CN107518522A - A kind of three-dimensional foot laser scanner - Google Patents
A kind of three-dimensional foot laser scanner Download PDFInfo
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- CN107518522A CN107518522A CN201710952082.3A CN201710952082A CN107518522A CN 107518522 A CN107518522 A CN 107518522A CN 201710952082 A CN201710952082 A CN 201710952082A CN 107518522 A CN107518522 A CN 107518522A
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- fixed station
- ray machine
- machine module
- reflective mirror
- left fixed
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
- A43D1/025—Foot-measuring devices comprising optical means, e.g. mirrors, photo-electric cells, for measuring or inspecting feet
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- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of three-dimensional foot laser scanner, including the Mechatronic Systems of interconnection, optical system and data handling system；The Mechatronic Systems includes base and the housing being engaged with base, base is provided with the support base being connected with the first motor, the left side of support base is provided with left ray machine module, the right side of support base is provided with right ray machine module, the middle part of support base is provided with lower ray machine module, and left ray machine module and right ray machine module are symmetricly set on support base；Glass platform is provided between the leading flank of housing and trailing flank, for glass platform between left ray machine module and right ray machine module and positioned at the surface of lower ray machine module, the top of glass platform is provided with the LCDs being connected with optical system and data handling system.The present invention uses 3 lasers and 3 ccd video cameras, and human body three-dimensional foot laser scanning is realized using laser triangulation principle；Measurement accuracy is high, integrated level is high, and flexibility is good, substantially increases operating efficiency.
Description
Technical field
The present invention relates to foot scanner technical field, particularly relates to a kind of three-dimensional foot laser scanner.
Background technology
Footwear, it is one important " instrument " that people's daily life can not lack, and shoe industry is that a traditional work is close
Collection type industry, for a long time, the design and making of footwear are all to lack accurate calculate with experience by hand.But with science
The fast development of the rapid development of technology, especially CAD and mechanical automation so that shoe industry is by traditional
Handicraft is changed to the area of computer aided of modernization and mechanization automatic shoes direction.Shoe pattern design software, shoe last designing software,
The software such as three-dimensional laser scanner and automatic shoe tree machine and machine are now widely used.
In whole footwear the Automation Design manufacturing process, using foot scanner obtain people foot three-dimensional information be to
Close an important ring.The three-dimensional data of foot is only that accurately and quickly got, the items that can just accurately obtain foot are special
The processes such as sign and parameter, shoe last designing thereafter and manufacture can just smoothly complete, and the footwear made can also be more suitable for making
User.Especially in recent years, customization turns into the new developing direction of shoe industry, and then manufacture one is accurate, practical and cheap
Three-dimensional foot scanner be just particularly important.
Although present laser and the non-contact technology relative maturity of infrared light supply, and had much including both domestic and external
Company is proposed the three-dimensional foot scanner based on laser.But the spatial digitizer of traditional laser needs to move back and forth scanning
Foot, take and influence precision；The cost of conventional laser scanners is of a relatively high simultaneously, three-dimensional laser foot scanner
Price is generally in hundreds of thousands RMB.So foot scanner of high price undoubtedly considerably increases customizes shoes for client
Cost, constrain the development of shoe industry.In addition, existing foot scanner, integrated level is low, and volume is larger, not readily portable and shifting
Dynamic, flexibility is low.
The content of the invention
For the deficiency in above-mentioned background technology, the present invention proposes a kind of three-dimensional foot laser scanner, solved existing
The problem of foot scanner is time-consuming in technology and measurement accuracy is low, integrated level and flexibility are low, and operating efficiency is not high.
The technical proposal of the invention is realized in this way：A kind of three-dimensional foot laser scanner, include the machine of interconnection
Electric system, optical system and data handling system；The Mechatronic Systems includes base and the housing that is engaged with base, on base
Provided with the support base being connected with the first motor, the left side of support base is provided with left ray machine module, and the right side of support base is provided with right light
Machine module, the middle part of support base are provided with lower ray machine module, and left ray machine module and right ray machine module are symmetricly set on support base；Shell
It is provided with glass platform between the leading flank of body and trailing flank, glass platform is between left ray machine module and right ray machine module and position
In the surface of lower ray machine module, the top of glass platform is provided with the liquid crystal being connected with optical system and data handling system
Display screen；The optical system includes the optical path component being connected with data handling system, and optical path component is separately mounted to left ray machine
On module, right ray machine module and lower ray machine module, the optical path component includes laser, ccd video camera and speculum.
