Three-dimensional scanning platform, system and method

Abstract

The present invention relates to the field of three-dimensional data scanning, and in particular, to a three-dimensional scanning platform, system and method. The three-dimensional scanning platform includes a load-bearing light-transmitting plate for placing an object to be measured, a reflector arranged on the side of the load-bearing light-transmitting plate away from the object to be measured, and at least one positive reflective marking point and at least one negative reflective marking point arranged on the side of the load-bearing light-transmitting plate away from the object to be measured, wherein the reflective surface of the positive reflective marking point faces the side of the object to be measured, and the reflective surface of the negative reflective marking point faces the side away from the object to be measured. The three-dimensional scanning system of the present invention can generate an accurate and complete three-dimensional model of the object to be measured, making the data collection process of the object to be measured easier and the collected data more accurate; and the system has a simple structure, low cost, light weight, easy handling and carrying, flexible and convenient use, low maintenance cost, and is suitable for scenes of various spatial dimensions.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional data scanning, and in particular to a three-dimensional scanning platform, system and method. Background Art

[0002] With the development of social economy and the improvement of people's consumption level, people's demand for personalized customization of clothing is becoming more and more significant. Especially with the increasing popularity of sports and health concepts, people's requirements for the comfort of shoes worn on their feet for a long time are getting higher and higher. In order to be able to make shoes that fit well, it is necessary to accurately measure the human foot. However, traditional measurements often use manual measurements, lack descriptions of the overall characteristic information of the foot morphology, and are too dependent on the personal experience and technical level of the measurement personnel. There are defects such as high labor intensity, low efficiency, poor accuracy, and high cost, which restrict the development of the personalized customized shoes industry.

[0003] With the development of measurement technology, foot 3D scanners using scanning technology, photo synthesis technology and other technical means have emerged, and the accuracy and completeness of the measured data have been significantly improved. However, the existing foot 3D scanners still have the following defects: 1. It is necessary to set up multiple scanning heads with different azimuth angles to obtain the overall foot data, which has many parts, high instrument manufacturing cost and complex structure; 2. The scanning head of the scanner is directly connected to the scanning platform, and the structure of the entire scanner is complex, large in size, heavy, inconvenient to carry and use, and has high maintenance costs; 3. The overall scanning platform is an open structure, which leads to low scanning efficiency and accuracy when the scanner works in humid and dusty conditions, reducing the life of the instrument; 4. The post-process of splicing the 3D model image of the foot 3D data obtained by scanning is very cumbersome, and can only be completed by relying on the foot shape features, which is very inefficient and low in accuracy, and the user experience is poor. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a three-dimensional scanning platform, system and method to improve the above-mentioned problems.

[0005] The present invention provides a three-dimensional scanning platform, which includes a load-bearing light-transmitting plate for placing an object to be measured, a reflector arranged on the side of the load-bearing light-transmitting plate away from the object to be measured, and at least one front reflective marking point and at least one back reflective marking point arranged on the side of the load-bearing light-transmitting plate away from the object to be measured, wherein the reflective surface of the front reflective marking point faces the side where the object to be measured is placed, and the reflective surface of the back reflective marking point faces the side away from the object to be measured.

[0006] When performing a frontal scan, the reflective marking points on the back do not reflect light and an image cannot be acquired. By setting the front reflective marking points on the load-bearing translucent plate, the front reflective marking points can reflect light to acquire an image, and at this time, three-dimensional data of the outside of the foot can be collected.

[0007] When performing back-side scanning, what needs to be scanned is the image in the reflector. At this time, the front reflective mark points do not reflect light and the image cannot be obtained. By setting back-side reflective mark points on the load-bearing translucent plate, the back-side reflective mark points can reflect light to obtain the image. At this time, the back-side reflective mark points and the reflector can cooperate to collect and obtain the three-dimensional data of the sole.

[0008] In the process of three-dimensional scanning measurement, it is usually impossible to measure the geometric data of the product at one time in the same coordinate system, so coordinate normalization must be performed. This process is called relocation of the measurement data, that is, three-dimensional data splicing. In the splicing algorithm, the accuracy of the splicing can be ensured by finding the correct match of the marker points. In the process of constructing three-dimensional data splicing, the front reflective marker points and the back reflective marker points described in the present invention can form a marker point space coordinate system. The coordinate system is designed to utilize the matching of corresponding feature marker points on different spatial planes to achieve the splicing of the front scanning data and the back scanning data, and finally form a complete three-dimensional model. The splicing process of the three-dimensional model is greatly simplified, and the splicing result is more accurate.

