Human body part three-dimensional scanning device

Abstract

The embodiment of the utility model discloses a human body part three-dimensional scanning device, and the device comprises a supporting assembly which comprises a first vertical supporting part and a second vertical supporting part, the at least one supporting frame is arranged above the first upright supporting piece; the at least one scanning assembly is rotatably arranged on the second upright supporting piece; and the at least two scanning modules are fixedly arranged on the scanning assembly at an angle and face the supporting frame, and an overlapped scanning area exists between the two scanning modules. Stable support is provided for the to-be-scanned human body part, and the double depth cameras rotate around the human body part for scanning, so that the defects of long operation time, intolerance of a patient and low point cloud data precision caused by poor scanning stability and limited detection range of a handheld single depth camera in clinical use are overcome, the human body part scanning efficiency is improved, and the human body part scanning accuracy is improved. The operation difficulty is reduced, and the acquisition precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to medical scanning imaging, and in particular to a device for three-dimensional scanning of a human body part using a dual-depth camera. BACKGROUND

[0002] Three-dimensional scanning imaging technology is an advanced means that integrates optics, mechanics, electronics, and computer technology, which can accurately capture spatial coordinates, color or spectrum information of objects, and then generate three-dimensional models. This technology plays an important role in many fields such as 3D printing, intelligent manufacturing, and digital medicine, especially in human modeling and personalized orthosis manufacturing process, three-dimensional scanning imaging technology plays a crucial role.

[0003] However, current handheld three-dimensional scanners face some challenges in clinical applications. The main problems include insufficient scanning stability, low data acquisition accuracy, limited detection range, and the need for multiple repeated scans to ensure coverage of all necessary surface features, which not only increases the operation time, but also brings a greater burden to patients. In addition, the involuntary actions of patients may cause pose data distortion, which in turn affects the accuracy of point cloud data.

[0004] In order to overcome these limitations and improve the stability and detection range of three-dimensional imaging scanning, a solution is needed to improve the efficiency of the scanning process and the accuracy of the data, so as to greatly improve the application effect of three-dimensional scanning imaging technology in the field of clinical medicine, especially in the process of personalized orthosis design and manufacturing, to provide more comfortable and accurate treatment plans for patients, and to promote the technological progress and market development of related industries. CONTENT OF THE INVENTION

[0005] One or more embodiments of the present application provide a three-dimensional scanning device for a human body part to solve or at least partially alleviate the problems of insufficient stability, low data acquisition accuracy, limited detection range, and long operation time of three-dimensional scanning of a human body part in related technologies.

[0006] One or more embodiments of the present application provide a photovoltaic module installation system, which adopts the following technical solution:

[0007] A three-dimensional scanning device for a human body part, comprising:

[0008] A support assembly comprising a first upright support member and a second upright support member arranged vertically;

[0009] At least one support frame is arranged above the first upright support member;

[0010] At least one scanning assembly is rotatably arranged on the second upright support member; and

[0011] At least two scanning modules are fixedly arranged at the scanning assembly at an angle and face the support frame, and the two scanning modules have overlapping scanning areas.

[0012] In some embodiments, the first upright support comprises a support seat arranged horizontally above the first upright support; the support frame is arranged below the support seat and extends at an angle to the second upright support.

[0013] In some embodiments, the support frame is rotatably arranged on the first upright support.

[0014] In some embodiments, the extending end of the support frame is arranged at an angle with a support plane.

[0015] In some embodiments, the scanning assembly further comprises a scanning frame, the scanning frame has a connecting portion, a first scanning portion and a second scanning portion arranged in sequence, the first scanning portion is bent at an angle from the connecting portion and extends to the upright support, and the second scanning portion is bent at an angle from the first scanning portion and further extends to the upright support.

[0016] In some embodiments, at least one rotating table rotatably couples the scanning frame to the second upright support and drives the scanning frame to rotate around the support frame for scanning.

[0017] In some embodiments, the scanning modules are arranged on the side of the first scanning portion and the second scanning portion facing the support frame.

[0018] In some embodiments, the scanning modules arranged on the first scanning portion face the support plane, and the scanning modules arranged on the second scanning portion face the support frame.

[0019] In some embodiments, further comprising a data processing module, the scanning modules are implemented as a first depth camera and a second depth camera, the first depth camera and the second depth camera capture image data of the outer surface of the human body part from different angles, and the data processing module obtains spatial feature data information of the outer surface of the human body part.

[0020] In some embodiments, the support surface of the support plane is composed of transparent material; the scanning assembly rotates in a vertical direction; the support frame is arranged between the first vertical support and the second vertical support; the connection bending angle of the first scanning part and the connecting part is between 5° and 35°; the first scanning part and the second scanning part form an included angle ranging from 90° to 150°; the first depth camera is arranged on the side of the first scanning part close to the second vertical support, and the second depth camera is arranged on the end of the second scanning part away from the second vertical support, so as to form a larger binocular depth camera setting baseline distance, and a relatively far baseline distance can improve the collection accuracy.

