of index point 17 is not limited only to circle, can also be other shapes, and index point 17 can
With with pressure sensitive adhesive is in shoe tree and demarcates on cylinder, it is also possible to be sprayed on shoe tree and demarcate on cylinder.
Shoe tree three-dimensional data can automatically, quickly be surveyed by the shoe tree three-dimensional vision information method of present embodiment, surveyed
The three-dimensional data of amount is complete, precision and high resolution.Figure 27 is that the solid of full-automatic complete shoe tree three-dimensional vision information device is shown
It is intended to, Figure 28 is the three-dimensional data chart of the shoe tree obtained by invention measurement.
Specific embodiment seven：Present embodiment is three-dimensional based on the full-automatic complete shoe tree described in specific embodiment one
The measuring method of data measurement unit, the method are comprised the following steps：
The demarcation of step one, face structure three-dimensional measuring system：
DLP projector 1 projects sinusoidal grating to scaling board, and industrial camera shoots the scaling board image with sinusoidal grating,
The demarcation of measuring system is realized by calibration algorithm；
Area-structure light three-dimension measuring system can be made up of a DLP projector and an industrial camera, it is also possible to by one
Individual DLP projector and two industrial camera compositions (two industrial cameras are respectively positioned at the left and right sides of DLP projector), industrial phase
Machine is at an angle with DLP projector.
The clamping of step 2, tested shoe tree：
Shoe tree fixture 4 is inserted in the metal canula at the system mouth of tested shoe tree 3, clamps tested shoe tree 3；
Adjustment shoe tree fixture 4 and shoe tree fixture fixed seat 5 make the center of tested shoe tree 3 and the center weight of internal ring framework 15
Close；
Step 3, sticking sign point：
In tested shoe tree 3 and/or demarcate the side wall sticking sign point 17 of cylinder 6；
There is certain skill due to pasting index point, so individually patch index point can only operation once, can on cylinder is demarcated
The workload of operator is reduced, the efficiency of measurement is improved；
Step 4, device playback：
Limit switch 9 is swung by internal ring rotary stopper switch 7 and internal ring and detects that demarcation cylinder 6 and internal ring framework 15 are no respectively
In initial position, if not passing through internal ring Worm and worm-wheel gearing 8 and outer shroud Worm Wheel System respectively in initial position
Mechanism 10 makes demarcation cylinder 6 and internal ring framework 15 return initial position；
Internal ring rotary stopper switch 7 and internal ring are swung limit switch 9 and are realized using photoswitch；
The outer wall for demarcating cylinder 6 is provided with a metal column, realizes, to demarcating the spacing of the rotation of cylinder 6, demarcating by metal column
When cylinder 6 returns initial position, the metal column shelters from light beam, and photoswitch can't detect light beam, and demarcate cylinder 6 not in initial bit
When putting, photoswitch is able to detect that light beam.15 side plate top of internal ring framework is provided with a metal column, and internal ring framework 15 is returned just
During beginning position, the metal column shelters from light beam, and photoswitch can't detect light beam, and internal ring framework 15 is not or not the initial position time
Electric switch is able to detect that light beam；
Step 5, shoe tree axial-rotation to be measured：
Control chamber 12 drives internal ring Worm and worm-wheel gearing 8 to make shoe tree rotation to be measuredDegree, M is just whole more than 1
Number；
Three-dimensional vision information after step 6, shoe tree axial-rotation to be measured：
Control chamber 12 sends measurement signal, PC 11 control DLP projector 1 and industry to PC 11 by RS232 interfaces
Camera is measured to the three-dimensional information of the shoe tree to be measured of current location, obtains three-dimensional data；
Step 7, shoe tree to be measured swing N °：
Control chamber 12 drives outer shroud Worm and worm-wheel gearing 10, makes internal ring framework 15 swing N °；
Step 8, shoe tree to be measured swing to N ° of three-dimensional vision information：
Control chamber 12 sends measurement signal, PC 11 control DLP projector 1 and industry to PC 11 by RS232 interfaces
Camera is measured to the three-dimensional information of the shoe tree to be measured of current location, obtains three-dimensional data；
Step 9, three-dimensional data registration：
Autoregistration is carried out to the three-dimensional data that step 6 and step 8 are obtained by index point；
Position after being rotated and swung due to shoe tree, can see public index point by industrial camera, by index point
Automatic Mosaic technology, realizes the registration of the shoe tree three-dimensional data of two above position, and registration is into one group of shoe tree three-dimensional data；
Repeat step five obtains the three-dimensional data of complete shoe tree to be measured to step 9 until shoe tree to be measured rotation is turned around.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can carry out to exemplary embodiment
Many modifications, and other arrangements are can be designed that, the spirit of the present invention limited without departing from claims
And scope.It should be understood that can be by way of different from described by original claim come with reference to different appurtenances
Profit is required and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used
In other described embodiments.
