In-shoe three-dimensional scanning device and method

Abstract

The application discloses a kind of in-shoe three-dimensional scanning device and method, the in-shoe three-dimensional scanning device includes mechanical arm, mobile device, support, detector and multiple angle adjusting devices, one end of mechanical arm is installed on mobile device, the other end is connected detector, mobile device is installed on support, for driving mechanical arm up and down movement, mechanical arm includes multiple rocker arms, and multiple joints for connecting rocker arm, multiple angle adjusting devices are connected corresponding joint respectively, and angle adjusting device is used to adjust the angle of rocker arm connected with the joint corresponding to it.The in-shoe three-dimensional scanning device of the application is simple in structure, convenient to use, high in accuracy, enterprises can accurately obtain all in-shoe three-dimensional models, and then judge whether the quality of shoes is consistent, after uploading, so that users can match the three-dimensional model of shoes that fit themselves in the past with the three-dimensional model of new shoes when shopping, judge whether the style is suitable, enhance user experience.

Description

Technical Field

[0001] This invention relates to the field of 3D modeling technology, and in particular to a 3D scanning device and method for the inside of a shoe. Background Technology

[0002] Shoe size, also known as shoe number, is commonly indicated in the following ways: international, European, American, and British. The international standard shoe size indicates the length of the foot in millimeters, while the Chinese standard uses millimeters or centimeters to measure shoe size.

[0003] However, as the saying goes, "only the wearer knows if a pair of shoes fits." With all sorts of foot types, such as wide feet or high insteps, it's difficult to determine whether shoes truly fit if you only choose different sizes based on standard sizes without actually wearing them.

[0004] When buying shoes online, shoe sizes vary widely among manufacturers. Users often cannot find shoes that perfectly fit their feet when purchasing according to standard sizes, leading to frequent returns and exchanges. This wastes time and logistics costs, negatively impacts the user experience, and some users, to save time or to avoid sellers shirking responsibility, sometimes even force themselves to wear unsuitable shoes, causing harm to their health.

[0005] At the same time, shoe manufacturers also need to inspect the shoes they produce to ensure their quality. Due to the various defects in standard size inspection, a testing method that can obtain a three-dimensional model of the inside of the shoe is needed to inspect the shoes.

[0006] To address this, Chinese patent CN107305698A discloses a method for constructing a three-dimensional model of the inner surface of a shoe, comprising: S1) a scanning device consisting of a CCD camera, a line laser, and a turntable, placed inside the shoe; S2) turning on the line laser and the CCD camera, directing the laser beam to a measured point on the inner surface of the shoe, and calculating the distance d between the line laser and any point on the inner surface of the shoe; S3) turning on the electric turntable and rotating it one revolution, allowing the line laser to scan various points on the inner surface of the shoe, and calculating the distance data from the laser beam to each point on the inner surface of the shoe according to step S2); S4) transmitting the data obtained in step S3) to an intelligent server and reconstructing the three-dimensional model of the inner surface of the shoe. This method for constructing a three-dimensional model of the inner surface of a shoe is the first to use an automatically rotating line laser scanning device to obtain three-dimensional data information of the inner surface of the shoe and construct a three-dimensional model based on the principle of laser triangulation, with the entire process being automated.

[0007] However, this method of creating a 3D model of the shoe's inner surface simply involves placing a CCD camera and a line laser inside the shoe and then rotating it once on a turntable to obtain a 3D model of the shoe's inner surface. But since the shoe is an L-shaped irregular body composed of a straight tube at the entrance and space on the bottom, this method cannot accurately obtain a 3D model of the shoe's inner surface. Summary of the Invention

[0008] This invention provides a three-dimensional scanning device and method for the inside of shoes, which solves the current technical problem of being unable to accurately obtain a three-dimensional model of the inside of shoes.

[0009] To address the aforementioned technical problems, in a first aspect, the present invention proposes a three-dimensional scanning device for an insole, comprising a robotic arm, a moving device, a support, a detector, and multiple angle adjustment devices. One end of the robotic arm is mounted on the moving device, and the other end is connected to the detector. The moving device is mounted on the support and is used to drive the robotic arm to move up and down. The robotic arm includes multiple rocker arms and multiple joints for connecting the rocker arms. The multiple angle adjustment devices are respectively connected to the corresponding joints, and the angle adjustment devices are used to adjust the angle of the rocker arm connected to the corresponding joint.

[0010] As a further improvement to the in-shoe three-dimensional scanning device of the present invention, it also includes a controller electrically connected to the moving device, the detector and the angle adjustment device.

