WO2018054398A1 - A device for the 3d scanning of spatial objects, in particular of the sole and adjacent parts of the human foot - Google Patents

A device for the 3d scanning of spatial objects, in particular of the sole and adjacent parts of the human foot Download PDF

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Publication number
WO2018054398A1
WO2018054398A1 PCT/CZ2017/050038 CZ2017050038W WO2018054398A1 WO 2018054398 A1 WO2018054398 A1 WO 2018054398A1 CZ 2017050038 W CZ2017050038 W CZ 2017050038W WO 2018054398 A1 WO2018054398 A1 WO 2018054398A1
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WO
WIPO (PCT)
Prior art keywords
scanning
scanner
spatial objects
primary
sole
Prior art date
Application number
PCT/CZ2017/050038
Other languages
French (fr)
Inventor
Petra BARESOVA
Petr KRATKY
Tomas Saha
Ivana BARTONIKOVA
Zuzana Nela DOROTIKOVA
Original Assignee
Tomas Bata University In Zlin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tomas Bata University In Zlin filed Critical Tomas Bata University In Zlin
Publication of WO2018054398A1 publication Critical patent/WO2018054398A1/en

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Classifications

    • 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

Definitions

  • the invention concerns a device for the three-dimensional scanning of spatial objects.
  • the device can primarily be used to obtain data for the ergonomically optimum shaping of the internal space of shoes.
  • the demanding character of the 3D scanning of spatial objects can be seen e.g. in the settlement described in the patent CZ 302594, which concerns a method for the replication of surface structures.
  • the system described therein includes the scanning of the input data necessary for the subsequent replication of the given surface. Any surface that is almost planar or only slightly shaped in a rough resolution - e.g. a relief map of a certain area, to give an idea, is shaped with a certain unevenness in its details.
  • the scanning device moves in a plane above this surface on the x axis, while a beam it emits, which is perpendicular with respect to the plane of motion, maps the varying distance of the surface from this level at elementary intervals d x , thus obtaining information on the z coordinate.
  • the scanning device is displaced on the y axis by an elementary interval d y after completing the path of motion in the x direction as given by the scanning framework (a rectangular shape), and the complete process is repeated.
  • An [x, z, y] coordinate matrix is obtained in this way; it is then used as the task description for the creation of the replicated surface.
  • the scanning system is arranged so that a source emits a bundle of laser beams towards the object, which is meanwhile revolving, and these beams are reflected at a certain angle into a sensor, which continuously records all the data obtained.
  • the corresponding software then assesses the shape of the scanned object on the basis of the data so obtained.
  • Objects shaped from multiple sides such as a human foot, specifically its sole, are a typical example of those objects that must be scanned spatially and for which the scanner aiming angle must be changed so that the shape of this object can be mapped sufficiently and the data obtained can be recorded in an addressed way.
  • the field of human foot scanning has some limitations from the practical standpoint and some specific requirements given by these limitations. Above all it is important that a live object is to be scanned, and thus it is primarily necessary to guarantee stability and safety, as well as the necessary user comfort, during the scanning process. Thus it assumed that the object will be stationary, while the scanner will be moving. Moreover, comprehensive scanning of the sole, including its contour and treading area, is required.
  • a device that complies with the above-mentioned basic requirement of a stationary object and a scanning system adapted to it and, at the same time, also meets to a certain extent the other above-mentioned requirements has several sensors - for example four, arranged in space, among which the scanned object, such as the sole of a foot, can be placed.
  • a set of sensors is installed on a movable frame, to which a laser-beam source is also attached; the laser beam progressively hits the object at various angles during the linear movement of the frame around the scanned object.
  • the laser beam's straight path is deformed when it impacts a generally uneven object; this deformation is recorded by the set of sensors, and the device is then used to assess the shape of the scanned object from this set of values.
  • a high price due to the necessity of a complete system of sensors and assessment software is taken as a considerable disadvantage of such a device.