[0009] Preferably, the front reflective marking points and the back reflective marking points are both adhered and fixed on the inner plane of the load-bearing light-transmitting plate.

[0010] Preferably, the front reflective marking points and the back reflective marking points are alternately arranged at intervals to jointly form a measurement area for the target object to be measured.

[0011] Preferably, the target object to be detected is a foot.

[0012] Preferably, the measurement area of ​​the target object to be measured is a foot-shaped measurement area.

[0013] More preferably, the foot shape measurement area is a double-foot measurement area.

[0014] According to the actual size of the load-bearing light-transmitting plate, an appropriate number of front reflective marking points and back reflective marking points are set. More preferably, the number of the front reflective marking points is 40-60; the number of the back reflective marking points is 50-60.

[0015] Preferably, the front reflective marking points and the back reflective marking points are circular or in other shapes.

[0016] More preferably, the front reflective marking points and the back reflective marking points are circular coatings, the inner circle portion is reflective material, the outer circle is black ink, the inner circle diameter ranges from 3 to 15 mm, and the outer circle diameter ranges from 10 to 25 mm.

[0017] More preferably, the front reflective marking points and the back reflective marking points are circular coatings, the front inner circle of the front reflective marking points are reflective material, the outer circle is black ink, the black ink is glued, the inner diameter is 3mm, the outer diameter is 10mm, and the back of the front reflective marking points is 3M primer; the shape of the back reflective marking points is also a circular coating, the front inner circle of the back reflective marking points is reflective material, the outer circle is black ink, the black ink is glue-free, the inner diameter is 3mm, the outer diameter is 7mm, and the back of the back reflective marking points is 3M primer.

[0018] Preferably, the front reflective marking points and the back reflective marking points are transferred and fixed to the inner plane of the load-bearing light-transmitting plate through a transfer film.

[0019] By setting the measurement area, the subject can step accurately in the measurement area, eliminating the measurement adjustment process, reducing the amount of post-processing data, and improving the scanning accuracy; at the same time, after the subject stands in the measurement area, the three-dimensional data of the outside and sole of the foot can be collected simultaneously without moving the foot, avoiding data errors from multiple collections, making the measurement faster and more accurate. The setting of the double-foot measurement area can measure the data of both feet at the same time, further improving the scanning efficiency.

[0020] Preferably, the reflector is parallel to the load-bearing light-transmitting plate.

[0021] Preferably, the load-bearing light-transmitting plate is made of a durable material with high light transmittance, such as tempered glass, acrylic (PMMA), polycarbonate (PC), etc.

[0022] The load-bearing light-transmitting plate must have a certain load-bearing capacity, that is, it can bear the weight of the target object to be measured, and also needs to have good light transmittance so that the image of the sole of the foot can be clearly reflected in the reflector.

[0023] Preferably, the load-bearing light-transmitting plate and the reflector of the three-dimensional scanning platform are designed to be sealed.

[0024] The closed structure of the 3D scanning platform has good environmental adaptability. When working in a humid and dusty environment, it can prevent water vapor and dust from entering the scanning platform, ensuring scanning efficiency and accuracy and prolonging the service life of the equipment.

[0025] Preferably, the three-dimensional scanning platform further comprises a support frame for supporting the load-bearing light-transmitting plate and the reflector.

[0026] More preferably, the top of the support frame has an opening for accommodating a load-bearing light-transmitting plate, the opening is provided with a step, and the load-bearing light-transmitting plate is placed on the step; the bottom of the support frame has a recess for accommodating a reflective structure.

[0027] In order to make the three-dimensional scanning platform more beautiful, preferably, the upper surface of the load-bearing light-transmitting plate is flush with the upper end surface of the support frame.

[0028] More preferably, the plane of the fixed connection between the load-bearing light-transmitting plate and the support frame is screen-printed with black ink.