[0021] Compared with the related art, one or more embodiments of the present application include at least one of the following beneficial technical effects:

[0022] (1) The scanning stability in the three-dimensional scanning process of the human body part is improved, and the detection range is expanded;

[0023] (2) The support points are reasonable, the burden of the patient in cooperation with the scanning is reduced, unnecessary actions during scanning are avoided, the probability of pose data distortion is reduced, and the accuracy of the scanning data and the precision of the point cloud data are improved;

[0024] (3) The scanning member of the present application scans through a stable driving mode, which reduces the operation difficulty and the scanning time required, and at the same time, the present application can realize three-dimensional imaging splicing of the surface data of the human foot and lower leg without extracting image corner feature points for matching, thereby reducing the subsequent data processing and imaging time. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present application, but not limit the present application.

[0026] Figure 1 It is a three-dimensional schematic view of the human body part three-dimensional scanning device according to the embodiment of the present application.

[0027] Figure 2 It is a connection schematic view of the electric turntable, the stepper motor driver and the controller according to the embodiment of the present application.

[0028] Figure 3 It is a splicing principle diagram of the human body part three-dimensional scanning method according to the embodiment of the present application.

[0029] Figures 4-7 It is a computer program interface diagram according to the embodiment of the present application.

[0030] Figure 4Computer program interface for real-time reconstruction mode.

[0031] Figure 4 a Color image of left camera for real-time reconstruction mode.

[0032] Figure 4 b Depth image of left camera for real-time reconstruction mode.

[0033] Figure 4 c Color image of right camera for real-time reconstruction mode.

[0034] Figure 4 d Depth image of right camera for real-time reconstruction mode.

[0035] Figure 4 e Reconstructed image for real-time reconstruction mode, displayed synchronously with color and depth images.

[0036] Figure 5 Computer program interface for offline reconstruction mode.

[0037] Figure 5 a Color image of left camera for offline reconstruction mode.

[0038] Figure 5 b Depth image of left camera for offline reconstruction mode.

[0039] Figure 5 c Color image of right camera for offline reconstruction mode.

[0040] Figure 5 d Depth image of right camera for offline reconstruction mode.

[0041] Figure 5 e Reconstructed image for offline reconstruction mode, displayed asynchronously with color and depth images.

[0042] Figure 6 Original 3D image of human foot and lower leg after reconstruction.

[0043] Figure 7 3D image of human foot and lower leg after cropping.

[0044] 100, an actuator; 110, a scanning member; 111, a support assembly; 1111, a first vertical support; 11111, a support seat; 1112, a support frame; 11121, a support plane; 11122, a connecting frame body; 1113, a second vertical support; 112, a scanning assembly; 1121, a scanning frame; 11211, a first scanning part; 11212, a second scanning part; 11213, a connecting part; 11214, a counterweight; 1122, a scanning module; 11221, a first depth camera; 11222, a second depth camera; 113, a chassis; 210, a controller; 310, a stepper motor; 320, a stepper motor driver; 330, a turntable; 340, a switching power supply.

[0045] P represents a point in a world coordinate system, P l is a coordinate of the point P in a left camera coordinate system (X l ,Y l ,Z l ), P r is a coordinate of the point P in a right camera coordinate system (X r ,Y r ,Z r ), (R l ,T l ) is a rotation and translation matrix from the world coordinate system to the left camera coordinate system, (R r ,T r ) is a rotation and translation matrix from the world coordinate system to the right camera coordinate system, C l represents the imaging center of the left camera, and C r represents the imaging center of the right camera. DETAILED DESCRIPTION

[0046] The present application will be further described below in conjunction with the drawings and embodiments.

[0047] The concept, specific structure and technical effects of the present application will be described clearly and completely in conjunction with the embodiments and drawings, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. In addition, all the coupling / connection relationships involved in the patent do not mean that the components are directly connected, but that a better coupling structure can be composed by adding or reducing coupling accessories according to the specific implementation. The technical features in the present application can be combined interactively without mutual contradiction and conflict.

[0048] Exemplary human body part three-dimensional scanning device

[0049] As Figures 1 to 7As shown, the human body part three-dimensional scanning device according to the embodiment of the present application is illustrated, which comprises an execution mechanism 100, a control mechanism and a driving mechanism. The execution mechanism 100 further comprises a scanning member 110 and a data processing module, the scanning member 110 performs three-dimensional scanning on the human body part, and transmits the scanned image data to the data processing module for processing. In this process, the driving mechanism is used to drive the three-dimensional scanning of the scanning member 110, the control mechanism is used to control the driving mechanism and the scanning member 110 coupled to the driving mechanism to move, scan and other activities, and the data processing of the data processing module and the adjustment of the rotation action and amplitude of the driving mechanism are realized through the circuit or signal transmission mode. Among them, the following example of human body part is taken as an embodiment of human foot calf.