The data handling system include being separately mounted to main control computer on base, driver, picture recognition module,
Photogrammetric distortion corrects module and three-dimensional modeling module；Main control computer respectively with driver, picture recognition module, photogrammetric distortion more holotype
Block is connected with three-dimensional modeling module, LCDs, and the output end of driver is connected with the first motor, data handling system
It is connected with the power supply on base.
The left ray machine module and right ray machine module include upper backup pad and lower supporting plate, upper backup pad and lower supporting plate
It is connected respectively by camera bracket, laser stent with connecting plate, ccd video camera, laser is installed on camera bracket
Laser is installed on device support.
The upper backup pad is provided with four upper fixed stations, and lower supporting plate is provided with four lower fixed stations, upper fixed station and
Lower fixed station corresponds；Upper fixed station is with being movably equipped with the first fixed block for stationary mirror on lower fixed station, instead
The upper end for penetrating mirror is connected by the first fixed block with upper fixed station, and the lower end of speculum passes through the first fixed block and lower fixed station
It is connected.
Fixed include fixed station on first, fixed station on second, fixed station on fixed station and the 4th on the 3rd,
Four lower fixed stations on lower supporting plate respectively with it is solid on fixed station on fixed station on fixed station on first, second, the 3rd, the 4th
It is corresponding to determine platform；Fixed station is located at the front end of upper backup pad on first, and fixed station is located at the outside of upper backup pad on the 3rd, and second
Fixed station is respectively positioned on the inner side of upper backup pad on upper fixed station and the 4th, and fixed station is located on the 4th before fixed station on second
Side；Reflective mirror on 3rd on fixed station is corresponding with the laser on laser stent, and fixed station is anti-on first
The reflective mirror of fixed station is corresponding with the ccd video camera on camera bracket on light microscopic and second, fixed on the 4th
Reflective mirror on platform is corresponding with the reflective mirror of fixed station on second.
The lower ray machine module includes left support plate and right support plate, and left support plate and right support plate pass through lower shoe respectively
It is connected with upper plate, ccd video camera is installed on lower shoe, laser is installed on upper plate.
The left support plate is provided with five left fixed stations, and right support plate is provided with five right fixed stations, left fixed station with
Right fixed station corresponds, and left fixed station is with being movably equipped with the second fixed block for stationary mirror on right fixed station, instead
The left end for penetrating mirror is connected by the second fixed block with left fixed station, and the right-hand member of speculum passes through the second fixed block and right fixed station
It is connected.
The left fixed station include the first left fixed station, the second left fixed station, the 3rd left fixed station, the 4th left fixed station and
5th left fixed station, five right fixed stations in right support plate respectively with the first left fixed station, the second left fixed station, the 3rd left solid
It is corresponding to determine platform, the 4th left fixed station, the 5th left fixed station；First left fixed station and the 3rd left fixed station are located at left support plate
Top, and the 3rd left fixed station is located at the front end of the first left fixed station, the second left fixed station are located at the bottom of left support plate, and the 4th
Left fixed station and the 5th left fixed station are located at the front end of left support plate, and the 5th left fixed station is located under the 4th left fixed station
Side；Reflective mirror on first left fixed station is corresponding with the ccd video camera on lower shoe, anti-on the second left fixed station
Light microscopic is corresponding with the reflective mirror on the first left fixed station, the reflective mirror and the 5th left fixed station on the 4th left fixed station it is reflective
Mirror is corresponding with the ccd video camera on lower shoe respectively, reflective mirror and the 4th left fixation on the 3rd left fixed station
Reflective mirror on platform is corresponding.
Slide rail is arranged with the base, slide rail is engaged with the sliding block of support base bottom, and the top of support base is symmetrical
Provided with support arm, left ray machine module and right ray machine module are connected by support arm with support base respectively；The output of first motor
End is connected with one end of ball screw, and the other end of ball screw is connected with support base, and the first motor passes through ball screw
Drive support base movement.