[0011] As a further improvement of the three-dimensional scanning device inside a shoe according to the present invention: the detector includes a distance detector and a rotating ring detector electrically connected to the controller. Both the distance detector and the rotating ring detector are mounted on the end arm. The distance detector is used to obtain the distance between the end of the robotic arm and the sole of the shoe, and the rotating ring detector is used to obtain the distance between the end of the robotic arm and the side wall of the shoe.

[0012] As a further improvement of the three-dimensional scanning device inside a shoe according to the present invention: the rotating ring detector is rotatably mounted on the end of the robotic arm, and the distance detector passes through the ring detector and is fixedly mounted on the end of the robotic arm.

[0013] As a further improvement of the in-shoe three-dimensional scanning device of the present invention: the angle adjustment device includes a power cable, a locking device, a pull rope device and a transmission device, the power cable is connected to the transmission device, the transmission device is connected to the pull rope device through the locking device, the pull rope device is connected to the joint through a pull rope, and the locking device and the pull rope device are electrically connected to the controller.

[0014] As a further improvement to the in-shoe three-dimensional scanning device of the present invention: the pull cord device has a resetting device for resetting the joint position.

[0015] Secondly, the present invention also provides a three-dimensional scanning method for the inside of a shoe, wherein the three-dimensional scanning method for the inside of a shoe is applied to the three-dimensional scanning device for the inside of a shoe described in the first aspect, wherein a robotic arm is moved into the shoe by a moving device, and a detector at the end of the robotic arm performs a three-dimensional scan of the inside of the shoe.

[0016] As a further improvement to the method of the present invention, the three-dimensional scanning method inside the shoe specifically includes the following steps:

[0017] S1: Move the robotic arm into the shoe using a mobile device, rotate the ring detector to perform a three-dimensional slice, and obtain the distances Xleft1 and XRight1 from the end of the robotic arm to the two sides of the shoe;

[0018] S2: When the difference between Xleft1 and XRight1 is greater than the set threshold, the angle α of the first rocker arm is adjusted by the angle adjustment device until the difference between Xleft1 and XRight1 is less than or equal to the set threshold, and the controller records the three-dimensional slice.

[0019] S3: Obtain the height h of the first rocker arm perpendicular to the horizontal direction according to the law of cosines, move the mechanical arm of the moving device to descend by a height h, and repeat step S2;

[0020] S4: When the distance between the end of the robotic arm and the bottom of the shoe is less than the height h, control the detector to move laterally. Record a 3D slice once for each arm length it moves, until the distance between the end of the robotic arm and the side wall of the shoe is less than one arm length.

[0021] S5: Fit all the acquired 3D slices to obtain the 3D model of the shoe interior.

[0022] As a further improvement to the method of the present invention: when the difference between Xleft1 and XRight1 is less than or equal to a set threshold, the controller directly records the three-dimensional slice.

[0023] As a further improvement to the method of the present invention, step S3 specifically includes:

[0024] S31: Obtain the height h of the first rocker arm perpendicular to the horizontal direction according to the law of cosines, and move the mechanical arm of the moving device down by the height h.

[0025] S32: After the robotic arm descends a height h, the angle of the second rocker arm is adjusted to the original angle α of the first rocker arm, and the angle of the nth rocker arm is adjusted to the angle of the (n-1)th rocker arm.

[0026] S33: The first rocker arm performs step S2.

[0027] The present invention has the following beneficial effects: The present invention provides a three-dimensional scanning device and method for the inside of a shoe. A robotic arm and its end-effector detector are moved into the shoe via a moving device. An angle adjustment device adjusts the angle of the rocker arm via a joint, thereby changing the position of the detector inside the shoe. After the robotic arm advances one rocker arm distance, it performs a three-dimensional slice of the shoe interior. All the acquired three-dimensional slices are fitted to obtain a three-dimensional model of the inside of the shoe. Compared with existing three-dimensional shoe model acquisition devices, the present invention's three-dimensional scanning device for the inside of the shoe has a simple structure, is easy to use, and has high accuracy. Enterprises can accurately acquire all the three-dimensional models of the inside of the shoes, thereby determining whether the shoe quality is consistent. After uploading, users can match the three-dimensional model of the new shoe with the three-dimensional model of their previously purchased shoes to determine whether the style is suitable, enhancing the user experience.