Claims (9)
1. full-automatic complete shoe tree three-dimensional vision information device, it is characterised in that including DLP projector (1), industrial camera, footwear
Lasting clamp tool (4), shoe tree fixture fixed seat (5), demarcation cylinder (6), internal ring rotary stopper switch (7), internal ring Worm Wheel System machine
Structure (8), internal ring swing limit switch (9), outer shroud Worm and worm-wheel gearing (10), PC (11), control chamber (12), bearing
(13), outer shroud framework (14) and internal ring framework (15)；
For projecting raster image, industrial camera is used to gather raster image DLP projector (1)；
, for clamping tested shoe tree (3), shoe tree fixture (4) is by shoe tree fixture fixed seat (5) and demarcation cylinder for shoe tree fixture (4)
(6) top is fastenedly connected, and the bottom for demarcating cylinder (6) is fixedly connected with the rotating shaft of internal ring Worm and worm-wheel gearing (8), internal ring rotation
It is spacing for carrying out to the rotation of demarcation cylinder (6) to turn limit switch (7)；
Shoe tree fixture (4), shoe tree fixture fixed seat (5), demarcation cylinder (6) and internal ring rotary stopper switch (7) are respectively positioned on inner ring frame
In frame (15)；
The base of outer shroud Worm and worm-wheel gearing (10) is fixedly connected with the side plate of outer shroud framework (14) side, outer shroud worm gear snail
The rotating shaft of bar drive mechanism (10) is fixedly connected with the side plate of internal ring framework (15) side, and internal ring swings limit switch (9) and arranges
It is on the side plate of outer shroud framework (14) side, spacing for carrying out to the swing of internal ring framework (15)；Outer shroud framework (14) is another
The side plate of the side plate and internal ring framework (15) opposite side of side is connected by bearing (13), makes internal ring framework (15) realize swinging；
Control chamber (12) switchs (7) with internal ring rotary stopper and internal ring swings limit switch (9) electrical connection, and control chamber (12) is used
In control internal ring Worm and worm-wheel gearing (8) and the rotation of outer shroud Worm and worm-wheel gearing (10)；Control chamber (12) passes through
RS232 interfaces are communicated with PC (11), and PC (11) is connected with DLP projector (1) by HDMI, and PC (11) passes through
USB port is connected with industrial camera.
2. full-automatic complete shoe tree three-dimensional vision information device according to claim 1, it is characterised in that the shoe tree folder
Tool (4) includes sleeve (41), internal polished rod (42) and clamp nut (43)；
The outer wall of sleeve (41) is provided with screw thread, and sleeve (41) closely surrounds internal polished rod (42) outward,
One end of sleeve (41) is conical cylinder, and end face is the bottom surface of cone, and conical cylinder is provided with strip crevice, internal polished rod (42)
One end be the taper matched with conical cylinder, the other end of internal polished rod (42) is provided with external screw thread, clamp nut (43) with it is interior
Portion's polished rod (42) is threadedly coupled.
3. full-automatic complete shoe tree three-dimensional vision information device according to claim 2, it is characterised in that the shoe tree folder
Tool fixed seat (5) is including rectangular channel (51), screwed hole (52) and clamp-screw (53)；
One end of shoe tree fixture fixed seat (5) is provided with rectangular channel (51), and sleeve (41) is solid with shoe tree fixture by screwed hole (52)
Reservation (5) is threadedly coupled, and the other end of shoe tree fixture fixed seat (5) is provided with the groove communicated with screwed hole (52), clamp-screw
(53) through the groove, for fastening sleeve (41).
4. full-automatic complete shoe tree three-dimensional vision information device according to claim 1, it is characterised in that the demarcation cylinder
(6) including cylindrical bodies and base；
The top of cylindrical bodies is provided with screwed hole, and bottom is fixed with base, and base is provided with base fixing hole, is fixed by base
Hole is fixedly connected with the rotating shaft of internal ring Worm and worm-wheel gearing；The side of cylindrical bodies is used for sticking sign point.
5. full-automatic complete shoe tree three-dimensional vision information device according to claim 4, it is characterised in that the cylindricality master
Body is hexagon or cylinder.
6. full-automatic complete shoe tree three-dimensional vision information device according to claim 4, it is characterised in that the demarcation cylinder
(6) also include flank, flank is used for sticking sign point, and flank is more than 30 ° with acute angle folded by cylindrical bodies side and is less than 60 °.