The present invention uses 3 lasers and 3 ccd video cameras, and human body three-dimensional foot is realized using laser triangulation principle
Laser scanning；Using bionics human eyes stereovision technique, the binocular stereo vision of computer is formed.Pass through " space resection
Method ", obtain elements of exterior orientation of each camera in imaging moment.Pass through " stereogram（Left eye, right eye are represented respectively）" it is " preceding
Square intersection ", the three-dimensional coordinate based on object space on testee surface is obtained, reaches to form space three-dimensional three-dimensional model
Purpose；Realization accurately measures to measured object, improves operating efficiency.Present invention improves over the detection of gridiron pattern target angle point calculation
Method, ccd video camera is demarcated using Zhang Zhengyou methods, obtained the inner parameter and distortion factor of ccd video camera.
On the basis of this, design and made the filament demarcation target for global calibration, and then realize the three-dimensional digitized measurement of people's pin.This
Invention maximization ground utilizes instrument internal space；Using the inner space of three-dimensional foot scanner, circuit element has been done rationally
Layout, be allowed on the premise of it disclosure satisfy that its function and do not interfere with each other, as far as possible reduce instrument overall dimensions, integrate
Degree is high, is convenient for carrying and moves.
Brief description of the drawings
In order to illustrate the embodiments of the present invention more clearly, the required accompanying drawing used makees letter in being described below to embodiment
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for the common skill in this area
For art personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is internal structure schematic diagram of the present invention.
Fig. 2 is left view schematic diagram of the present invention.
Fig. 3 is the left ray machine modular structure schematic diagram of the present invention.
Fig. 4 is the lower ray machine modular structure schematic diagram of the present invention.
Fig. 5 is the lower ray machine module left view schematic diagram of the present invention.
Fig. 6 is the left ray machine module light path schematic diagram of the present invention.
Fig. 7 is the lower ray machine module light path schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not paid
Embodiment, belong to the scope of protection of the invention.
Embodiment 1, as shown in Figure 1-2, a kind of three-dimensional foot laser scanner, including the Mechatronic Systems of interconnection, light
System and data handling system；Optical system of the present invention is irradiated to testee surface using the laser in three directions, simultaneously
Image is obtained with corresponding three cameras, the index path designed according to us carries out corresponding Machine Design, can be with
Enable each camera to obtain two non-interfering images, recycle at the computer program of data handling system
Reason, space three-dimensional three-dimensional model is formed using bionics human eyes stereovision technique and forward intersection, resection method, draw by
The three-dimensional space data of object is surveyed, and then makes accurate, suitable shoe tree.Wherein, Mechatronic Systems include base 1 and with bottom
The housing 2 that seat 1 is engaged, base 1 are provided with the support base 4 being connected with the first motor 3, and the first motor 3 uses two-phase stepping
Motor, support base are realized movable under the drive of the first motor, and the left side of support base 4 is provided with left ray machine module 5, for pair
The scanning of measured object upper left quarter, the right side of support base 4 are provided with right ray machine module 6, for the scanning to measured object upper right quarter, support
The middle part of seat 4 is provided with lower ray machine module 7, for the scanning to measured object bottom.Left ray machine module 5 and right ray machine module 6 are symmetrical
It is arranged on support base 4, the structure setting of left ray machine module 5 and right ray machine module 6 is essentially identical；Symmetrically set on the base 1
There is slide rail 16, slide rail 16 is engaged with the sliding block 17 of the bottom of support base 4, and support base realizes moving along slide rail, branch by sliding block
The top of support seat 4 is arranged with support arm 19, and left ray machine module 5 and right ray machine module 6 pass through support arm 19 and support base 4 respectively
It is connected, the height and angle of left ray machine module 5 and right ray machine module 6 is can adjust by support arm；The output end of first motor 3
It is connected with one end of ball screw 18, the other end of ball screw 18 is connected with support base 4, and the first motor 3 passes through ball
Screw mandrel 18 drives support base 4 to move.Glass platform 8 is provided between the leading flank of housing 2 and trailing flank, glass platform is character cut in bas-relief
Shape, glass platform 8 are easy to a left side between left ray machine module 5 and right ray machine module 6 and positioned at the surface of lower ray machine module 7
Ray machine module 5, right ray machine module 6 and 7 measured object to being placed in glass platform 8 of lower ray machine module are scanned, and glass is put down
The top of platform 8 is provided with the LCDs 9 being connected with optical system and data handling system, is easy to show that measured object is scanned
State and modeling state；The optical system includes the optical path component being connected with data handling system, optical path component difference
On left ray machine module 5, right ray machine module 6 and lower ray machine module 7, laser triangulation, the optical path component are formed
Including laser 10, ccd video camera 11 and speculum 12.Laser triangulation is based on triangulation, by laser to quilt
Body surface projection laser is surveyed, the change of object surface tri-dimensional profile produces spatial modulation to light beam, changes imaging beam
Angle, also just change position of the light belt on ccd video camera imaging surface.By the geometrical structure parameter to optical system and
The determination of light belt image point position on ccd video camera, the height change with regard to that can calculate body surface, additional scanning mechanism can be right
The integrity profile of object measures.