  • Ground of the invention consists in the fact that the device contains an internal movable frame provided with one or two opposite bearing arms which are mounted to it through a rotary attachment and directed outside of the primary axis of their rotation and which carry a scanner, while the internal movable frame is mounted through a rotary attachment to an external fixed frame through at least one rotary part with a secondary axis of its rotation whose direction is different from that of the primary axis; meanwhile the external fixed frame is also equipped with a transparent scanning station.
  • the 3D scanning device disclosed herein is preferably provided with a primary drive for the bearing arms and with a secondary drive for the rotary component.
  • the device disclosed herein is also preferably provided with a control unit connected with a scanner.
  • the control unit can also be connected with the primary drive and/or with the secondary drive.
  • the main advantage of the device for 3D scanning of spatial objects disclosed herein is that it enables the three-dimensional scanning of stationary objects such as human soles at the required level of quality using only a single scanning device of a standard type provided with a system for calculating the trajectory of its movement, which is physically provided via the device's sophisticated movement mechanism.
  • a very favourable price is one practical implication of this device.
  • the device disclosed herein also has the considerable advantage— in relation to ergonomic shoe design—that it can scan the sole in a loaded state, and this even from below. This method can thus even record the way that the sole is shaped under the influence of contact with a flat base, without scanning that base.
  • Increased user comfort represents an indisputable advantage of the device disclosed herein.
  • FIG. 1 - a general view of the device with its individual functional components
  • Fig. 2 an illustration of the trajectories of the scanning paths within the device
  • Fig. 3 - a ground-plan view of the device, with an illustration of the optimum positions for the soles.
  • the specific design of the device disclosed herein has an internal movable frame j_, in which the two opposite bearing arms 2 are mounted to it through a rotary attachment; they are capable to rotate in their mounting around the horizontal primary axis 3 of rotation which is shared for both of the bearing arms 2.
  • These bearing arms 2 are directed obliquely outside of the direction of the primary axis 3, and they jointly support the scanner 4 by their free ends.
  • the above-mentioned internal movable frame 1 is, in its bottom part, mounted through a rotary attachment into the external fixed frame 5 through the rotary part 6, which can revolve around the vertical secondary axis 7 of rotation, the direction of which is perpendicular to the direction of the primary axis 3.
  • the external fixed frame 5 simultaneously bears the transparent scanning station 8, which is located in the area of the point of intersection of the primary axis 3 and the secondary axis 7.
  • the device' s bearing arms 2 are equipped with the primary drive 9, while the rotary par t 6 is equipped with the secondary drive 10.
  • the illustrated device is also supplemented with the control unit VI .
  • the disclosed device operates in such a fashion that the person being scanned steps on to the transparent scanning station 8 and assumes the posture recommended for scanning and illustrated in Fig. 1 - i.e. with the soles set with the toes apart from each other at an angle of approximately 60° and with the heels also slightly apart from each other.
  • the scanner 4 is in the top end position, from which it it is set into motion via rotation of the bearing arms 2 on a circular path downwards around the horizontal primary axis 3, out to the bottom limit position, while the scanner 4 records a series of images of the soles and simultaneously reads the trajectory of its movement and assigns the position data to individual images.
  • the adjusted turning of the internal movable frame around the secondary axis 7 takes place in the bottom limit position of the scanner 4 which results in displacement of the scanner 4 in the consequent scanning trajectory and it is ready for reverse movement in the top limit position. Meanwhile the scanner 4 performs the scan again and the data with the corresponding position data is recorded.
  • the movement of the bearing arms 2 ensuring the passage through the scanner's individual scanning paths 4 within the range of approximately 90° is induced by the primary drive 9, while the rotary movement of the internal moving frame I (with a substantially smaller angular range) providing displacement of the scanner 4 in the subsequent scanning path is induced by the secondary drive 10.
  • This device for the three-dimensional scanning of spatial objects - in particular the soles of the feet - can be used above all to obtain data for the economically optimum shaping of the insides of shoes.
  • the data obtained from the device can be used as a foundation for designs of optimized shapes from shoe manufacturing forms that take into consideration recurring, common demands for individual sole types. This considerably improves the comfort of shoes manufactured based on these shapes.