[0028] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0029] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 This is a schematic diagram of the structure of the three-dimensional scanning device inside the shoe according to the present invention;

[0031] Figure 2 This is a schematic diagram of the detector structure of the three-dimensional scanning device inside the shoe of the present invention, wherein the dashed line part is the detection path of the detector;

[0032] Figure 3 This is a schematic diagram of the angle adjustment device of the three-dimensional scanning device inside the shoe of the present invention;

[0033] Figure 4 This is a top view of the angle adjustment device of the three-dimensional scanning device inside the shoe of the present invention;

[0034] Figure 5 This is a schematic diagram of the three-dimensional scanning device inside the shoe of the present invention at each forward unit height inside the shoe;

[0035] Figure 6 This is a schematic diagram of the movement path of the in-shoe three-dimensional scanning device of the present invention inside the shoe;

[0036] Figure 7 This is a schematic diagram showing two states of the robotic arm of the shoe interior three-dimensional scanning device of the present invention.

[0037] The labels in the diagram represent:

[0038] 1. Robotic arm; 11. Rocker arm; 12. Joint; 2. Motion device; 3. Support; 4. Detector; 41. Distance detector; 42. Ring detector; 5. Angle adjustment device; 51. Power cable; 52. Locking device; 53. Pull rope device; 54. Transmission device; 55. Pull rope; 6. Shoe. Detailed Implementation

[0039] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0040] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer," etc., used in this application description to indicate relative direction or positional relationship are used only to indicate relative orientation or positional relationship, and do not imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly, and therefore should not be construed as a limitation on this application. The terms "first," "second," "third," and similar terms used in this application description are used only for descriptive purposes to distinguish different components, and should not be construed as indicating or implying relative importance. The terms "a," "one," or "the," etc., used in this application description should not be construed as an absolute limitation on quantity, but should be construed as indicating the existence of at least one. The terms "including," "comprising," etc., used in this application description mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects.

[0041] It should also be noted that, unless otherwise explicitly specified and limited, the terms such as “installation,” “connection,” and “linkage” used in the description of this application should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal connection of two components. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0042] Example 1: A three-dimensional scanning device for the inside of a shoe.

[0043] like Figure 1 and Figure 2As shown, the shoe interior three-dimensional scanning device of this embodiment includes a robotic arm 1, a moving device 2, a support 3, a detector 4, and multiple angle adjustment devices 5. One end of the robotic arm 1 is mounted on the moving device 2, and the other end is connected to the detector 4. The moving device 2 is mounted on the support 3 and is used to drive the robotic arm 1 to move up and down. The robotic arm 1 includes multiple rocker arms 11 and multiple joints 12 for connecting the rocker arms 11. The multiple angle adjustment devices 5 are respectively connected to the corresponding joints 12. The angle adjustment devices 5 are used to adjust the angle of the rocker arm 11 connected to its corresponding joint 12.

[0044] In this embodiment of the shoe interior three-dimensional scanning device, a controller is also included. The controller is electrically connected to the moving device 2, the detector 4 and the angle adjustment device 5. The controller controls the moving distance of the moving device 2, acquires the detection data of the detector 4, and controls the angle adjustment amount of the angle adjustment device 5. In this embodiment, the controller is specifically a PLC (Programmable Logic Controller).

[0045] like Figure 2 As shown, in the shoe interior three-dimensional scanning device of this embodiment, the detector 4 includes a distance detector 41 and a rotating ring detector 42 electrically connected to the controller. Both the distance detector 41 and the rotating ring detector 42 are mounted on the end rocker arm 11. The distance detector 41 is used to obtain the distance between the end of the robotic arm 1 and the sole of the shoe 6, and the rotating ring detector 42 is used to obtain the distance between the end of the robotic arm 1 and the side wall of the shoe 6.

[0046] In the shoe-inside three-dimensional scanning device of this embodiment, the rotating ring detector 42 is rotatably mounted at the end of the robotic arm 1, and the distance detector 41 passes through the ring detector 42 and is fixedly mounted at the end of the robotic arm 1.

[0047] When the rocker arm at the very end of the robotic arm 1 is parallel to the sole of the shoe 6, the laser emitted directly from the distance detector 41 can detect the distance between the end of the robotic arm 1 and the side wall of the shoe 6. The rotating ring detector 42 measures the slice distance at that position by rotating around once (similar to a CT slice), thus obtaining a three-dimensional slice. The data obtained by the distance detector 41 and the rotating ring detector 42 are both transmitted to the controller.