Further, the data handling system include being separately mounted to main control computer 13 on base 1, driver 14,
Picture recognition module, photogrammetric distortion corrigendum module and three-dimensional modeling module；Main control computer 13 respectively with driver 14, image recognition
Module, photogrammetric distortion corrigendum module are connected with three-dimensional modeling module, LCDs 9, the output end of driver 14 and the first electricity
Machine 3 is connected, and main control computer 13 realizes the control to support base, realization pair by the rotation of the motor of driver control first
The accurate scan of measured object, data handling system is connected with the power supply 15 on base 1, for the power supply to device.
Driver uses digital stepper motor driver.The present invention controls translation scan by main control computer, passes through image recognition
Module gathers image, and passes information to photogrammetric distortion corrigendum module, using black and white chessboard case marker targeting and Zhang Zhengyou algorithms, mark
Determine the intrinsic parameters of the camera such as picture centre coordinate, distortion factor, develop the filament mark for being suitable to the demarcation of foot laser scanning system
Targeting, and on the basis of camera calibration, using direct linear transformation's method, obtain the mapping of pixel coordinate and world coordinates
Relational matrix, and then impurity elimination point is removed by gaussian filtering etc., finally model, at the data for completing three-dimensional foot laser scanning system
Reason.
During work, 1, machinery adjustment.Need adjustment glass platform parallel with slide rail face, i.e., it is parallel with scanning direction；Adjustment
Two support arm planes are parallel with slide rail and contour, equidistant.2nd, sensor is debugged.Need to ensure foot plate surface and glass planar
Intersecting position without departing from ccd video camera visual field and leave certain surplus, ensure the integrality of data.Tune can be passed through
The luffing angle of whole ccd video camera mounting seat is realized.The setting of brightness of image, contrast, if too low, the bright of light belt can be made
Degree is reduced, and the background for being not easy to dark is distinguished；If setting too high, noise spot brightness increase can be caused, produce error and unnecessary
Point cloud.3rd, motion control is debugged.Kinematic system and image capturing system are tested using program, ensure that ccd video camera exists
First motor uniform motion phase acquisition image.In glass platform motion process, if the artificial zero position switch for touching near-end and
The limit switch of distal end, motor will stop motion immediately, this guarantees the safety of system.4th, laser plane is debugged.Pass through tune
The pitching of whole laser mounting seat, translation, three laser planes are adjusted to be completely superposed and the state vertical with scanning direction.
The appearance profile that pin mould is truly reduced by a cloud changes, and multiple angular views are clear.Impurity point is filtered by gaussian filtering, entered
And obtain more perfect model.
Embodiment 2, as shown in figs. 3 and 6, a kind of three-dimensional foot laser scanner, the left ray machine module 5 and right ray machine mould
Group 6 includes upper backup pad 51 and lower supporting plate 52, and upper backup pad 51 and lower supporting plate 52 are respectively by camera bracket 53, sharp
Light device support 54 is connected with connecting plate 55, and ccd video camera 11 is provided with camera bracket 53, is installed on laser stent 54
There is laser 10.The upper backup pad 51 is provided with four upper fixed stations 56, and lower supporting plate 52 is provided with four lower fixed stations 57,
Upper fixed station 56 corresponds with lower fixed station 57；Upper fixed station 56 on lower fixed station 57 with being movably equipped with for fixation reflex
First fixed block 58 of mirror 12, the upper end of speculum 12 are connected by the first fixed block 58 with upper fixed station 56, speculum 12
Lower end be connected by the first fixed block 58 with lower fixed station 57.The angle of laser, ccd video camera and 4 speculums can
Adjust, the laser that laser is sent, ccd video camera is entered after speculum reflects.