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  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The device contains an internal movable frame (1) equipped with one or two opposite bearing arms (2) which are mounted to it through a rotary attachment and directed outside of the primary axis (3) of their rotation and which carry a scanner (4), while the internal movable frame (1) is mounted through a rotary attachment to an external fixed frame (5) through at least one rotary part (6) with a secondary axis (7) of its rotation whose direction is different from that of the primary axis (3). The external fixed frame (5) is also equipped with a transparent scanning station (8). The bearing arms (2) are advantageously provided with a primary drive (9). The rotary part (6) is advantageously equipped with a secondary drive (10). The device can advantageously equipped by a control unit (11) connected with the scanner (4), with the primary drive (9) and/or with the secondary drive (10). The device can be used above all to obtain data for the economically optimum shaping of the insides of shoes.

Description

A DEVICE FOR THE 3D SCANNING OF SPATIAL OBJECTS, IN PARTICULAR OF THE SOLE AND ADJACENT PARTS OF THE HUMAN FOOT
Field of the Invention
The invention concerns a device for the three-dimensional scanning of spatial objects. The device can primarily be used to obtain data for the ergonomically optimum shaping of the internal space of shoes.
Background
The scanning of the shapes of spatial objects is generally a considerably difficult task. Its exacting character results in particular from the fact that it is necessary to perform systematic mapping of the shape of a 3D object from many different views and addressed recording of an extraordinary volume of the data obtained in order to get complete information on the object's shape.
Unlike the case with conventional scanning of two-dimensional pictures, complex systems and device operating on the basis of such systems are developed for this "3D scanning." Their price reflects this complexity.
The demanding character of the 3D scanning of spatial objects can be seen e.g. in the settlement described in the patent CZ 302594, which concerns a method for the replication of surface structures. The system described therein includes the scanning of the input data necessary for the subsequent replication of the given surface. Any surface that is almost planar or only slightly shaped in a rough resolution - e.g. a relief map of a certain area, to give an idea, is shaped with a certain unevenness in its details. The scanning device moves in a plane above this surface on the x axis, while a beam it emits, which is perpendicular with respect to the plane of motion, maps the varying distance of the surface from this level at elementary intervals dx, thus obtaining information on the z coordinate. The scanning device is displaced on the y axis by an elementary interval dy after completing the path of motion in the x direction as given by the scanning framework (a rectangular shape), and the complete process is repeated. An [x, z, y] coordinate matrix is obtained in this way; it is then used as the task description for the creation of the replicated surface.
The system described is a sophisticated solution; however, the accurate replication of the surface amounts to the collecting of an extraordinary volume of data, and for that reason, this solution is used for the mapping of a relatively small shaped surface, demarcated by a hole in a mask. Moreover, this solution is only suitable for those surfaces for which the planar movement of the scanning device and parallel scanning of the third coordinate is sufficient.
The system described above is not usable in those cases where a spatial image of an object for which multiple views from several sides are necessary. In these cases, a motion of the scanning device and the scanned object relative to each other in space, ideally along curved paths, must be defined. This can be movement of the object with respect to a fixed position for the scanner, but also vice versa: the object can be stationary and the scanner can move systematically around it. It is necessary meanwhile to ensure both this systematic movement and also the scanning and addressed saving of a large volume of obtained data. Each of the mentioned requirements itself represents a very demanding task. For that reason, the 3D scanners specially developed for this purpose are very expensive. Some of them use the principle of a static scanning device and a moving object. The scanning system is arranged so that a source emits a bundle of laser beams towards the object, which is meanwhile revolving, and these beams are reflected at a certain angle into a sensor, which continuously records all the data obtained. The corresponding software then assesses the shape of the scanned object on the basis of the data so obtained.
Objects shaped from multiple sides, such as a human foot, specifically its sole, are a typical example of those objects that must be scanned spatially and for which the scanner aiming angle must be changed so that the shape of this object can be mapped sufficiently and the data obtained can be recorded in an addressed way. The field of human foot scanning has some limitations from the practical standpoint and some specific requirements given by these limitations. Above all it is important that a live object is to be scanned, and thus it is primarily necessary to guarantee stability and safety, as well as the necessary user comfort, during the scanning process. Thus it assumed that the object will be stationary, while the scanner will be moving. Moreover, comprehensive scanning of the sole, including its contour and treading area, is required.
A device that complies with the above-mentioned basic requirement of a stationary object and a scanning system adapted to it and, at the same time, also meets to a certain extent the other above-mentioned requirements has several sensors - for example four, arranged in space, among which the scanned object, such as the sole of a foot, can be placed. A set of sensors is installed on a movable frame, to which a laser-beam source is also attached; the laser beam progressively hits the object at various angles during the linear movement of the frame around the scanned object. The laser beam's straight path is deformed when it impacts a generally uneven object; this deformation is recorded by the set of sensors, and the device is then used to assess the shape of the scanned object from this set of values. A high price due to the necessity of a complete system of sensors and assessment software is taken as a considerable disadvantage of such a device.