[0029] In order to collect and obtain the sole image in the reflector, a certain distance must be provided between the load-bearing light-transmitting plate and the reflector. By setting a support frame, a certain distance can be provided between the load-bearing light-transmitting plate and the reflector, and the distance is 40-50 mm.

[0030] Preferably, the support frame is an integrally formed support frame or a split assembled support frame.

[0031] Setting the support frame as an integrated structure can reduce the connection gap on the overall structure of the 3D scanning platform, thereby improving the overall sealing effect of the 3D scanning platform; and setting the support frame as a split assembly structure is conducive to the disassembly and assembly of the 3D scanning platform, as well as the maintenance of the internal structure of the platform.

[0032] Preferably, the split assembly type support frame includes an upper support frame, a lower support frame, and a support connector connecting the upper support frame and the lower support frame.

[0033] More preferably, the support connecting member is a sealing plate, or a combination of a column and a sealing plate. The column can play a role in reinforcing the support frame.

[0034] More preferably, the columns are evenly arranged, and the number is 4, and the sealing plates used in combination therewith include a first sealing plate and a second sealing plate, and the first sealing plate and the second sealing plate are arranged opposite to each other.

[0035] Preferably, the lower surface edge of the upper bracket, the upper surface edge of the lower bracket, and the side edge of the column are all provided with strip-shaped grooves, and the sealing plate is clamped in the strip-shaped grooves.

[0036] Preferably, the bracket connector and the upper bracket or the lower bracket may be fixedly connected by bonding, screw connection or the like.

[0037] More preferably, the connection gaps of each splicing part are sealed with silicone rubber. The connection gaps of each splicing part refer to the connection gaps between the upper bracket, the lower bracket and the bracket connector, the connection gap between the sealing plate and the column, and the gap between the load-bearing light-transmitting plate and the support frame. This sealing treatment further improves the moisture-proof and dust-proof performance of the overall structure of the three-dimensional scanning platform.

[0038] Preferably, the three-dimensional scanning platform is square in shape as a whole, the lower end of the column is fixed to the four corners of the upper surface of the lower bracket, and the upper end of the column is fixed to the four corners of the lower surface of the upper bracket.

[0039] More preferably, the column is connected to the upper bracket or the lower bracket by a hexagon socket screw.

[0040] Preferably, the three-dimensional scanning platform as a whole can also be in various shapes such as round, elliptical, etc.

[0041] Three-dimensional scanning platforms of different shapes can be applied to various scenes according to the actual space size conditions and the on-site environment, and are flexible to use and save space. Among them, the three-dimensional scanning platforms without sharp corners such as round and elliptical shapes also have the beneficial effect of preventing sharp corners from accidentally injuring people.

[0042] Preferably, the three-dimensional scanning platform further comprises a foot pad, and the foot pad is fixedly connected to the lower surface of the support frame.

[0043] Preferably, the foot pad and the lower bracket may be fixedly connected in various ways such as bonding and screw connection.

[0044] More preferably, the foot pads are molded from silicone rubber and the number is 4. The foot pads have an anti-slip effect.

[0045] The present invention also provides a three-dimensional scanning system, which includes the above-mentioned three-dimensional scanning platform, a signal transceiver and a data processing device. The signal transceiver is used to transmit light signals to the target object to be measured on the load-bearing transparent plate and collect light signals reflected from the target object to be measured. The data processing device can realize the correction and splicing of three-dimensional images. The three-dimensional scanning platform and the signal transceiver are not connected to each other.

[0046] Preferably, the signal transceiver device is a handheld scanner.

[0047] More preferably, the handheld scanner is a handheld laser 3D scanner.

[0048] The present invention also provides a three-dimensional model scanning method, which is applied to the above three-dimensional scanning platform, and the method comprises:

[0049] Transmitting a light signal to the target object to be measured on the load-bearing light-transmitting plate;

[0050] Collecting light signals reflected from the target object to be measured;

[0051] The collected optical signals are converted into data and a three-dimensional model is generated.