[0050] The scanning member 110 further comprises a support assembly 111 and a scanning assembly 112, the support assembly 111 is used to frame the scanning space for the scanner and provide support for the human body part to be scanned and the scanning assembly 112, the scanning assembly 112 scans the outer periphery of the human body part to be scanned in a wide range, which covers all the spatial features of the outer surface of the human body part, so that the scanning assembly 112 can scan and collect all the image data of the human body part. (Here, considering the limitation of the scanning range and resolution of the scanning assembly 112 and the debugging error of the movement of the scanning assembly 112, in the actual working process, the scanning assembly 112 may exist the situation of missing part of the image data of the human body part, for this, as long as the actually collected image data can reconstruct the external contour of the human body part, and on the basis of the scanning result, according to the actual demand to do further technical improvement, the person skilled in the art should understand.) The image data obtained after the double-depth camera scanning is transmitted to the data processing module.

[0051] In a specific example of this application, the support assembly 111 further includes a first upright support member 1111, a second upright support member 1113, and a support frame 1112 extending at an angle from the top side of the first upright support member 1111. Both the first upright support member 1111 and the second upright support member 1113 extend parallel upwards from the bottom of the support assembly 111, i.e., the chassis 113, and are arranged opposite to each other. In some optional embodiments, the first upright support member 1111 consists of two upright extending legs. A support seat 11111 is formed on the top side of the first upright support member 1111. The top surface of the support seat 11111 forms a 90° angle with the upright direction of the first upright support member 1111, i.e., forming a horizontal plane, for supporting one end of the human body part to be scanned from the bottom side of a joint (e.g., the hip, elbow, armpit, or popliteal fossa). The support frame 1112 has a support plane 11121 to support the other end or part of the human body part to be scanned, providing another support point for the joint of the human body part. The second upright support member 1113 provides support for the scanning assembly 112. The support frame 1112 is located between the first upright support member 1111 and the second upright support member 1113, and the support plane 11121 is disposed on the extended end side of the support frame 1112, that is, the support frame 1112 connects the support plane 11121 and the first upright support member 1111. The upper space extending from the first upright support member 1111 and the support frame 1112 is the framed scanning space. The human body part to be scanned is supported by the first upright support member 1111 and the support frame 1112, so that the spatial features of the outer surface of the human body part are all within the framed scanning space, thereby facilitating the scanning assembly 112 to rotate around the human body part for three-dimensional scanning. In some optional embodiments, the support frame 1112 consists of two parallel frames without any structural connection between them, connected only at their extended ends via the support plane 11121. This facilitates a more complete and accurate scanning of the human body part by the scanning component 110. In other words, in some optional embodiments, the support base 11111 on the top side of the first upright support 1111 and the support plane 11121 define or frame the scanning space for placing or fixing the two ends of the human body part (such as the elbow or armpit), allowing for comfortable and stable placement and scanning of long, narrow limbs, thus enabling clear scanning that mimics the natural state of the human body. The bottom side of the first upright support 1111 forms a base 113 in a horizontal direction and is connected to the second upright support 1113. Meanwhile, the extension direction of the support frame 1112 forms an extension surface that forms an angle with the first upright support 1111. The support frame 1112 and the first upright support 1111 are rotatably connected to meet the different situations of different users or patients and conform to ergonomic design. This ensures that the human body parts can be normally stretched in the standing or sitting posture during scanning, thereby improving the accuracy of the scanning results.

[0052] In one specific example of the present application, the first upright support 1111 is implemented as an upright double column structure and is provided with a support seat 11111 on the top side, and the support frame 1112 is implemented as a rotatable connection on the support seat 11111. In some optional embodiments, the height of the first upright support 1111 is adjustable, i.e., it is provided with telescopic adjustment. The support frame 1112 further includes a support plane 11121 and a connecting frame body 11122 provided on the side of the support plane 11121 and extending to the first upright support 1111. The two ends of the connecting frame body 11122 are respectively hinged to the support seat 11111 and the support plane 11121 and can rotate respectively. The length between the support seat 11111 and the plate body is the length of the framed scanning space. When the human body part is in a drooping state, the height range between the lowest point of the support plane 11121 and the highest point of the support seat 11111 is the height of the framed scanning space; when the human body part is placed in a near-horizontal state, the height range between the lowest point of the support plane 11121 and the highest point of the plate body is the height of the framed scanning space. At least one locking component can be further included between the two connecting frame bodies 11122 of the support plane 11121, respectively, to avoid the displacement of the human body part due to the positional deviation or insufficient holding force between the multiple structural members included in the support frame 1112, which causes the displacement of the human body part in the scanning space positioning and leads to the distortion of the pose data. More specifically, the connecting frame body 11122 can be implemented as a telescopic frame body with variable length, which is used to adjust the scanning space defined between the support plane 11121 and the support seat 11111, to provide flexible support conditions for the joints of human body parts of different lengths, thereby realizing the scanning stability of different human body parts.

