• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    The present invention relates to a method and a device for producing a simulation form (3) for shoe adapted to the foot (7) of a user (2). At least one foot model (18, 27, 38, 42, 73, 74, Pi) is produced, including a first user foot model (18, 42, 73, 74, Pi) comprising a three-dimensional foot image (5). (7) user (2) and first orientation data (16), at least one shoe shape model (19, 43, 71, 72, F) is provided comprising a three-dimensional image (9) of shape and second orientation data (17) is positioned in space, by first operators (28, 29, 32, 55), each foot model (18, 27, 42, 73, 74, Pi) with respect to shape model (19, 43, 71, 72, F) for shoe, second operators (35, 36, 37, 39, 40, DP, DS, DPL) are determined by comparison between the shape model (19, 43 , 71, 72, F) for shoe and the user foot model (18, 27, 42, 73, 74, Pi) to determine a set of transformations to be performed, and applies said transformations to at least a third subset included in the first or second me set of corresponding points of the foot pattern (18, 27, 42, 73, 74, P) of the user or the shape model (19) for a shoe, to obtain the form of simulation (3).
    公开号:FR3053816A1
    申请号:FR1601077
    申请日:2016-07-11
    公开日:2018-01-12
    发明作者:Simon Beckouche；Frederic Charpentier
    申请人:Blue Ridge Logiciels；
    IPC主号:
    专利说明:

    ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number: 3,053,816 (to be used only for reproduction orders)
    ©) National registration number: 16 01077
    COURBEVOIE
    ©) Int Cl 8 : G 06 T17 / 00 (2017.01), A 43 D 1/00
    A1 PATENT APPLICATION
    ©) Date of filing: 11.07.16. © Applicant (s): BLUE RIDGE LOGICIELS— FR. (30) Priority: ©) Inventor (s): BECKOUCHE SIMON and CHARPEN- TIER FREDERIC. (43) Date of public availability of the request: 12.01.18 Bulletin 18/02. ©) List of documents cited in the report preliminary research: Refer to end of present booklet @) References to other national documents ©) Holder (s): BLUE RIDGE LOGICIELS. related: ©) Extension request (s): ©) Agent (s): PEZARD ALICE.
    P4) METHOD AND DEVICE FOR PRODUCING A CUSTOM SHOE SHAPE.
    FR 3 053 816 - A1 tP / 2 The present invention relates to a method and a device for producing a simulation form (3) for a shoe adapted to the foot (7) of a user (2). At least one foot model (18, 27, 38, 42, 73, 74, Pi) is produced, including a first user foot model (18, 42, 73, 74, Pi) comprising a three-dimensional foot image (5). (7) user (2) and first orientation data (16), at least one deformed model (19, 43, 71, 72, F) for a shoe is produced, comprising a three-dimensional image (9) of shape and of the second orientation data (17), we position in space, by first operators (28, 29, 32, 55), each foot model (18, 27, 42, 73, 74, Pi) relative to the model shape (19, 43, 71,72, F) for shoes, second operators (35, 36, 37, 39, 40, DP, DS, DPL) are determined by comparison between the shape model (19, 43, 71, 72, F) for shoe and the user foot model (18, 27, 42, 73, 74, Pi) to determine a set of transformations to be carried out, and these transformations are applied to at least one third subset included in the first or second me set of corresponding points of the foot model (18, 27, 42, 73, 74, Pi) of the user or of the shape model (19) for shoe, to obtain the simulation shape (3).

    METHOD AND DEVICE FOR PRODUCING A SHAPE OF
    CUSTOM SHOE.
    The present invention relates to a method for producing a simulation shape in which a three-dimensional image of a shape consisting of a first set of points is acquired.
    It also relates to a device for implementing such a method.
    By shape is meant a physical or digital object corresponding to the interior volume of an accessory, in this case clothing, in particular a shoe, in this case called a shoe shape, and allowing a craftsman to apply a boss (rod) in order to conform it in volume so as to form the accessory.
    By simulation form of an accessory is meant a similar physical or virtual form, that is to say identical or similar to the internal volume of the accessory which would be produced by direct molding on the accessory.
    The invention finds a particularly important although not exclusive application in the field of custom-made clothing accessories shaped around or obtained by taking into account a shape and in particular in the manufacture of custom-made shoes.