Further, fixed station on fixed station the 562, the 3rd is included on first on fixed station 561, second for fixed 56
Fixed station 564 on 563 and the 4th, four lower fixed stations 57 on lower supporting plate 52 respectively with fixed station on first 561, second
Fixed station 564 is corresponding on fixed station the 563, the 4th on fixed station the 562, the 3rd；Fixed station 561 is located at upper backup pad 51 on first
Front end, fixed station 563 is located at the outside of upper backup pad 51 on the 3rd, and fixed station 564 is equal on fixed station 562 and the 4th on second
Positioned at the inner side of upper backup pad 51, and fixed station 562 is located at the front of fixed station 564 on the 4th on second；Fixed station on 3rd
Reflective mirror on 563 is corresponding with the laser 10 on laser stent 54, on first the reflective mirror of fixed station 561 and
The reflective mirror of fixed station 562 is corresponding with the ccd video camera 11 on camera bracket 53 on second, fixed on the 4th
Reflective mirror on platform 564 is corresponding with the reflective mirror of fixed station on second 562.The laser that laser is sent is through fixed station on the 3rd
For mirror reflection on 563 in tested object point, measured object point reflection goes out two light, and a light is through fixed station 561 on first
Mirror reflection return ccd video camera 11, another article of light is through solid on the mirror reflection on fixed station 564 on the 4th to second
Determine the reflective mirror of platform 562, then the mirror reflection through fixed station 562 on second returns ccd video camera 11, the advantages of so design
It is together with laser, ccd video camera and combination, neither to influence the information gathering of ccd video camera, ensure instrument
Normal work, and can greatly reduces the overall dimensions of instrument.
Left ray machine module and right ray machine module use the index path of above-mentioned design.
Other structures are same as Example 1.
Embodiment 3, as shown in Fig. 4,5,7, a kind of three-dimensional foot laser scanner, the lower ray machine module 7 includes left branch
Fagging 71 and right support plate 72, left support plate 71 and right support plate 72 are connected by lower shoe 73 with upper plate 74 respectively, under
Ccd video camera 11 is installed on bottom plate 73, laser 10 is installed on upper plate 74.The left support plate 71 is provided with five left sides
Fixed station 75, right support plate 72 are provided with five right fixed stations 76, and left fixed station 75 corresponds with right fixed station 76, left fixation
Platform 75 passes through with being movably equipped with the second fixed block 77 for stationary mirror 12, the left end of speculum 12 on right fixed station 76
Second fixed block 77 is connected with left fixed station 75, and the right-hand member of speculum 12 is connected by the second fixed block 77 with right fixed station 76
Connect.The adjustable angle of laser, ccd video camera and 4 speculums, the laser that laser is sent, enter after speculum reflects
Ccd video camera.
Further, the left fixed station 75 includes the first left fixed station 751, the second left fixed station 752, the 3rd left fixed station
753rd, the 4th left 754 and the 5th left fixed station 755 of fixed station, five right fixed stations 76 in right support plate 72 are left with first respectively
Fixed station 751, the second left fixed station 752, the 3rd left fixed station 753, the 4th left fixed station 754, the 5th left fixed station 755 are relative
Should.4th left fixed station is vertically arranged, and other 4 left fixed stations are obliquely installed；First left 751 and the 3rd left fixed station of fixed station
753 are located at the top of left support plate 71, and the 3rd left fixed station 753 is located at the front end of the first left fixed station 751, the second left fixation
Platform 752 is located at the bottom of left support plate 71, before the 4th left 754 and the 5th left fixed station 755 of fixed station is located at left support plate 71
End, and the 5th left fixed station 755 is located at the lower section of the 4th left fixed station 754；Reflective mirror and installation on first left fixed station 751
Ccd video camera 11 on lower shoe 73 is corresponding, on the reflective mirror and the first left fixed station 751 on the second left fixed station 752
Reflective mirror it is corresponding, the reflective mirror of reflective mirror and the 5th left fixed station 755 on the 4th left fixed station 754 respectively with installed in
Ccd video camera 11 on lower shoe 73 is corresponding, on the reflective mirror and the 4th left fixed station 754 on the 3rd left fixed station 753
Reflective mirror is corresponding.The laser that laser is sent is through the mirror reflection on the first left fixed station 751 to the second left fixed station 752
On reflective mirror on, then through the mirror reflection on the second left fixed station 752 in tested object point, measured object point reflection goes out two light
Line, mirror reflection of the one article of light through the 5th left fixed station 755 return ccd video camera, and another article of light is through the 3rd left fixed station
On the reflective mirror on mirror reflection to the 4th left fixed station 754 on 753, then through the reflective mirror on the 4th left fixed station 754
The advantages of being reflected back ccd video camera, so designing is, together with laser, ccd video camera and combination, neither shadow
The information gathering of ccd video camera is rung, ensures the normal work of instrument, and can greatly reduces the overall dimensions of instrument.