[0053] To further clearly show and understand the advantages and principles of the above design, taking the human calf or human forearm as an example, the top of the support seat 11111 supports the popliteal fossa of the human thigh or the elbow joint to assist the person to be scanned to maintain the lifting state of the human calf or the human forearm. The support plane 11121 abuts the soles of the feet or the palms of the hands of the person to be scanned. The connecting frame body 11122 rotates a certain angle at the rotating connection between the connecting frame body 11122 and the support seat 11111 with the lifting of the human calf or the human forearm, so that the human calf or the human forearm maintains a stable lifting state in the framed scanning space. The benefit of this design is that during the general orthopedic rehabilitation process, protective gear needs to be worn, but due to the different joint and limb conditions of patients and the complex injury conditions, targeted scanning and design of protective gear are required. Therefore, combining the patient's limb condition and restoring the patient's normal stretching state becomes a key requirement. The benefit of the above design is that it adjusts to the needs and poses of different patients, restores the patient's comfortable posture, and scans the model.

[0054] Specifically, the support assembly 111 provides at least two support points for the human body part through the support seat 11111 and the support plane 11121, to reduce the endurance required by the person to be scanned to maintain the pose of the human body part during scanning, and to more accurately simulate the body posture in the actual standing or sitting environment. Among them, at least one of the support points is located at least one joint of the human body part, which can strengthen the patient's posture during scanning, and can also reduce the influence of long-term action on the scanning of the outer contour line of the human body part.

[0055] To further ensure the stability of the human body part being supported during scanning, a telescopic assembly is provided between the bottom of the connecting frame body 11122 and the side surface of the support seat 11111 to avoid displacement of the connecting frame in the direction perpendicular to the rotating surface during rotation. In some specific embodiments, the telescopic assembly is implemented as an inner rod and an outer rod that are mutually sleeved, and a height control assembly is provided between the inner rod and the outer rod to improve the telescopic stability of the telescopic assembly. In some optional embodiments, the height control assembly is a sliding rail and a sliding block sliding in the sliding rail, and the sliding rail and the sliding block are respectively arranged on the contact surfaces of the inner rod and the outer rod. In some specific embodiments, the telescopic assembly is implemented as a telescopic cylinder, and the telescopic cylinder is electrically connected with a step motor 310. In actual work, the computer control program controls the step motor driver 320 to drive the step motor 310 to power on or power off the telescopic cylinder, and controls the telescopic amount of the telescopic cylinder.

[0056] In a specific example of this application, both the first upright support 1111 and the support frame 1112 are implemented as upright column structures. The top side of the support frame 1112 is hinged to a support plane 11121. Taking the lower leg of a human foot as an example, when the subject's foot is raised upwards at a certain angle, the top of the support 11111 and the support plane 11121 support the popliteal fossa of the thigh and the instep of the foot, respectively, to maintain a stable upward-raised state of the lower leg. This simulates the posture of the lower leg in an upward-raised state during normal standing or sitting postures. The distance between the top of the support 11111 and the support plane 11121 is adjusted by the telescoping of at least one connecting frame 11122 to accommodate human body parts of different lengths.

[0057] More specifically, the top of the support 11111 has a cushion to enhance the comfort of the body part being supported, reduce the endurance required by the person being scanned to maintain the body part in the scanning state, or relieve tension in the limbs.

[0058] In some optional embodiments, the support frame 1112 may further include a posture calibration element, such as an abutment pad. This posture calibration element is used to abut against a prominent skeletal area of ​​the human body or an area with minimal impact on the overall contour to calibrate body posture, such as the knee or heel of the lower leg, further restoring an ideal body posture.

[0059] In some optional embodiments of this application, the support surface of the support frame 1112 is made of a transparent material, which is used to support human body parts and facilitates three-dimensional scanning.

[0060] like Figure 1 As shown, the scanning assembly 112 includes a scanning frame 1121 rotatably mounted on a second upright support 1113 and a scanning module 1122 disposed on the scanning frame 1121. The scanning module 1122 performs a three-dimensional scan of the human body part as the scanning frame 1121 moves circumferentially around the outer periphery of the human body part. Preferably, the scanning assembly 112 rotates in a vertical direction, that is, it rotates on a plane perpendicular to the horizontal plane.