[0052] The present invention also provides a three-dimensional model image stitching method, the method comprising:

[0053] Acquire the three-dimensional image to be spliced ​​by using the three-dimensional scanning platform;

[0054] Determine the position correspondence of the image feature points in the image to be stitched by using the marker point space coordinate system composed of the front reflective marker points and the back reflective marker points;

[0055] The images are adjusted, spliced, and fused according to the corresponding relationship of the landmark points to finally form a complete three-dimensional model.

[0056] In summary, the present invention has the following positive effects:

[0057] 1. The 3D scanning platform and the signal transceiver are separated, with simple structure, low cost, light weight, easy to carry, flexible and convenient to use, low maintenance cost, and suitable for various space size scenes;

[0058] 2. The positive reflective marker points and the reverse reflective marker points on the 3D scanning platform can form a marker point space coordinate system. By matching the corresponding feature marker points on different spatial planes, the front scanning data and the reverse scanning data can be spliced, which greatly simplifies the splicing process of the 3D model and makes the splicing result more accurate.

[0059] 3. The scanning platform is sealed, which can prevent water vapor and dust from entering the scanning platform when working in a humid and dusty environment, without affecting the scanning efficiency and accuracy, and prolonging the life of the instrument;

[0060] 4. The subject can step accurately in the measurement area, eliminating the measurement adjustment process, reducing the amount of post-data processing, and improving the scanning accuracy; at the same time, after the subject stands in the measurement area, without moving the foot, the three-dimensional data of the outside and sole of the foot can be collected simultaneously, avoiding data errors from multiple collections, making the measurement faster and more accurate.

[0061] 5. The setting of double-foot measurement area can measure the data of both feet at the same time, further improving the scanning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0063] Figure 1is a schematic structural diagram of the three-dimensional scanning platform of Example 1;

[0064] Figure 2 is a half-section view of the three-dimensional scanning platform of Example 1;

[0065] Figure 3 is a front view of the reflective marking point on the load-bearing light-transmitting plate of Example 1;

[0066] Figure 4 is a rear view of the reflective marking point on the load-bearing light-transmitting plate of Example 1;

[0067] Icon: 100-3D scanning platform, 1-load-bearing light-transmitting plate, 2-front reflective marking point, 3-back reflective marking point, 4-upper bracket, 5-first sealing plate, 6-second sealing plate, 7-column, 8-reflector, 9-lower bracket, 10-foot pad, 11-double-sided foam glue, 12-silicone rubber, 13-double-foot measurement area, 14-black silk-screen area. DETAILED DESCRIPTION

[0068] The technical solution of the present invention is further described below through specific implementation modes and in combination with the accompanying drawings.

[0069] Example 1

[0070] Figure 1 is a schematic diagram of the structure of the three-dimensional scanning platform of Example 1, such as Figure 1 As shown, the three-dimensional scanning platform described in Example 1 of the present invention includes a load-bearing light-transmitting plate 1, front reflective marking points 2, back reflective marking points 3, an upper bracket 4, a first sealing plate 5, a second sealing plate 6, a column 7, a reflector 8, a lower bracket 9, and a foot pad 10.

[0071] The upper bracket 4 is provided with a stepped groove, and the load-bearing light-transmitting plate 1 is fixed on the stepped groove on the upper bracket 4 by the double-sided foam glue 11. The material of the load-bearing light-transmitting plate can be tempered glass, acrylic (PMMA), polycarbonate (PC), etc. The load-bearing light-transmitting plate 1 is flush with the end surface of the upper bracket 4, and black ink is silk-screened around the inner plane of the load-bearing light-transmitting plate 1 to form a black silk-screen area 14, the purpose of which is to cover the double-sided foam glue 11.

[0072] The reflector 8 is fixed in the inner plane sunken depression on the lower bracket 9 by double-sided foam glue 11, generating a mirror three-dimensional image of the sole of the foot, and the scanning head can scan the mirror image of the sole of the foot. The reflector 8 is parallel to the load-bearing light-transmitting plate 1, and the vertical distance between the reflector 8 and the load-bearing light-transmitting plate 1 is 47.5 mm. Further, the distance can also be 45 mm, 46 mm, 48 mm, 49 mm, 50 mm.

[0073] Furthermore, the scanning platform as a whole can be designed into various shapes such as circular and elliptical according to the needs of actual usage scenarios.