Other structures are same as Example 2.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (9)
1. a kind of three-dimensional foot laser scanner, including the Mechatronic Systems of interconnection, optical system and data handling system；Its
It is characterised by：The Mechatronic Systems includes base（1）With with base（1）The housing being engaged（2）, base（1）It is provided with and the
One motor（3）The support base being connected（4）, support base（4）Left side be provided with left ray machine module（5）, support base（4）Right side set
There is right ray machine module（6）, support base（4）Middle part be provided with lower ray machine module（7）, left ray machine module（5）With right ray machine module（6）
It is symmetricly set on support base（4）On；Housing（2）Leading flank and trailing flank between be provided with glass platform（8）, glass platform（8）
Positioned at left ray machine module（5）With right ray machine module（6）Between and be located at lower ray machine module（7）Surface, glass platform（8）'s
Top is provided with the LCDs being connected with optical system and data handling system（9）；The optical system includes and data
The optical path component that processing system is connected, optical path component are separately mounted to left ray machine module（5）, right ray machine module（6）With lower light
Machine module（7）On, the optical path component includes laser（10）, ccd video camera（11）And speculum（12）.
2. three-dimensional foot laser scanner according to claim 1, it is characterised in that：The data handling system includes dividing
An Zhuan not base（1）On main control computer（13）, driver（14）, picture recognition module, photogrammetric distortion corrigendum module and three
Tie up modeling module；Main control computer（13）Respectively with driver（14）, picture recognition module, photogrammetric distortion corrigendum module and three-dimensional build
Mould module, LCDs（9）It is connected, driver（14）Output end and the first motor（3）It is connected, data handling system
With installed in base（1）On power supply（15）It is connected.
3. three-dimensional foot laser scanner according to claim 1, it is characterised in that：The left ray machine module（5）And the right side
Ray machine module（6）Include upper backup pad（51）And lower supporting plate（52）, upper backup pad（51）And lower supporting plate（52）Lead to respectively
Cross camera bracket（53）, laser stent（54）And connecting plate（55）It is connected, camera bracket（53）On CCD be installed taken the photograph
Camera（11）, laser stent（54）On laser is installed（10）.
4. three-dimensional foot laser scanner according to claim 3, it is characterised in that：The upper backup pad（51）It is provided with
Four upper fixed stations（56）, lower supporting plate（52）It is provided with four lower fixed stations（57）, upper fixed station（56）With lower fixed station
（57）Correspond；Upper fixed station（56）With lower fixed station（57）On be movably equipped with for stationary mirror（12）It is first solid
Determine block（58）, speculum（12）Upper end pass through the first fixed block（58）With upper fixed station（56）It is connected, speculum（12）'s
Lower end passes through the first fixed block（58）With lower fixed station（57）It is connected.
5. three-dimensional foot laser scanner according to claim 4, it is characterised in that：Fixed（56）Including
Fixed station on one（561）, fixed station on second（562）, fixed station on the 3rd（563）With the 4th on fixed station（564）, lower support
Plate（52）On four lower fixed stations（57）Respectively with fixed station on first（561）, fixed station on second（562）, it is solid on the 3rd
Determine platform（563）, fixed station on the 4th（564）It is corresponding；Fixed station on first（561）Positioned at upper backup pad（51）Front end,
Fixed station on three（563）Positioned at upper backup pad（51）Outside, fixed station on second（562）With the 4th on fixed station（564）
Positioned at upper backup pad（51）Inner side, and fixed station on second（562）The fixed station on the 4th（564）Front；On 3rd
Fixed station（563）On reflective mirror and be arranged on laser stent（54）On laser（10）It is corresponding, fixed station on first
（561）Reflective mirror and second on fixed station（562）Reflective mirror with installed in camera bracket（53）On ccd video camera
（11）It is corresponding, fixed station on the 4th（564）On reflective mirror and second on fixed station（562）Reflective mirror it is corresponding.