[0061] Specifically, the gantry 1121 comprises a gantry 1121 rotatably mounted on the second upright support 1113, which is rotatably mounted on a side wall of the second upright support 1113 towards the first upright support 1111. In order to avoid relative displacement between the support assembly 111 and the scanning assembly 112 causing scanning errors, the support assembly 111 and the scanning assembly 112 are directly fixed or the relative position is determined through other structures. In some examples, the first upright support 1111 is implemented as a support seat 11111 with a base plate 113, and the second upright support 1113 is implemented as an upright column-shaped base 11131 arranged on the base plate 113. More specifically, the bottom end of the support seat 11111 and the bottom end of the base 11131 are slidable on the top of the base plate 113 and fixed in position by a locking member, so as to adjust and fix the relative position between the support seat 11111 and the base 11131, thereby adapting to different lengths of human body parts.

[0062] In specific examples of the present application, the second upright support 1113 is implemented as a vertical support rod, and the first upright support 1111 is parallel to and substantially similar in height to the vertical support rod of the second upright support 1113, while the scanning assembly 112 is arranged on the top side of the second upright support 1113 and rotatably connected. In some embodiments, the gantry 1121 of the scanning assembly 112 is rotatably connected to the top side of the vertical support rod and designed as a rotating long rod, and the rotating long rod rotates around the scanning space defined between the support plane 11121 and the support seat 11111 with the rotating connection between the gantry 1121 and the second upright support 1113 as the rotation point.

[0063] As shown in Figures 1-3 The scanning module 1122 comprises at least two depth cameras, i.e. a first depth camera 11221 and a second depth camera 11222, which are respectively located at the outer peripheral positions of human body parts at different angles. By simulating the principle of human binocular vision, and further preferably capturing image information of the same object, i.e. image data of the outer surface of the human body part, from different angles, the depth information is obtained by calculating the parallax or phase difference between the image data captured by the two depth cameras through a data processing module, so as to obtain the spatial feature data information of the outer surface of the human body part. Preferably, the first depth camera 11221 and the second depth camera 11222 are implemented as the same model of depth camera. The first depth camera 11221 and the second depth camera 11222 can use at least one or a combination of visible light, structured light, TOF imaging or spectral imaging depth acquisition methods.

[0064] In some embodiments of the present application, the scanning frame 1121 is implemented as a multi-sectioned rotary long rod extending towards the support assembly 111 or the first upright support 1111, comprising a first scanning section 11211, a second scanning section 11212 and a connecting section 11213 connected in sequence, wherein the connecting section 11213 is arranged parallel to the second upright support 1113 and is rotatably connected, preferably vertically rotatably connected. In some optional embodiments, the first scanning section 11211 is connected at an angle from the connecting section 11213 and extends towards the support assembly 111, wherein the connecting angle between the first scanning section 11211 and the connecting section 11213 is between 5° and 35°. In some optional embodiments, the second scanning section 11212 is connected at an angle from the first scanning section 11211 and extends towards the support assembly 111, wherein the included angle between the first scanning section 11211 and the second scanning section 11212 ranges from 90° to 150°. Further, the first scanning section 11211 and the second scanning section 11212 are provided with scanning modules 1122 on one side of the support frame 1112, and in some optional embodiments, the scanning modules 1122 are implemented as a plurality of depth cameras, wherein the first depth camera 11221 is arranged on the first scanning section 11211 and the second depth camera 11222 is arranged on the second scanning section 11212, and both are arranged towards the support assembly 111, and at least one rotatable connection of the scanning frame 1121 is arranged on the connecting section 11213. The rotatable connection is arranged on the connecting section 11213. In some preferred embodiments, the first depth camera 11221 is arranged on the first scanning section 11211 close to the second upright support 1113, and the second depth camera 11222 is arranged on the second scanning section 11212 away from the second upright support 1113, so as to form a larger baseline distance of the binocular depth camera arrangement, and a relatively far baseline distance can improve the collection accuracy. In order to simulate the principle of human binocular vision, the first depth camera 11221 and the second depth camera 11222 need to be located at the peripheral positions of the human body parts at different angles, i.e. the first scanning section 11211 and the second scanning section 11212 need to be located at the peripheral positions of the human body parts at different angles. More specifically, the first scanning section 11211 and the second scanning section 11212 form an included angle, so that the rotary scanning of the double depth cameras can cover the overall surface of the human body part while there are enough overlapping matching points and a certain depth resolution is maintained. In some specific examples, the first scanning section 11211 and the second scanning section 11212 (which can also be regarded as the first depth camera 11221 and the second depth camera 11222) form an included angle ranging from 90° to 150°.In some other examples, the included angle between the first scanning part 11211 and the second scanning part 11212 can be adjusted, i.e. the first scanning part 11211 and the second scanning part 11212 are hinged, more specifically, the first scanning part 11211 and the second scanning part 11212 are connected through an adjustable hinge.