[0074] The bracket connector in Example 1 of the present invention is a combination of a column and a sealing plate, and the four columns 7 are evenly distributed on the four outer right angles of the lower bracket 9, and the upper bracket 4, the columns 7 and the lower bracket 9 are fixed together by hexagon socket screws. Furthermore, the four columns 7 can also be fixedly connected to the upper bracket 4 and the lower bracket 9 by strong bonding, screw connection, etc.

[0075] The upper edge of the lower bracket 9, the side of the column 7 and the lower edge of the upper bracket 4 are provided with strip grooves, and the first sealing plate 5 and the second sealing plate 6 are clamped in the small grooves. The peripheral areas where the first sealing plate 5, the second sealing plate 6, the upper bracket 4, the column 7 and the lower bracket 9 contact each other are sealed with silicone rubber 12, such as Figure 2 As shown, it plays the role of moisture-proof and dust-proof.

[0076] Furthermore, the bracket connector may also be composed of only a sealing plate. The sealing plate and the upper bracket 4 and the lower bracket 9 may be fixedly connected to each other by means of clamping, strong bonding, screw connection, etc.

[0077] Furthermore, the support frame composed of the upper support 4, the first sealing plate 5, the second sealing plate 6, the column 7, and the lower support 9 can also be an integrally formed structure.

[0078] The front reflective marking points 2 and the back reflective marking points 3 are pasted on the inner plane of the load-bearing light-transmitting plate 1. Before pasting, the front reflective marking points 2 and the back reflective marking points 3 are respectively fixed on two transfer films, and are transferred and fixed to the inner plane of the load-bearing light-transmitting plate 1 through the transfer films. The front reflective marking points 2 and the back reflective marking points 3 are staggered and evenly arranged at intervals, and together form a double-foot measurement area 13. The front reflective marking points 2 are fifty-eight, and the back reflective marking points 3 are fifty-four. Figure 3 , Figure 4 As shown. The shape of the front reflective mark 2 is a circular coating with an inner diameter of 3mm and an outer diameter of 10mm. The inner circle of the front reflective mark 2 is a reflective material, and the outer circle is black ink. The black ink is glued, and the back of the front reflective mark 2 is 3M primer. The shape of the back reflective mark 3 is a circular coating with an inner diameter of 3mm and an outer diameter of 7mm. The inner circle of the front reflective mark 3 is a reflective material, and the outer circle is black ink. The black ink is glueless, and the back of the back reflective mark 3 is 3M primer.

[0079] The foot pad 10 is fixed to the outer plane of the lower bracket 9 by 3M double-sided paper adhesive, so that the entire platform remains horizontal and stable. The foot pad is molded with silicone rubber and has an anti-slip effect.

[0080] The scanning system of Embodiment 1 of the present invention includes the above-mentioned 3D scanning platform, a handheld 3D laser scanner and a data processor. The specific scanning method is as follows: the foot of the subject is placed on the load-bearing transparent plate 1, and the measurement personnel hold the handheld 3D laser scanner in their hands, and first obtain the 3D data of the outside of the foot by rotating and scanning around the foot of the subject; the image of the sole is presented in the reflector through reflection, and the measurement personnel then obtain the 3D data of the sole by scanning the image in the reflector, that is, the scanning of the entire foot is completed.

[0081] The three-dimensional model image stitching method of embodiment 1 of the present invention is as follows: the acquired three-dimensional image of the sole is flipped, and according to the spatial coordinate system of the marker points formed by the front reflective marker points and the back reflective marker points, the corresponding feature marker points in different spatial planes are matched to realize the stitching, correction and fusion of the front scanning data and the back scanning data, and finally form a complete three-dimensional model.

[0082] The present invention can be used not only for the three-dimensional scanning of feet, but also for the three-dimensional scanning of other objects. As long as the object to be measured is placed in the measuring area, the scanning can be completed according to the above operation.

[0083] The applicant declares that the present invention illustrates the detailed structure, system composition, and operation method of the present invention through the above-mentioned embodiments, but the present invention is not limited to the above-mentioned detailed structure, system composition, and operation method, that is, it does not mean that the present invention must rely on the above-mentioned detailed structure, system composition, and operation method to be implemented. The technicians in the technical field should understand that any improvement of the present invention, the equivalent replacement of the components and steps of the product of the present invention, the addition of auxiliary components and steps, the selection of specific methods, etc., all fall within the protection scope and disclosure scope of the present invention.