Thus there are so far no devices for the three-dimensional scanning of stationary spatial objects that take into consideration all the requirements and limitations arising during the scanning of the soles to a sufficient extent while also having a reasonable price, i.e. one substantially lower than the above-mentioned commercially available 3D scanners. The task of the invention is to develop such a device.
Summary of the Invention
The above-mentioned disadvantages and weak points of the 3D scanning arrangements known so far are eliminated to a considerable extent by the device for the 3D scanning of spatial objects, in particular the sole and adjacent parts of the human foot, disclosed herein. Ground of the invention consists in the fact that the device contains an internal movable frame provided with one or two opposite bearing arms which are mounted to it through a rotary attachment and directed outside of the primary axis of their rotation and which carry a scanner, while the internal movable frame is mounted through a rotary attachment to an external fixed frame through at least one rotary part with a secondary axis of its rotation whose direction is different from that of the primary axis; meanwhile the external fixed frame is also equipped with a transparent scanning station.
The 3D scanning device disclosed herein is preferably provided with a primary drive for the bearing arms and with a secondary drive for the rotary component.
The device disclosed herein is also preferably provided with a control unit connected with a scanner. The control unit can also be connected with the primary drive and/or with the secondary drive.
The main advantage of the device for 3D scanning of spatial objects disclosed herein is that it enables the three-dimensional scanning of stationary objects such as human soles at the required level of quality using only a single scanning device of a standard type provided with a system for calculating the trajectory of its movement, which is physically provided via the device's sophisticated movement mechanism. A very favourable price is one practical implication of this device. The device disclosed herein also has the considerable advantage— in relation to ergonomic shoe design— that it can scan the sole in a loaded state, and this even from below. This method can thus even record the way that the sole is shaped under the influence of contact with a flat base, without scanning that base.
The ability to scan both foots simultaneously in a single scanning operation, and this with both details for the general shape of each sole and external details of the shape of the adjacent parts of the foot up to the ankle zone, is further advantage of the device disclosed herein.
Increased user comfort represents an indisputable advantage of the device disclosed herein.
Drawings
The attached drawings are intended to explain the essence of the invention in more detail:
- Fig. 1 - a general view of the device with its individual functional components,
- Fig. 2 - an illustration of the trajectories of the scanning paths within the device,
- Fig. 3 - a ground-plan view of the device, with an illustration of the optimum positions for the soles.
Example
As is evident from the attached Fig. 1, the specific design of the device disclosed herein has an internal movable frame j_, in which the two opposite bearing arms 2 are mounted to it through a rotary attachment; they are capable to rotate in their mounting around the horizontal primary axis 3 of rotation which is shared for both of the bearing arms 2. These bearing arms 2 are directed obliquely outside of the direction of the primary axis 3, and they jointly support the scanner 4 by their free ends. At the same time, the above-mentioned internal movable frame 1 is, in its bottom part, mounted through a rotary attachment into the external fixed frame 5 through the rotary part 6, which can revolve around the vertical secondary axis 7 of rotation, the direction of which is perpendicular to the direction of the primary axis 3. The external fixed frame 5 simultaneously bears the transparent scanning station 8, which is located in the area of the point of intersection of the primary axis 3 and the secondary axis 7.
The device' s bearing arms 2 are equipped with the primary drive 9, while the rotary par t 6 is equipped with the secondary drive 10.
The illustrated device is also supplemented with the control unit VI . The disclosed device operates in such a fashion that the person being scanned steps on to the transparent scanning station 8 and assumes the posture recommended for scanning and illustrated in Fig. 1 - i.e. with the soles set with the toes apart from each other at an angle of approximately 60° and with the heels also slightly apart from each other. The scanner 4 is in the top end position, from which it it is set into motion via rotation of the bearing arms 2 on a circular path downwards around the horizontal primary axis 3, out to the bottom limit position, while the scanner 4 records a series of images of the soles and simultaneously reads the trajectory of its movement and assigns the position data to individual images. The adjusted turning of the internal movable frame around the secondary axis 7 takes place in the bottom limit position of the scanner 4 which results in displacement of the scanner 4 in the consequent scanning trajectory and it is ready for reverse movement in the top limit position. Meanwhile the scanner 4 performs the scan again and the data with the corresponding position data is recorded. The movement of the bearing arms 2 ensuring the passage through the scanner's individual scanning paths 4 within the range of approximately 90° is induced by the primary drive 9, while the rotary movement of the internal moving frame I (with a substantially smaller angular range) providing displacement of the scanner 4 in the subsequent scanning path is induced by the secondary drive 10.
Both of the described basic rotational movements around the primary axis 3 and around the secondary axis 7 - when specific, suitable settings are used for them, and the speed limits for the operation of the scanner 4 are taken into account - can be combined so as to achieve an uninterrupted flow for the complete scanning process.
Applicability in Industry
This device for the three-dimensional scanning of spatial objects - in particular the soles of the feet - can be used above all to obtain data for the economically optimum shaping of the insides of shoes. With the help of specially developed assessment software, the data obtained from the device can be used as a foundation for designs of optimized shapes from shoe manufacturing forms that take into consideration recurring, common demands for individual sole types. This considerably improves the comfort of shoes manufactured based on these shapes. List of Reference Numbers:
1 - Internal movable frame
2 - Bearing arms
3 - Primary axis
4 - Scanner
5 - External fixed frame
6 - Rotary part
7 - Secondary axis
8 - Transparent scanning station
9 - Primary drive
10 - Secondary drive
11 - Control unit