[0065] In order to improve the stability of the rotation scanning process, the rotation connection part 11213 and the vertical support rod are provided with a turntable 330. In actual use, the computer control program controls the step motor driver 320 to drive the step motor 310 to power the turntable 330, and the turntable 330 drives the rotating long rod to rotate at a relatively uniform speed around the scanning space, thereby improving the accuracy and stability of the depth information collection in the scanning process. Since the image data scanned by the double-depth camera needs to be matched at a part of overlapping points, the included angle of the double-depth camera should not be too large, and is preferably 90° to 150°. When rotating, the local weight difference between the two sides of the turntable 330 is large, and there is a situation of unstable rotation. In order to further improve the stability of the rotation of the rotating long rod, the other end of the connection part 11213 away from the first scanning part 11211 is provided with a counterweight 11214 to reduce the weight difference of the scanning frame 1121 on both sides of the turntable 330 when the turntable 330 rotates, thereby improving the stability of the rotation of the rotating long rod. The turntable 330 can be implemented as an electric hollow rotating platform.

[0066] Further, since the human body trunk basically presents a long and narrow shape, the use of a single depth camera in the scanning process causes the problems of small coverage range of collection, difficulty in establishing a complete or high-precision three-dimensional model. In some optional embodiments, when active scanning point cloud collection is used, if the speed or collection angle is not controlled well, it will cause the problems of partial image distortion or partial image frame loss.

[0067] In some optional embodiments, the second scanning part 11212 extends to one side of the length extension direction of the connecting frame body 11122, i.e., towards the circumferential side of the support frame 1112, at least one second depth camera 11222 is arranged on the second scanning part 11212 and faces the connecting frame body 11122 for collecting depth information of the circumferential side of the human body trunk, and at least one first depth camera 11221 is arranged on the first scanning part 11211 and faces the support frame 1112 for collecting depth information of at least one end side or another trunk part of the human body, i.e., towards the end side of the support frame 1112, in some preferred embodiments, the first depth camera 11221 faces the support plane 11121, the first depth camera 11221 is arranged on the side close to the connecting part 11213, for more focusing on collecting image data on one side and improving the collection accuracy of the end region of a limb, such as the foot region. The included angle of the two depth cameras is preferably 90°-150°, and different regions of the trunk to be measured are collected respectively, which can effectively balance the point cloud collection and modeling accuracy. At the same time, preferably, the support frame 1112 is designed as two connecting frame bodies 11122 extending in parallel, and the support plane 11121 has a transparent material body for reducing the shielding during scanning.

[0068] In some specific examples, the scanning frame 1121 includes a first rotating long rod and a second rotating long rod, the structures of the first rotating long rod and the second rotating long rod are the same as the structure of the rotating long rod described above, the angle positions of the first rotating long rod and the second rotating long rod are different, i.e., the double depth cameras on the first rotating long rod or the double depth cameras on the second rotating long rod are located on the same length position plane of the scanning space, and the double depth cameras on the first rotating long rod and the double depth cameras on the second rotating long rod are located on different length position planes of the scanning space. More specifically, when the first rotating long rod and the second rotating long rod are implemented as having a fixed relative position during the rotating scanning process, the first rotating long rod and the second rotating long rod can be implemented as being located on one side of the scanning space or opposite sides of the scanning space, and need to rotate around the outside of the human body part; when the first rotating long rod and the second rotating long rod are implemented as having a real-time change in the relative position during the rotating scanning process, the first rotating long rod and the second rotating long rod are driven by different drivers and controlled by different controllers 210 to control the opening and closing of rotation, and during scanning, it is not necessary to rotate a full circle, as long as the image data of the region scanned by the arc-shaped motion of the depth cameras on the first rotating long rod and the second rotating long rod can be spliced into the complete outer surface space features of the human body part, the rotation angle and the number of rotations are not limited here and will not be described in detail. In addition, when the first rotating long rod and the second rotating long rod are implemented as having different lengths, as long as the circumferential segment region image data scanned by the depth cameras on the first rotating long rod and the second rotating long rod can be spliced into the complete outer surface space features of the human body part, the rotation angle and the number of rotations are not limited here and will not be described in detail.

[0069] In other specific examples, the rotating frame includes more than two rotating long rods, as long as the angle positions of different rotating long rods are different, the relative positions of double-depth cameras located on the same rotating long rod remain unchanged during rotation, and the scanning areas of all depth cameras can be spliced to form complete surface spatial features of a human body part. The composition, length, position distribution design, and movement mode of the multiple rotating long rods are not limited here.