    Although the invention is not limited to this application, it is particularly effective in the fields where the accessories are intended to interact and / or accommodate at least one part of the human body, said parts comprising in particular joints and for example in the field of custom orthopedic shoes.
    By custom shoe is meant a shoe whose physical characteristics (including mechanical and thermal properties), aesthetic qualities and comfort, are specifically adapted for the foot of a given user and / or generated from measurements carried out on him.
    To date, shoes are mainly produced using two production methods.
    The first mode is industrial and allows high rates but its ability to adapt to the needs and desires of users is limited to the choice between several sizes for a given shoe model.
    The second mode is artisanal and incorporates a custom production which involves the creation of a form.
    It is a production mode intended for luxury or semi-luxury, in which customers have high quality requirements and in which to ensure satisfaction of the end customer and their comfort, it is necessary to carry out several cycles test / test by manufacturing of forms then manufacture of corresponding test shoes and customer test, which significantly increases production times and costs.
    In fact, to make a shoe, a wooden shape is made, corresponding to the interior volume of the object to be manufactured and on which a fabric or material is pressed to work it and make it take its shape.
    The artisan craftsman, specialized in the realization of such forms, uses his know-how to integrate the mechanical constraints of the foot, the shoe and the materials which constitute it. He thus adapts the form on the basis of his empirical knowledge.
    The resulting shoe shapes therefore depend greatly on the skill of the formier on the one hand and his knack for achieving the shape on the other hand.
    In addition, the forms can undergo deformations over time, in particular due to the materials for manufacturing the form used for example by woodworking, its expansion, its deformations due to humidity and / or wear. over the shaping.
    In case of deterioration of the shape, this requires for the same model of shoe to rebuild the same shape, without guarantee of conformity to the previous one.
    If this second tailor-made production method better meets the needs and desires of customers, it suffers from significant manufacturing delays as well as vagaries of design and / or artisanal production.
    For example, for two models of shoes requiring a different shape such as in particular for heel or flat shoes, the craftsman realizes for each one a shape using his knowledge and his intuition which does not allow to guarantee a certain level of comfort equal or equivalent between the two resulting shoes.
    We know (Crispin LastMaker software published by the company AutoDesk® [registered trademark]) a process for manual modification of a three-dimensional image of shoe shape using software to aid the design of computer shape replacing the drawing utensils usual technique (pencil, eraser, ruler, ...) of the craftsman.
    In fact, in this process, a shoe shape is displayed on a screen then manipulated manually by the craftsman who modifies it by playing on a limited number of parameters predefined by the software.
    However, this process does not allow rapid modification and for a substantially constant result of the shape.
    The user, for example formier, remains indeed essential here and if the implementation of his know-how is facilitated, this is the only source of modifications of a shape for shoe and therefore retains the disadvantages associated with the human conception of form.
    This type of software is oriented towards the digital assistance of the tasks necessary for the user for the definition of a virtual form.
    This process therefore does not dispense with the cycles of form creation / fitting and therefore limits neither the costs nor the production times.
    It also requires a control screen allowing the operator to define and control the modifications that it applies iteratively.
    The object of the present invention is therefore in particular to overcome the drawbacks of the prior art.
    Thus the present invention aims to provide a method, and a device for implementing such a method, responding better than those previously known to the requirements of practice, in particular that for all types of feet and shoe models, it makes it possible to achieve a shape perfectly adapted to the foot of the user, in a simple, rapid, automatic manner, with substantially constant criteria of quality and comfort.
    The invention makes it possible to dispense with the know-how of the trainers without being subject to the hazard of human achievements and by significantly reducing the costs and production times thanks to the elimination of iterations of the test / trial cycles and the number of test shoes for scrap.
    A display means such as a screen is no longer essential with the invention.
    To this end, it proposes in particular a method for producing a simulation form for a shoe adapted to the foot of a user, in which a three-dimensional image of a form for shoe consisting of a first set of points is acquired, characterized in that
    - we acquire a three-dimensional image of the user's foot consisting of a second set of points,
    - first and second orientation data are determined for at least one subset of the first and second sets of points respectively,
    at least one foot model is produced, including a first user foot model comprising said three-dimensional image of the user's foot and said first orientation data,
    at least one shoe shape model is produced comprising said three-dimensional shape image and said second orientation data,
    - each space model is positioned in space, by calculation means arranged to apply first operators, relative to the shoe shape model according to a first determined optimization criterion,
    - second operators are automatically determined by means of calculation, by comparison between the shoe shape model and a user foot model to determine a set of transformation to be carried out,
    - Said transformations are applied to at least a third subset included in the first or second set of corresponding points of the user's foot model or of the shoe shape model, to obtain the simulation shape.