Claims

C L A I M S
1. A device for the 3D scanning of spatial objects, in particular of the sole and adjacent parts of human foot, characterized by that its containing an internal movable frame (1) equipped with one or two opposite bearing arms (2) which are mounted to it through a rotary attachment and directed outside of the primary axis (3) of their rotation and which carry a scanner (4), while the internal movable frame (1) is mounted through a rotary attachment to an external fixed frame (5) through at least one rotary part (6) with a secondary axis (7) of its rotation whose direction is different from that of the primary axis (3); meanwhile the external fixed frame (5) is also equipped with a transparent scanning station (8).
2. A device for the 3D scanning of spatial objects according to claim 1 characterized by that the bearing arms (2) are provided with the primary drive (9).
3. A device for the 3D scanning of spatial objects according to claim 1 characterized by that the rotary part (6) is equipped with a secondary drive (10).
4. A device for the 3D scanning of spatial objects according to claim 1 characterized by that it includes a control unit (11) connected with the scanner (4).
5. A device for the 3D scanning of spatial objects according to claims 1 and 4 characterized by that its control unit (11) is connected with the primary drive (9) and/or with the secondary drive (10).
PCT/CZ2017/050038 2016-09-20 2017-09-08 A device for the 3d scanning of spatial objects, in particular of the sole and adjacent parts of the human foot WO2018054398A1 (en)

Applications Claiming Priority (2)

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CZ2016-581A CZ2016581A3 (en) 2016-09-20 2016-09-20 A device for 3D scanning of spatial objects, especially the foot and adjacent parts of the human foot
CZPV2016-581 2016-09-20

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CN109615689A (en) * 2018-10-25 2019-04-12 河北华讯方舟太赫兹技术有限公司 Three-D imaging method, equipment and computer readable storage medium
CN111351447A (en) * 2020-01-21 2020-06-30 天目爱视（北京）科技有限公司 Hand intelligence 3D information acquisition measuring equipment
CN116753864A (en) * 2023-08-17 2023-09-15 中南大学 Omnidirectional three-dimensional scanning device and scanning method for cube box body

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CN116753864A (en) * 2023-08-17 2023-09-15 中南大学 Omnidirectional three-dimensional scanning device and scanning method for cube box body
CN116753864B (en) * 2023-08-17 2023-11-24 中南大学 Omnidirectional three-dimensional scanning device and scanning method for cube box body

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