7. full-automatic complete shoe tree three-dimensional vision information device according to claim 1, it is characterised in that the control chamber
(12) including master control borad (121), swing limit switch circuit (122), oscillating motor drive circuit (123), RS232 serial port circuits
(124), electric rotating machine drive circuit (125) and rotary stopper on-off circuit (126)；
Master control borad (121) swings limit switch (9) and is connected by swinging limit switch circuit (122) and internal ring, electric by swinging
Drive circuit (123) is connected with outer shroud Worm and worm-wheel gearing (10), by RS232 serial port circuits (124) and PC
(11) it is connected, is connected with internal ring Worm and worm-wheel gearing (8) by electric rotating machine drive circuit (125), by rotary stopper
On-off circuit (126) is connected with internal ring rotary stopper switch (7).
8. the measuring method based on the full-automatic complete shoe tree three-dimensional vision information device described in above-mentioned any one claim,
Characterized in that, the method is comprised the following steps：
The demarcation of step one, face structure three-dimensional measuring system：
DLP projector (1) projects sinusoidal grating to scaling board, and industrial camera shoots the scaling board image with sinusoidal grating, leads to
Cross the demarcation that calibration algorithm realizes measuring system；
The clamping of step 2, tested shoe tree：
Shoe tree fixture (4) is inserted in the metal canula at tested shoe tree (3) system mouth, clamps tested shoe tree (3)；
Adjustment shoe tree fixture (4) and shoe tree fixture fixed seat (5) make the center of tested shoe tree (3) and the center of internal ring framework (15)
Overlap；
Step 3, sticking sign point：
In tested shoe tree (3) and/or side wall sticking sign point (17) of demarcation cylinder (6)；
The three-dimensional vision information of step 4, shoe tree to be measured：
Control chamber (12) by RS232 interfaces give PC (11) send measurement signal, PC (11) control DLP projector (1) and
Industrial camera is measured to the three-dimensional information of the shoe tree to be measured of current location, obtains three-dimensional data；
Step 5, shoe tree to be measured swing N °：
Control chamber (12) drives outer shroud Worm and worm-wheel gearing (10), makes internal ring framework (15) swing N °；0 ＜ N ＜ 90；
Step 6, shoe tree to be measured swing to N ° of three-dimensional vision information：
Control chamber (12) by RS232 interfaces give PC (11) send measurement signal, PC (11) control DLP projector (1) and
Industrial camera is measured to the three-dimensional information of the shoe tree to be measured of current location, the three-dimensional obtained by index point and last time measurement
Data carry out autoregistration；
Step 7, shoe tree axial-rotation to be measured：
Control chamber (12) drives internal ring Worm and worm-wheel gearing (8) to make shoe tree rotation to be measuredDegree, M is just whole more than 1
Number；
Three-dimensional vision information after step 8, shoe tree axial-rotation to be measured：
Control chamber (12) by RS232 interfaces give PC (11) send measurement signal, PC (11) control DLP projector (1) and
Industrial camera is measured to the three-dimensional information of the shoe tree to be measured of current location, the three-dimensional data measured with last time by index point
Carry out autoregistration；
Playback on step 9, shoe tree swaying direction to be measured：
Control chamber (12) drives outer shroud Worm and worm-wheel gearing (10), makes internal ring framework (15) swing back N °；0 ＜ N ＜ 90；
Repeat step four obtains the three-dimensional data of complete shoe tree to be measured to step 9 until shoe tree to be measured rotation is turned around.