    The term “three-dimensional image” is understood here to mean a set or cloud of points of space defined by three coordinates in a coordinate system, preferably orthogonal, for example orthonormal.
    More precisely and coherently with the definitions appearing above, by foot or shape model (forming three-dimensional models), we mean a three-dimensional image to which are added additional data for at least certain points including at least one vector d orientation associated with each of said points.
    The three-dimensional model can therefore also include global information on the model.
    The models thus have parameters, some of which are points defined in a Cartesian coordinate system by three position coordinates, but also oriented points defined by six coordinates, three of position and three of orientation defined by the Euler angles or by the coordinates of the direction vector of their orientation.
    The term “acquisition, formation or production of a three-dimensional image” also means the calculation, manipulation and / or storage of a three-dimensional image, for example using means of acquiring a set of points from the physical object concerned, such as for example a three-dimensional scanner.
    By operator is meant a set of elementary operations ordered to transform a (primitive) model into another (intermediate) model, or between a (intermediate) model and a simulation model, the means of calculation, manipulation and storage. parameters of the model, whether or not comprising means for acquiring a set of points from a physical object such as a scanner in the case of a primitive model.
    The invention thus allows in particular constant quality and increased repeatability in the manufacture of the shapes.
    It also makes it possible to drastically reduce the costs as well as the design / production times for the forms and the storage requirements for these, the design being able for example to be carried out as a function of the computing power of the means used in a time for example less than a minute.
    For example, it is possible with the invention to produce a custom shape for the two feet of a user, in a time much less than the time necessary for the processes of the prior art to produce only one. .
    It allows in particular to incorporate the specific know-how of the artisan craftsman to build a model of knowledge that can be industrialized and re-used indefinitely without fluctuation in quality.
    In addition, any gain in precision, especially in terms of accuracy and fidelity, even minimal, is a significant advance in terms of comfort.
    However, the invention still allows an improvement in this area.
    The invention also makes it possible to produce a shoe shape no longer necessarily starting from a shoe shape to be adapted but also from an existing shoe.
    Advantageously, the shoe form is produced, for example from wood or plastic (3D printing for example) from said simulation form.
    In advantageous embodiments, use is also made of one and / or the other of the following provisions:
    - the first optimization criterion determined is an alignment criterion;
    at least one characteristic direction is determined for each model and the first alignment criterion is performed on said directions;
    - positioning in space by calculation means by implementing a first global registration step in which, for each model of foot or shoe shape:
    - a reference point is selected, said point being calculated from corresponding points of each model,
    a first direction of the length or substantially of the length of the model is determined by identifying a point which verifies a second position criterion determined with respect to the reference point,
    a second direction is determined by identifying a point verifying a third criterion of position determined with respect to a straight line passing through the reference point of said model and directed by the direction of the length or substantially the length of said model, a third direction is determined forming a base with the first and second directions, associated with a point to form a reference point, then, for each foot model,
    - a third operator is constructed which sends the reference mark of the foot model to the reference mark of a foot or shoe shape model while minimizing a fourth determined criterion, and it is applied to each foot model;
    - one positions in space by means of calculation by implementing a second fine registration step in which:
    a first sub-step in which a fourth operator of association of points is applied to the points of a foot model in order to associate them with points in the shoe shape model,
    a second sub-step in which a determined transformation is determined which minimizes a fifth criterion determined between a determined number of points of a foot model and the corresponding corresponding points of the shoe shape model, and the determined transformation is applied to foot model,
    - the first and second sub-steps are repeated until the difference between the average distance difference between the points of the foot model and those associated with the shoe shape model of the previous iteration and of the iteration current is less than a determined threshold;
    - positioning in space and / or determining at least part of the third subset by implementing at least one of the following steps:
    a step of determining a first plane substantially corresponding to the support plane of a foot model or shoe shape,
    a step of determining a sphere substantially corresponding to a heel of the foot or to a fitting zone of a foot model or shoe shape, in which a foot model, or shape respectively, is determined, a set of points substantially forming a spherical portion of the model corresponding to the heel of the foot model, respectively to the fitting zone of the shoe shape model, a step of detecting a metatarsal axis in which one detects in a model of foot or shoe form two extreme points substantially corresponding to a metatarsal axis;
    - at least one of the Second operators comprises a step in which at least a second foot image having been constructed elsewhere, a training or morphing step (in Anglo-Saxon language) is carried out, in which said morphing is performed between at least one second foot model and the first user foot model;
    - at least part of the third subset is automatically determined (to which the transformations are applied) by implementing, for a user foot model and for a shoe shape model, at least one of the following determination steps:
    - the support plane and the extremal points having been determined, two fourth and two fifth subsets of points of the end part and of the body respectively, corresponding to the sets of points on either side, are determined for each model. '' a second plane containing a line passing through the two extreme points and orthogonal to the support plane and / or,
    the support plane having been determined, a sixth subset of points is determined corresponding respectively to a set of points of the shape model and to the set of points of the first user foot model, corresponding to a plantar arch, below a third plane forming with the first plane an angle less than a determined threshold, the points of the third plane being determined by their distance less than a threshold determined on the support plane and a corresponding seventh subset is determined for each of said models at the points above said third plane and / or,
    - An eighth and a ninth subassembly are determined corresponding respectively to a set of points of a fitting zone and to a set of points of a heel.