6. three-dimensional foot laser scanner according to claim 1, it is characterised in that：The lower ray machine module（7）Including
Left support plate（71）And right support plate（72）, left support plate（71）And right support plate（72）Pass through lower shoe respectively（73）With upper bottom
Plate（74）It is connected, lower shoe（73）On ccd video camera is installed（11）, upper plate（74）On laser is installed（10）.
7. three-dimensional foot laser scanner according to claim 6, it is characterised in that：The left support plate（71）It is provided with
Five left fixed stations（75）, right support plate（72）It is provided with five right fixed stations（76）, left fixed station（75）With right fixed station
（76）Correspond, left fixed station（75）With right fixed station（76）On be movably equipped with for stationary mirror（12）It is second solid
Determine block（77）, speculum（12）Left end pass through the second fixed block（77）With left fixed station（75）It is connected, speculum（12）'s
Right-hand member passes through the second fixed block（77）With right fixed station（76）It is connected.
8. three-dimensional foot laser scanner according to claim 7, it is characterised in that：The left fixed station（75）Including
One left fixed station（751）, the second left fixed station（752）, the 3rd left fixed station（753）, the 4th left fixed station（754）It is left with the 5th
Fixed station（755）, right support plate（72）On five right fixed stations（76）Respectively with the first left fixed station（751）, it is second left solid
Determine platform（752）, the 3rd left fixed station（753）, the 4th left fixed station（754）, the 5th left fixed station（755）It is corresponding；First is left
Fixed station（751）With the 3rd left fixed station（753）Positioned at left support plate（71）Top, and the 3rd left fixed station（753）It is located at
First left fixed station（751）Front end, the second left fixed station（752）Positioned at left support plate（71）Bottom, the 4th left fixed station
（754）With the 5th left fixed station（755）Positioned at left support plate（71）Front end, and the 5th left fixed station（755）It is left positioned at the 4th
Fixed station（754）Lower section；First left fixed station（751）On reflective mirror and be arranged on lower shoe（73）On ccd video camera
（11）It is corresponding, the second left fixed station（752）On the left fixed station of reflective mirror and first（751）On reflective mirror it is corresponding,
Four left fixed stations（754）On reflective mirror and the 5th left fixed station（755）Reflective mirror respectively with installed in lower shoe（73）On
Ccd video camera（11）It is corresponding, the 3rd left fixed station（753）On reflective mirror and the 4th left fixed station（754）On it is reflective
Mirror is corresponding.
9. three-dimensional foot laser scanner according to claim 1, it is characterised in that：The base（1）On be arranged with
Slide rail（16）, slide rail（16）With support base（4）The sliding block of bottom（17）It is engaged, support base（4）Top be arranged with support
Arm（19）, left ray machine module（5）With right ray machine module（6）Pass through support arm respectively（19）With support base（4）It is connected；First electricity
Machine（3）Output end and ball screw（18）One end be connected, ball screw（18）The other end and support base（4）It is connected
Connect, the first motor（3）Pass through ball screw（18）Drive support base（4）It is mobile.
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| CN201710952082.3A CN107518522B (en) | 2017-10-13 | 2017-10-13 | Three-dimensional foot laser scanner |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710952082.3A CN107518522B (en) | 2017-10-13 | 2017-10-13 | Three-dimensional foot laser scanner |
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| CN107518522A true CN107518522A (en) | 2017-12-29 |
| CN107518522B CN107518522B (en) | 2022-09-16 |
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| CN109198798A (en) * | 2018-08-28 | 2019-01-15 | 北京中科启上科技有限公司 | Full foot three-dimensional data scanning means and method |
| CN112449066A (en) * | 2019-09-02 | 2021-03-05 | 刘佳 | Foot shape 3D scanner for orthopedics |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107518522B (en) | 2022-09-16 |
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