[0048] like Figure 3 and Figure 4 As shown, in the shoe-inside three-dimensional scanning device of this embodiment, the angle adjustment device 5 includes a power cable 51, a locking device 52, a pull rope device 53 and a transmission device 54. The power cable 51 is connected to the transmission device 54, the transmission device 54 is connected to the pull rope device 53 through the locking device 52, the pull rope device 53 is connected to the joint 12 through the pull rope 55, and the locking device 52 and the pull rope device 53 are electrically connected to the controller.

[0049] The power cable 51 is driven to move by a motor. When the power cable 51 moves, the transmission device 54 will drive its shaft to rotate. The shaft of the transmission device 54 is connected to the pull rope device 53 after passing through the locking device 52. When the locking device 52 is locked, the shaft of the transmission device 54 can transmit the rotational torque to the pull rope device 53. The pull rope device 53 pulls the joint 12 to move through the pull rope 55, thereby changing the angle of the rocker arm 11 connected to the corresponding joint 12. When the joint 12 drives the rocker arm 11 to the specified angle, the locking device 52 is released. At this time, the rotation of the power cable 51 cannot be applied to the joint 12.

[0050] The rope-pulling device 53 and the transmission device 54 constitute the transmission method of pixel torque. The rope-pulling device 53 rotates under the movement of the power cable 51, and the transmission device 54 determines whether to accept the rotational torque through the locking device 52. The rope-pulling device 53 has a reset device to return the joint 12 to its original position. Figure 7 As shown, after the reset device resets the joint 12, it can reset the two rocker arms 11 connected to the joint 12 to a parallel state.

[0051] like Figure 4 As shown, in a preferred embodiment of this invention, the joint 12 between each pair of rocker arms 11 is composed of two small joints. Each small joint is connected to two pull rope devices 53 via pull ropes 55. The two pull rope devices 53 are connected to the transmission device 54 via locking device 52. The two transmission devices 54 are driven by two power cables 51, and the two power cables 51 are controlled in a closed loop, moving in opposite directions. When the two power cables 51 move, the two small joints can move relative to each other, thereby rapidly widening the angle between the two rocker arms 11 connected to the two small joints, so that the angle adjustment device 5 has a faster adjustment speed.

[0052] Compared to existing shoe interior 3D model acquisition devices, the shoe interior 3D scanning device in this embodiment has a simple structure, is easy to use, and has high accuracy. Enterprises can accurately acquire all shoe interior 3D models, thereby determining whether the shoe quality is consistent. After uploading, users can match the 3D model of the new shoe with the 3D model of the shoes they have previously purchased to determine whether the style is suitable, thus enhancing the user experience.

[0053] Example 2: A method for three-dimensional scanning inside a shoe.

[0054] The shoe interior three-dimensional scanning method of this embodiment is applied to the shoe interior three-dimensional scanning device of Embodiment 1. The mechanical arm 1 is moved into the shoe 6 by the moving device 2, so that the detector 4 at the end of the mechanical arm 1 performs a three-dimensional scan of the inside of the shoe 6.

[0055] In this embodiment of the shoe interior three-dimensional scanning method, the shoe interior three-dimensional scanning method specifically includes the following steps:

[0056] S1: Move the robotic arm 1 into the shoe 6 using the moving device 2, rotate the ring detector 42 to perform a three-dimensional slice, and obtain the distances Xleft1 and XRight1 from the end of the robotic arm 1 to the two sides of the shoe 6.

[0057] After the robotic arm 1 enters the shoe 6, it first obtains the height Xh of the shoe 6. The length of the entire robotic arm 1 cannot be less than Xh. Xleft1 and XRight1 are the distances from the end of the robotic arm 1 to the sides of the shoe on a horizontal line.

[0058] S2: When the difference between Xleft1 and XRight1 is less than or equal to the set threshold, the controller directly records the three-dimensional slice. When the difference between Xleft1 and XRight1 is greater than the set threshold, the angle α of the first rocker arm 11 is adjusted by the angle adjustment device 5 until the difference between Xleft1 and XRight1 is less than or equal to the set threshold, and the controller records the three-dimensional slice.

[0059] S3: As Figure 5 As shown, the height h of the first rocker arm 11 perpendicular to the horizontal direction is obtained according to the law of cosines. The moving device 2 moves the mechanical arm 1 down by a height h, and the step S2 is repeated.