    The term “fitting zone” means an element in volume which substantially forms a cavity or a recess, for example substantially spherical or semi-spherical, intended to be received or to accommodate a corresponding element by interlocking such as for example the zone of a shoe. receiving a heel of one foot or the area of a corresponding shoe shape;
    - the transformations include a step in which, the sixth and seventh subsets having been determined, said sixth subset is adapted to make the contained or contiguous points of the foreground of said sixth subset coincide with the corresponding points of said seventh set (part central);
    - the transformations include a step in which, the fourth, sixth and seventh subset having been determined, an affine transformation is applied to the fourth end subset of the shape model to make the points of said fourth subset contained coincide or substantially coincide or contiguous of the second plane with the corresponding points of sixth and seventh subsets (the body part) of the shape while preserving the geometric proportions of the fourth subset of the shape model.
    In an advantageous embodiment, an operation is carried out to change the camber of the foot model by an operator, thereby further improving comfort.
    Advantageously, a shoe shape of any camber can thus undergo a pre-treatment and / or post-treatment step where the form undergoes a flattening and / or bending operation.
    This notably makes it possible to further optimize comfort and transform a shoe, for example flat or slightly arched, into a shoe with a heel or high heel.
    This processing also includes and / or additionally at least one and / or the other of the following steps:
    - at least one profile of a shape model is determined are determined, said profile being substantially parallel or parallel to a direction corresponding substantially with the axis of the length of the shape model;
    - the shape model is cut into slices, the limits of which by an angular and / or distance criterion determined with respect to these profiles, the rotation which aligns the slice with a target camber profile, flat, is determined, slice by slice the flattening and bending operation for the bending operation;
    the rotation of a slice is centered on a remarkable point, for example a point on a determined profile of the shape model substantially coinciding with the most rigid bone area of the foot;
    - The model obtained has stretching and compression zones that can be controlled by the target profile.
    The invention also relates to a device for producing a form of simulation comprising:
    a three-dimensional image of a shoe shape consisting of a first set of points, means for acquiring a three-dimensional image of the foot, at least one three-dimensional image of the user's foot acquired by said acquisition means, and consisting of a second set of points, calculation means connected to said acquisition means and arranged to determine first and second orientation data for at least a subset respectively of the first and second set of points and, arranged to form at least one foot model including a first user foot model comprising said three-dimensional image of the user's foot and said first orientation data, said calculation means also being arranged to form at least one shoe shape model comprising said three-dimensional shape image and said second orientation data, and arranged to position in the space, by first operators, each foot model relative to the shoe shape model according to a first determined optimization criterion, said calculation means being further arranged to automatically determine second operators by comparison between the shape model for shoe and a user foot model to determine a set of transformations to be performed and arranged to apply to at least a third subset of points included in the first or second corresponding point set of the foot model of the user or the shoe shape model, said transformations to obtain the simulation form.
    Advantageously, the device comprises means for making the shape for a shoe from a simulation form made of wood and / or plastic.
    Advantageously and to do this, the device comprises a three-dimensional printer or a material removal means.
    The invention is based in particular on the idea that a final shoe incorporates in itself, at least implicitly, a substantial set of responses to the constraints of quality and comfort for a given foot.