[0070] In other examples of the present application, the second vertical support 1113 is implemented as a bottom rotating seat arranged below the scanning space, the scanning frame 1121 is implemented as an arc-shaped rotating rod, the first depth camera 11221 and the second depth camera 11222 are arranged on the inner curved wall of the arc-shaped rotating rod and kept a certain distance, and the arc-shaped rotating rod is movably connected to the top of the bottom rotating seat at a point or a section, so that the arc-shaped rotating rod moves along the circumferential trajectory of the outer periphery of the scanning space, thereby covering the scanning range of the double-depth cameras to the surface of the human body part.

[0071] In some specific examples, the top of the bottom rotating seat is provided with a roller which is slidingly connected to the outer curved wall of the arc-shaped rotating rod, and the roller rolls to drive the arc-shaped rotating rod to move along the circumferential trajectory of the outer periphery of the scanning space to complete scanning. In other specific examples, the top of the bottom rotating seat and the arc-shaped rotating rod are driven by a gear structure that meshes with each other, i.e., the top of the bottom rotating seat is provided with a gear, and the outer curved wall of the arc-shaped rotating rod is provided with a curved rack that meshes with the gear. The roller or the gear is driven to rotate by the driving mechanism and the opening and closing and rotation speed of the rotation are controlled by the computer control program.

[0072] In some specific examples, the arc-shaped rotating rod is provided with multiple scanning modules with double-depth cameras, and multiple scanning modules simultaneously scan during the movement of the arc-shaped rotating rod along the circumferential trajectory of the outer periphery of the scanning space until the surface of the human body part is scanned. In this process, as long as the image data of the scanning areas of the multiple scanning modules can be spliced to form complete surface spatial features of a human body part, the composition, spacing, and position distribution design of the multiple scanning modules are not limited here.

[0073] In specific examples of the present application, the data processing module is implemented as a computer. Preferably, the processor of the computer is an Intel Core i5 or a processor with better performance, and the GPU of the computer is an Nvidia GTX 950 or an AMD graphics card equivalent thereto, or a GPU and an AMD graphics card with better performance, to ensure that the image data obtained after three-dimensional scanning is calculated and reconstructed in real time.

[0074] In one specific example of the present application, the driving mechanism is implemented as a stepper motor 310 and a stepper motor driver 320, the control mechanism is implemented as a controller 210 and a switching power supply 340, and the controller 210 and the switching power supply 340 are electrically connected to the stepper motor 310 and the stepper motor driver 320. The controller 210 is used to receive computer serial port signal control. In some optional embodiments, the control mechanism realizes scanning motion control, camera image data tracking and acquisition, real-time reconstruction of point cloud data three-dimensional scanning, etc. through the program of the built-in or externally connected data processing module.

[0075] As Figures 1 to 7 shown, the use method of the human body part three-dimensional scanning device according to the embodiments of the present application includes the following steps:

[0076] S1, confirming that the relative positions of the first depth camera 11221 and the second depth camera 11222 are fixed, placing the human body trunk part to be scanned on the support assembly 111 by the person to be scanned, ensuring that both ends of the human body trunk part to be scanned are stably supported and kept still, and then controlling the double-depth cameras to move around the outside of the human body part through the control program of the computer, while performing three-dimensional scanning;

[0077] S2, as Figure 3 shown, a standard image calibration board is used to collect photos in the overlapping imaging area of the two cameras using a calibration algorithm, and the extrinsic rotation and translation matrix (R, T) between the cameras is calculated and obtained;

[0078] The specific algorithm is as follows:

[0079] 1) Assuming that there is a point P in space, the coordinates of P in the world coordinate system (X w ,Y w ,Z w ) are Let be the coordinates of P in the left camera coordinate system (X l ,Y l ,Z l ), be the coordinates of P in the right camera coordinate system (X r ,Y r ,Z r ), be the rotation and translation matrix from the world coordinate system to the left camera coordinate system, be the rotation and translation matrix from the world coordinate system to the right camera coordinate system. The following two equations are obtained:

[0080] and

[0081] 2) Let The rotation translation matrix (R, T) of the left camera coordinate system to the right camera coordinate system can be obtained as follows:

[0082]

[0083] 3) The above three formulas are further simplified, and

[0084]

[0085] S3, the imaging of the two cameras is mapped to the same coordinate system by using the rotation translation matrix (R, T) to realize real-time reconstruction of three-dimensional scanning data. Assuming that the point of the left camera is Pc l (x l ,y l ,z l ), the point of the right camera is Pc r (x r ,y r ,z r ), and the coordinate conversion relationship from the left camera to the right camera is:

[0086]

[0087] In the formula, R is a 3*3 rotation matrix obtained by calibration, and T is a 3*1 translation matrix obtained by calibration.