[0060] In the three-dimensional scanning method inside the shoe in this embodiment, step S3 specifically includes:

[0061] S31: Obtain the height h of the first rocker arm 11 perpendicular to the horizontal direction according to the law of cosines, and move the mechanical arm 1 to descend by the height h of the moving device 2;

[0062] S32: After the robotic arm 1 descends to a height h, the angle of the second rocker arm 11 is adjusted to the original angle α of the first rocker arm 11, and the angle of the nth rocker arm 11 is adjusted to the angle of the (n-1)th rocker arm 11.

[0063] S33: The first rocker arm 11 performs step S2.

[0064] S4: As Figure 6 As shown, when the distance between the end of the robotic arm 1 and the bottom of the shoe 6 is less than the height h, the detector 4 is controlled to move laterally. Each time it moves by the length of the rocker arm 11, a three-dimensional slice is recorded until the distance between the end of the robotic arm 1 and the side wall of the shoe 6 is less than the length of the rocker arm 11.

[0065] S5: Fit all the obtained 3D slices to obtain the 3D model inside shoe 6.

[0066] The shoe interior 3D scanning method of this embodiment, applied to the shoe interior 3D scanning device of Embodiment 1, can accurately obtain the shoe interior 3D model. Manufacturers can use the 3D model to determine whether the quality of shoes in the same batch is consistent, and can upload the shoe interior 3D model to the Internet, so that users can match the 3D model of the new shoe with the 3D model of the shoes they have previously purchased to determine whether the style is suitable, thus improving the user experience.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A shoe inner three-dimensional scanning method applied to a shoe inner three-dimensional scanning device, the shoe inner three-dimensional scanning device comprising a mechanical arm (1), a moving device (2), a support (3), a detector (4) and a plurality of angle adjusting devices (5), one end of the mechanical arm (1) being installed on the moving device (2), the other end of the mechanical arm (1) being connected to the detector (4), the moving device (2) being installed on the support (3) and used to drive the mechanical arm (1) to move up and down, the mechanical arm (1) comprising a plurality of rocker arms (11) and a plurality of joints (12) used to connect the rocker arms (11), a plurality of the angle adjusting devices (5) being connected to corresponding joints (12) respectively, the angle adjusting devices (5) being used to adjust the angle of the rocker arms (11) connected to the corresponding joints (12); further comprising a controller, the controller being electrically connected to the moving device (2), the detector (4) and the angle adjusting devices (5); the detector (4) comprising a distance detector (41) and a rotary ring detector (42) electrically connected to the controller, the distance detector (41) and the rotary ring detector (42) being installed on the last rocker arm (11), the distance detector (41) being used to obtain the distance between the end of the mechanical arm (1) and the bottom of a shoe (6), the rotary ring detector (42) being used to obtain the distance between the end of the mechanical arm (1) and the sidewall of the shoe (6); characterized in that the shoe inner three-dimensional scanning method comprising: S1: moving the mechanical arm (1) into the shoe (6) by the moving device (2), the rotary ring detector (42) making a three-dimensional slice to obtain the distances Xleft1 and XRight1 between the end of the mechanical arm (1) and the two sides of the shoe (6); S2: when the difference between Xleft1 and XRight1 is greater than a set threshold, adjusting the angle α of the first rocker arm (11) by the angle adjusting device (5) until the difference between Xleft1 and XRight1 is less than or equal to the set threshold, the controller recording the three-dimensional slice; S3: obtaining the height h of the first rocker arm (11) perpendicular to the horizontal direction according to the cosine theorem, the moving device (2) moving the mechanical arm (1) to descend the height h, and repeating step S2; S4: when the distance between the end of the mechanical arm (1) and the bottom of the shoe (6) is less than the height h, controlling the detector (4) to move laterally, recording a three-dimensional slice every time the mechanical arm (1) moves a length of a rocker arm (11), until the distance between the end of the mechanical arm (1) and the sidewall of the shoe (6) is less than a length of a rocker arm (11); S5: fitting all the obtained three-dimensional slices to obtain a three-dimensional model of the shoe (6).

2. The method of claim 1, wherein, When the difference between Xleft1 and XRight1 is less than or equal to the set threshold, the controller directly records the three-dimensional slice.

3. The method of claim 1, wherein, The step S3 specifically comprises: S31: obtaining the height h of the first rocker arm (11) perpendicular to the horizontal direction according to the cosine theorem, the moving device (2) moving the mechanical arm (1) to descend the height h. S32: After the robot arm (1) is lowered by a height h, the angle of the second rocker arm (11) is adjusted to the original angle a of the first rocker arm (11), and the angle of the nth rocker arm (11) is adjusted to the angle of the (n-1)th rocker arm (11); S33: The first rocker arm (11) performs step S2.

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