    Said foot given is however either available or theoretical and a priori inaccessible.
    The invention therefore possibly allows a posteriori reconstruction of said foot adapted to the given shoe and to recover the implicit technical criteria ensuring comfort and quality to pass on the teaching and to make it benefit from a foot model or shape for any shoe.
    To simulate this foot it is therefore necessary to call upon a finite number of parameters arranged to carry out an adapted modeling.
    By primitive model is meant a model imagined by the designer of said model and which is assumed by the designer to be close, if not as close as possible, to reality.
    By intermediate model is meant a model resulting from a step in the modeling process leading from the primitive model to the simulation model.
    By simulation model is meant an adapted model defined by the designer in order to simulate the behavior of what is simulated.
    The simulation model can be hardware and / or digital.
    In another form of formulation, the invention also relates to a process for producing a final shape (model for simulating the final shape of a shoe) for the production of such a shoe, adapted to the foot of a user. , comprising a series of stages in which:
    we define intermediate models of a shoe shape by operators on the parameters of the different models, we build by means (of calculation, extraction, or any other operation):
    o at least one primitive model of the client foot whose parameters are characterized by a finite number of points where each point is an object (a degraded mode of representation of this model is a cloud of points), o A simulation model of the form of the shoe (Here, for example, the parameters are characterized by the topological parameters of the surfaces or points of these surfaces defining an interior volume of said shoe simulation model, volume which may include the volume for a comfort sole, from the model shape simulation, which can also include the volume for a comfort sole, to adapt to the foot simulation model),
    - we position in space by operators each primitive foot model with respect to the shape simulation model, so that each intermediate foot model is associated with the shape simulation model according to an optimization criterion (by example align the main directions parameters of the models),
    an operator automatically determines a set of transformations to be carried out from comparisons between a shape simulation model and an intermediate foot model, and
    - We apply to at least a subset of parameters of the intermediate foot model or the intermediate shape model, the set of operations determined by the operators to obtain the simulation model of the final shape, called the client shape.
    The invention also relates, in advantageous embodiments, moreover and / or in addition to a method implementing the following characteristics, taken alone or in combination:
    - a foot simulation model is constructed, each primitive foot model is positioned in a substantially identical manner with respect to the shape simulation model, the set of operators is determined by comparison of each primitive foot model and the shape simulation and, we apply the transformations on each primitive foot model:
    a shape simulation model is constructed, each primitive shape model is positioned in a substantially identical manner with respect to an intermediate or foot simulation model, the set of operators is determined by comparison of each primitive shape model and of the intermediate or simulation model of the foot and, the transformations are applied to each primitive shape model;
    the step of positioning in space comprises a first step of global registration in which, a reference point is chosen in an intermediate model of foot or shape, or calculated from corresponding points of each model (for example the barycenter models, or the center of the heel and of the casing area, respectively of the intermediate models of foot and of the intermediate model of form) in each intermediate model of foot or of form, one determines the direction of the length of the model by identifying a point that checks a position criterion with respect to the reference point (for example, the point furthest from the reference point, or the point whose line passing through this point and the reference point is a collinear direction with a vector specific to the positional correlation matrix of the points of the model), in each intermediate model of foot or of shape, a point verifying a cry is determined position marker relative to the line passing through the model reference point and directed by the direction of the length of the model which gives the direction of the height of the model (for example, the point in the model furthest from the line , or the point whose line passing through this point and the reference point is a collinear direction with an eigenvector of the position correlation matrix of the points of the model), we complete the family formed by the two directions found by the product vectorial of the two directions to obtain a base, we construct for each intermediate foot model the operator who sends the reference of the foot model to the reference of a reference, intermediate or simulation model, of foot or shape while minimizing the average angular difference between their directions and it is applied to each intermediate model of foot;
    the positioning step comprises a second fine registration step comprising, a first step in which an operator is applied for associating points with points of an intermediate model of foot to associate them with points in the intermediate model or of simulation of shape (for example, we associate with a point of a first model the point of a second model closest to the straight line passing through the point of the first model and directed by the direction of orientation of the point of the first model), a second step in which an affine transformation is determined which minimizes an average difference between a determined number of points of an intermediate foot model and the corresponding associated points of the shape simulation model, and the determined transformation is applied to the intermediate model of foot, and the average difference gain obtained is memorized, the first and second steps are repeated until the difference between the mean deviation of the previous iteration and the mean deviation of the current iteration is less than a determined threshold;
    the positioning step comprises at least one of the following steps:
    a step of determining a plane substantially corresponding to the support plane of an intermediate model of foot or shape, a step of determining a sphere substantially corresponding to the heel or the fitting area of a model primitive foot or shape, in which a set of primitive foot, or respectively of shape, is determined a set of points substantially forming a spherical portion of the model corresponding to the heel of the primitive model of foot, respectively to the casing area of the primitive model of form a metatarsal detection step in which one detects in an intermediate model of foot or of form two extremal points substantially corresponding to a metatarsal axis, at least a second image of foot having been constructed elsewhere, a morphing step in which a morph is performed between at least a second foot model and the first foot model.