Claims

1. A three-dimensional scanning platform, characterized in that: It includes a load-bearing light-transmitting plate for placing an object to be measured, a reflector arranged on the side of the load-bearing light-transmitting plate away from the object to be measured, and at least one front reflective marking point and at least one back reflective marking point arranged on the side of the load-bearing light-transmitting plate away from the object to be measured, wherein the reflective surface of the front reflective marking point faces the side where the object to be measured is placed, and the reflective surface of the back reflective marking point faces the side away from the object to be measured; The front reflective marking points and the back reflective marking points are alternately arranged at intervals to jointly form a measurement area for the target object to be measured; The reflector is parallel to the load-bearing light-transmitting plate; The front reflective marking points and the back reflective marking points are both adhered and fixed on the inner plane of the load-bearing light-transmitting plate.

2. The three-dimensional scanning platform according to claim 1, characterized in that: The measurement area of ​​the target object to be measured is a foot measurement area; The foot shape measurement area is a double-foot measurement area.

3. The three-dimensional scanning platform according to claim 1, characterized in that: The load-bearing light-transmitting plate and the reflector of the three-dimensional scanning platform are designed to be sealed.

4. The three-dimensional scanning platform according to claim 1, characterized in that: The three-dimensional scanning platform also includes a support frame for supporting the load-bearing light-transmitting plate and the reflector.

5. The three-dimensional scanning platform according to claim 4, characterized in that: The top of the support frame has an opening for accommodating a load-bearing light-transmitting plate, the opening is provided with a step, and the load-bearing light-transmitting plate is placed on the step; the bottom of the support frame has a recess for accommodating a reflective structure.

6. The three-dimensional scanning platform according to claim 4, characterized in that: The support frame is an integrally formed support frame or a split assembled support frame.

7. The three-dimensional scanning platform according to claim 6, characterized in that: The split assembly type support frame includes an upper support frame, a lower support frame, and a support connecting piece connecting the upper support frame and the lower support frame.

8. The three-dimensional scanning platform according to claim 7, characterized in that: The support connecting piece is a sealing plate, or a combination of a column and a sealing plate.

9. The three-dimensional scanning platform according to claim 8, characterized in that: The lower surface edge of the upper bracket, the upper surface edge of the lower bracket, and the side of the column are all provided with strip grooves for clamping the sealing plate.

10. The three-dimensional scanning platform according to claim 9, characterized in that: The bearing surface of the load-bearing light-transmitting plate of the scanning platform is square, the lower end of the column is fixed to the four corners of the upper surface of the lower bracket, and the upper end of the column is fixed to the four corners of the lower surface of the upper bracket.

11. The three-dimensional scanning platform according to any one of claims 4 to 10, characterized in that: It also includes a foot pad, which is bonded to the lower surface of the support frame.

12. A three-dimensional scanning system, characterized in that: The device comprises a three-dimensional scanning platform, a signal transceiver and a data processing device as described in any one of claims 1 to 11, wherein the signal transceiver is used to transmit light signals to the target object to be measured on the load-bearing light-transmitting plate and collect light signals reflected from the target object to be measured, and the data processing device is used to correct and splice three-dimensional image data; The three-dimensional scanning platform and the signal transceiver are independently arranged.

13. A three-dimensional scanning method, characterized in that: For a three-dimensional scanning platform according to any one of claims 1 to 11, the method comprises: Transmitting a light signal to the target object to be measured on the load-bearing light-transmitting plate; Collecting light signals reflected from the target object to be measured; The collected light signals are converted into model data and spliced ​​to generate a three-dimensional model.

14. A three-dimensional model image stitching method, characterized in that: The method comprises: Acquire the three-dimensional image to be stitched by using the three-dimensional scanning platform according to any one of claims 1 to 11; Determine the position correspondence of the image feature points in the three-dimensional image to be spliced ​​by using the marker point space coordinate system composed of the front reflective marker points and the back reflective marker points; The images are adjusted, spliced, and fused according to the corresponding relationship of the landmark points to finally form a complete three-dimensional model.

Images