9. based on the full-automatic complete shoe tree three-dimensional vision information device described in any one claim in claim 1 to 7
Measuring method, it is characterised in that the method is comprised the following steps：
The demarcation of step one, face structure three-dimensional measuring system：
DLP projector (1) projects sinusoidal grating to scaling board, and industrial camera shoots the scaling board image with sinusoidal grating, leads to
Cross the demarcation that calibration algorithm realizes measuring system；
The clamping of step 2, tested shoe tree：
Shoe tree fixture (4) is inserted in the metal canula at tested shoe tree (3) system mouth, clamps tested shoe tree (3)；
Adjustment shoe tree fixture (4) and shoe tree fixture fixed seat (5) make the center of tested shoe tree (3) and the center of internal ring framework (15)
Overlap；
Step 3, sticking sign point：
In tested shoe tree (3) and/or side wall sticking sign point (17) of demarcation cylinder (6)；
Step 4, shoe tree axial-rotation to be measured：
Control chamber (12) drives internal ring Worm and worm-wheel gearing (8) to make shoe tree rotation to be measuredDegree, M is just whole more than 1
Number；
Three-dimensional vision information after step 5, shoe tree axial-rotation to be measured：
Control chamber (12) by RS232 interfaces give PC (11) send measurement signal, PC (11) control DLP projector (1) and
Industrial camera is measured to the three-dimensional information of the shoe tree to be measured of current location, obtains three-dimensional data；
Step 6, shoe tree to be measured swing N °：
Control chamber (12) drives outer shroud Worm and worm-wheel gearing (10), makes internal ring framework (15) swing N °；
Step 7, shoe tree to be measured swing to N ° of three-dimensional vision information：
Control chamber (12) by RS232 interfaces give PC (11) send measurement signal, PC (11) control DLP projector (1) and
Industrial camera is measured to the three-dimensional information of the shoe tree to be measured of current location, obtains three-dimensional data；
Step 8, three-dimensional data registration：
Autoregistration is carried out to the three-dimensional data that step 5 and step 7 are obtained by index point；
Repeat step four obtains the three-dimensional data of complete shoe tree to be measured to step 8 until shoe tree to be measured rotation is turned around.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303041A (en) * | 2018-04-03 | 2018-07-20 | 哈尔滨福特威尔科技有限公司 | A kind of three-dimensional measuring apparatus and method |
| CN109544500A (en) * | 2017-09-20 | 2019-03-29 | 诚锋兴业股份有限公司 | The device for identifying and discrimination method of vamp assembly operation |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN110179205A (en) * | 2019-06-28 | 2019-08-30 | 福州旭乐数控设备有限公司 | Shoe tree automatic scanning device and its working method |
| CN110274531A (en) * | 2019-07-09 | 2019-09-24 | 东莞市益松数控科技有限公司 | A kind of contact shoe tree measuring device and its measurement method |
| CN110292232A (en) * | 2019-06-28 | 2019-10-01 | 福州旭乐数控设备有限公司 | A kind of shoe tree production method and its production system |
| CN111556952A (en) * | 2017-12-21 | 2020-08-18 | 株式会社FlicFit | Three-dimensional shape measuring device |
| CN112385937A (en) * | 2020-11-30 | 2021-02-23 | 温州职业技术学院 | Workbench for design of leather shoe pattern |
| CN113446961A (en) * | 2021-07-03 | 2021-09-28 | 詹镇远 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| WO2021238300A1 (en) * | 2020-05-25 | 2021-12-02 | 泉州华中科技大学智能制造研究院 | Device for measuring shoe gluing edge glue line, and measurement method thereof |
| US11222480B2 (en) * | 2018-07-26 | 2022-01-11 | Subaru Corporation | Designing assistance system, designing assistance method, and computer readable medium |
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| CN111556952A (en) * | 2017-12-21 | 2020-08-18 | 株式会社FlicFit | Three-dimensional shape measuring device |
| CN111556952B (en) * | 2017-12-21 | 2021-07-27 | 株式会社FlicFit | Three-dimensional shape measuring device |
| CN108303041A (en) * | 2018-04-03 | 2018-07-20 | 哈尔滨福特威尔科技有限公司 | A kind of three-dimensional measuring apparatus and method |
| US11222480B2 (en) * | 2018-07-26 | 2022-01-11 | Subaru Corporation | Designing assistance system, designing assistance method, and computer readable medium |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN110179205A (en) * | 2019-06-28 | 2019-08-30 | 福州旭乐数控设备有限公司 | Shoe tree automatic scanning device and its working method |
| CN110292232A (en) * | 2019-06-28 | 2019-10-01 | 福州旭乐数控设备有限公司 | A kind of shoe tree production method and its production system |
| CN110292232B (en) * | 2019-06-28 | 2023-11-03 | 福州旭乐数控设备有限公司 | Shoe tree production method and shoe tree production system |
| CN110179205B (en) * | 2019-06-28 | 2023-10-31 | 福州旭乐数控设备有限公司 | Shoe tree automatic scanning device and working method thereof |
| CN110274531A (en) * | 2019-07-09 | 2019-09-24 | 东莞市益松数控科技有限公司 | A kind of contact shoe tree measuring device and its measurement method |
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| CN112385937B (en) * | 2020-11-30 | 2022-01-28 | 温州职业技术学院 | Workbench for design of leather shoe pattern |
| CN112385937A (en) * | 2020-11-30 | 2021-02-23 | 温州职业技术学院 | Workbench for design of leather shoe pattern |
| CN113446961A (en) * | 2021-07-03 | 2021-09-28 | 詹镇远 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| CN114794669A (en) * | 2022-03-31 | 2022-07-29 | 深圳市如本科技有限公司 | Vamp gluing track generation method and system, computer equipment and storage medium |
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