    the automatic determination step comprises, for an intermediate foot model and an intermediate shape model, steps for determining:
    - two subsets of points of body part and end respectively, corresponding to the sets of points on either side of a second plane containing the line passing through two extremal points and orthogonal to the support plane, two sub -sets corresponding respectively to a set of points of the first form and to all of the points of the arch of the foot, where the points of the determined plane are determined by their slight deviation in position and orientation in the support plane of each model (using an angular orientation threshold of around 20 degrees and a distance threshold of around 10 percent of the maximum distance between two points of the intermediate shape model for example), two subsets corresponding respectively to a set of points in the fitting zone and to all the points of the heel, where the points of the determined plane are determined by their slight deviation in position and in orientation from the support plane of each model (using an angular threshold of orientation of the order of 20 degrees and a threshold of distance of the order of 10 percent of the maximum distance between two points of the intermediate model of shape for example);
    - the subset of the first shape portion of an intermediate shape model is adapted to make the points of its border coincide or substantially coincide with those of the border of the subset of the arch of an intermediate model of foot , the subset of the rod of an intermediate model of shape is adapted to the sub-assembly of the body of an intermediate model of foot by making the overlapping zone and the width at the joint coincide or substantially coincide metatarsal with the heel and the width of the articulation of the body of the intermediate model of foot, and one applies an affine transformation to the subset of the toe of the intermediate model of form to make coincide or substantially coincide the points of said subset contained or contiguous of the second plane with the corresponding points of the central part of the intermediate model of form.
    The invention will be better understood on reading the following description of embodiments given below by way of nonlimiting example. It refers to the accompanying drawings in which:
    Figure 1 is a schematic representation of a device and data exchanged by said device according to an embodiment of one invention.
    FIG. 2A shows a diagram of steps of a method according to an embodiment of the invention.
    FIGS. 2B and 2C each show a logic diagram of the method according to two embodiments of the invention, respectively.
    FIG. 3 illustrates the overall registration operations, according to another embodiment of the invention.
    FIGS. 4A to 4C show the fine registration operations according to an embodiment of the invention.
    FIG. 5 schematically presents the result of an operator of associations by normal projection according to an embodiment of the invention.
    FIGS. 6A and 6B represent on the one hand a shoe shape model corresponding on the other hand to the result obtained by the plane detection operations according to an embodiment of the invention.
    Figures 7A to 7D illustrate the sphere detection operations according to an embodiment of the invention.
    FIG. 8 shows the DPL operations for detecting lateral points according to an embodiment of the invention.
    FIG. 9 illustrates the forming operations (morphing in English) according to an embodiment of the invention.
    Figures 10A, 10B, 10C show the form generation operations according to an embodiment of the invention.
    FIG. 11 schematically illustrates three embodiments of a stretching operator according to the length, the width and the height respectively according to three embodiments of the invention.
    FIG. 12 shows the operations of an operator for changing the camber of a shape according to an embodiment of the invention.
    FIG. 1 schematically shows a device 1 implementing a method according to an embodiment of the invention.
    A user 2, wishing to obtain a model 3 of shape simulation for an adapted and / or tailor-made shoe for his physical foot, then uses the device 1 which comprises means 4 for acquiring a three-dimensional image 5 of the physical geometry of the foot of said user 2.
    These acquisition means 4 are for example three-dimensional scanners, known per se such as a fringe projection scanner (such as those marketed by the company ARTEC under the name EVA) or a laser device (such as those marketed by the VORUM company under the name YETI 3D foot).
    The acquisition means 4 comprise for example an enclosure 6 in which the user 2 positions at least one foot 7.