[0088] Preferably, two recorders are arranged at the data output end of the dual-depth camera, which respectively store the color image and depth image data transmitted by the first depth camera 11221 and the second depth camera 11222. After the scanning is completed, the stored data is read by the playback device of the computer, and then S2 and S3 are performed to realize offline reconstruction of three-dimensional scanning data.

[0089] ​​The present application drives at least two depth cameras arranged at a certain angle on the scanning frame 1121, i.e. the first depth camera 11221 and the second depth camera 11222, by the computer-controlled electric hollow rotating platform, to perform panoramic scanning on the outer surface of the human torso (such as the human foot calf), and obtain the external parameters between the above two cameras with fixed relative positions on the scanning frame 1121 through calibration means, calculate the rotation matrix R and translation matrix T between the cameras, map the imaging point clouds of the two cameras into the same coordinate system for reconstruction splicing by using R and T, and quickly obtain the surface three-dimensional data of the human torso, thereby improving the pain points of poor scanning stability, limited detection range, long operation time and other problems caused by the clinical use of handheld single depth camera, and solving the problems of patient intolerance and low point cloud data precision, so that the three-dimensional imaging splicing of the surface data of the human foot calf can be realized quickly and in real time without extracting image corner feature points for matching at a small cost and scheme architecture, and finally used for realizing three-dimensional information acquisition and designing subsequent diagnosis and treatment of protective equipment.

[0090] In some embodiments, the three-dimensional scanning reconstruction program of the present application has two modes of real-time reconstruction and offline reconstruction, real-time reconstruction is adopted when a high-performance desktop computer is used, and the offline reconstruction mode can scan first and then reconstruct to avoid tracking failure caused by frame loss, so as to meet the computer with lower configuration but convenient to carry, such as a notebook computer, thereby increasing the mobility of the device of the present application.

[0091] The above describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, the above embodiments and descriptions in the specification are only the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection claimed by the present application is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional scanning device for human body parts, characterized in that, include: The support assembly includes a first vertical support member and a second vertical support member that are arranged vertically. At least one support frame is disposed above the first upright support member; At least one scanning component is rotatably disposed on the second upright support; as well as At least two scanning modules are fixed at an angle to the scanning assembly and facing the support frame, and there is an overlapping scanning area between the two scanning modules.

2. The three-dimensional scanning device for human body parts as described in claim 1, characterized in that, The first upright support includes a support base horizontally disposed above the first upright support; The support frame is disposed below the support base and extends at an angle toward the second upright support member.

3. The three-dimensional scanning device for human body parts as described in claim 2, characterized in that, The support frame is rotatably mounted on the first upright support member.

4. The three-dimensional scanning device for human body parts as described in claim 3, characterized in that, A support plane is provided at an angle on the extended end side of the support frame.

5. The three-dimensional scanning device for human body parts as described in claim 4, characterized in that, The scanning assembly further includes a scanning frame having a connecting portion, a first scanning portion, and a second scanning portion arranged sequentially. The first scanning portion is bent at an angle from the connecting portion and extends toward an upright support member, and the second scanning portion is bent at an angle from the first scanning portion and further extends toward the upright support member.

6. The three-dimensional scanning device for human body parts as described in claim 5, characterized in that, It also includes at least one turntable that rotatably couples the scanning carriage to the second upright support and drives the scanning carriage to rotate around the support for scanning.

7. The three-dimensional scanning device for human body parts as described in claim 5, characterized in that, The scanning module is disposed on the side of the first and second scanning sections facing the support frame.

8. The three-dimensional scanning device for human body parts as described in claim 7, characterized in that, The scanning module disposed in the first scanning unit faces the support plane, and the scanning module disposed in the second scanning unit faces the support frame.

9. The three-dimensional scanning device for human body parts as described in claim 8, characterized in that, The system further includes a data processing module. The scanning module is implemented as a first depth camera and a second depth camera. The first depth camera and the second depth camera capture image data of the outer surface of the human body parts from different angles, and then the spatial feature data information of the outer surface of the human body parts is obtained through the data processing module.

10. The three-dimensional scanning device for human body parts as described in claim 9, characterized in that, The supporting plane is made of a transparent material; the scanning assembly rotates vertically; the support frame is positioned between the first and second upright supports; the bending angle between the first scanning part and the connecting part is between 5° and 35°; the included angle between the first and second scanning parts is between 90° and 150°; the first depth camera is positioned on the side of the first scanning part closer to the second upright support, while the second depth camera is positioned at the end of the second scanning part away from the second upright support, to form a larger baseline spacing for the binocular depth camera setup, and a relatively larger baseline spacing can improve acquisition accuracy.

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