    In this embodiment, the three-dimensional images acquired are clouds or sets of points comprising at least three-dimensional coordinates of each point.
    A three-dimensional image 9 of a shoe shape is also acquired or constructed (step El FIG. 2A). The three-dimensional image 9 of shape therefore consists of a first set 10 of points and, a three-dimensional image 5 of the foot 7 of user 2 (step E2 in FIG. 2A) consists of a second set 8 of points.
    The sets of points memorized and / or transmitted under digital. The data corresponding to a set of points is organized for example so as to form an object in the sense of programming by object-oriented design, and groups the data among the parameters. For example, the points are recorded, in the form of a file themselves comprising the set constituted in the form of a point object as a parameter the coordinates, and of points comprising as a parameter the set of point objects.
    The means 4 for acquiring a three-dimensional image are connected (arrow 11), for example via a data bus, to communication means (not shown) themselves connected to calculation means 12, means 13 d man / machine interface comprising means 14 for entering data and display means 15.
    The method implemented by the device 1 then comprises a step of determining the orientation of at least a subset of points of the three-dimensional image 5 of the foot 7 user 2 (step E3 FIG. 2A) and of a under set of points of image 9 of shoe shape (step E4 FIG. 2A).
    For this, one then chooses a determined number of points of the image 5; 9 three-dimensional of the foot 7 of the user 2 or of shoe shape to form said subsets. The determined number of points can for example be greater than 25% of the total number of points in the three-dimensional image 5.9 of the foot 7 user 2 or of shoe shape, for example greater than 60%, for example greater than 80%, for example 100%.
    The orientation of a point is determined from a three-dimensional image of an object (foot or shape), for example by forming a representation of this object in the form of polygonal facets oriented in a manner known per se ( as in the file formats with extension .STL, .PLY or .Obj).
    Then, by considering the facets whose point to be oriented is a vertex, the normal is fixed at the point considered to be the sum of the normals of the facets whose point is a vertex, weighted by the surface of each of these facets.
    First 16 and second 17 orientation data are determined for at least a subset of the first 10 and second 8, respectively, of points.
    The data thus determined are additional orientation data 16, 17 associated with the first 10 and second 8 subset of points and correspond, for example for a geometric point object of a set (for example the barycenter of this set) , an additional orientation parameter.
    The additional orientation parameter 16, 17 consists for example of three coordinates, for example Cartesian or in the form of an Euler angle.
    The calculation means 12 thus form models from this three-dimensional image data 5, 9.
    At least one first model 18 of the user's foot 2 is then produced (step E5 in FIG. 2A). The model 18 comprises, for example organized into an object, the three-dimensional image 5 of the foot 7 user 2 comprising the second set 8 of points and the second orientation data 16.
    More specifically, the models include at least one set of points grouped together in the form of a point cloud independent of each other. The set includes the coordinates of the points in a given coordinate system R, these coordinates being associated for example in an object comprising the additional data relating to said point considered, for example the orientation data 16, 17 such as three coordinates in space additional forming an orientation vector.
    By independent is meant more particularly here, that at this stage, apart from belonging to a given model, there is no link and / or link data, in particular of association, between the points.
    At least one model 19 of shoe shape 20 is also produced (step E6 FIG. 2A).
    The shoe shape model 19 includes in a similar or identical manner to the foot model 18 of user 2, the three-dimensional shoe shape image 9 corresponding to the first set 9 of points and the first data 17 of associated orientation for at least a subset of points of said image 9, determined as above.
    The three-dimensional image 9 is obtained for example by entering data (arrow 21) into the means 12 for calculating the device 1, for example from the means 14 for entering data, or from a database 22 (arrow 23), or acknowledgment (arrow 23 ').
    When acquired, the three-dimensional image 9 can be done for example by molding a shoe 20 (for example by filling expanded foam with said shoe), and acquisition (arrow 24) of the three-dimensional image 25 of said molding 26 by the three-dimensional image means 4 of the device acquisition 1. At least
    The user the first foot model 18 of 2 and the shoe shape model 19 are transmitted to the calculating means 12.
    Each model 18, 19 has, at least implicitly, its own coordinate system R, R 'in space.
    The calculation means 12 then generate a global space in three dimensions with its own reference frame R '' and import said models 18, 19 there or import one of said models into the reference frame R, R 'of the other.
    Then positioned in space (step E7 FIG. 2A), by the means 12 of calculation, said models 18 of foot 2 with respect to said model 19 of shoe shape (or vice versa).
    To do this, a first set of first operators is applied to said models by the means 12 of calculation (step E8 in FIG. 2A).
    In one embodiment, steps E7 and E8 are carried out simultaneously and / or in a single step.
    The first set of first operators notably includes a global swinging / resetting operator, fine swinging / resetting operator, an association operator which will be detailed with reference to FIGS. 3 to 5.
    The successive application of said first operators makes it possible to obtain a relative positioning by a precise and adjusted registration of the models making it possible to make optimal comparisons, in particular of distance between points.
    This positioning is carried out according to a first determined optimization criterion.
    The first optimization criterion determined is for example an alignment criterion or substantially alignment, for example along a longitudinal plane (sagittal plane).
    For example, such an alignment can be carried out by aligning at least one straight line or segment determined or calculated from each model to be aligned and / or mapped and / or superimposed.
    A second set of second operators is then determined, for example automatically by the calculation means 12, by comparison between the shoe shape model 19 and the user foot model 18 (step E9 FIG. 2A).
    The second set of second operators notably includes a plane detection operator, a sphere detection operator, a shoe shape lateral point detection operator, a morphing operator, an extremity point detection operator of a foot and an operator for generating the simulation form, which will be detailed with reference to FIGS. 6 to 10.
    The successive application of said second operators makes it possible to obtain form 3 of simulation.
    The second operators are arranged to determine a set of transformations to be performed on the user's foot model 18 and / or the shoe shape model 19.
    One applies to at least a third corresponding subset of points of the foot model 18 of user 2 or of the shoe shape model 19, said transformations to obtain the simulation shape 3 (step E10 FIG. 2A).
    The third point subset is therefore a point subset of one of the foot or shape models.
    Subsequently the same reference numbers will be used to designate identical or similar elements.
    In one embodiment and with reference to FIG. 2A, the method comprises a preliminary step (step Eli) of determining and / or choosing the operating mode by the user 2.
    It comprises at least one operating mode or level and more precisely in the embodiment described here it comprises two operating levels, respectively a first and a second mode.
    The first mode, which will be more precisely described with reference to FIG. 2B, makes it possible to produce a final or simulation form 3 for the production of a shoe 26 made to measure according to the model 18 (intermediate) of foot 7 of the user 2, of the model 19 (intermediate) of shoe shape, called reference and of a model 27 (intermediate) of foot, said of reference, associated with said, and / or derived from said model 19 of shape.
    The second mode, which will be more precisely described with reference to FIG. 2C, makes it possible to produce a definitive or simulation form 3 for the production of a shoe 26 made to measure according to the model 18 (intermediate) of foot 7 of the user 2, and model 19 (intermediate) of shoe shape, said to be arbitrary.
    The interface means 13 of the device 1 comprise means 14 for entering data which comprise selection means such as for example a switch or button, physical or virtual, for example touch-sensitive on the display means 15.
    The choice is made for example by activating said selection means (Tl test).
    The determination can also be made automatically based on the data entered in
    For example, in or of data said means 12 of calculations, the absence of available data entry of model 27 of the reference foot, the means 12 of calculation automatically determine that the operating mode is the second mode or the first mode otherwise (step E12 for the first mode and E13 for the second mode).
    In an embodiment corresponding to an implementation of the second operating level, and also with reference to FIG. 2B, two foot models are produced respectively the first model 18 of foot 7 user 2 and the second model 27 of foot of reference.
    The second reference foot model 27 is constructed so as to be, and / or considered to be, an optimal theoretical foot for the shoe model 19 and therefore in shape for the shoe considered.
    The model 19 of shoe shape 20 is also constructed.
    The model 19 for shoe shape 20 and the second model 27 for the foot integrate the constraints and geometrical specificities and the concepts of comfort.
    The shoe shape model 19 is for example a model formed from modeling by computer-aided design from the initial designer / craftsman of the shoe or from the acquisition of a three-dimensional image of the shape used for the realization of the shoe.
    We then position each model 18, 27 of the foot, namely the first and second models when the latter has been produced, relative to the model 19 for shoe shape.
    The positioning is carried out as previously indicated and successively comprises, for each pair of foot / shape model, steps including the use of rocking / recalibration operators 28 and end 29.
    A global swing for each pair / couple of models is therefore successively obtained by a common orientation of each model in the pair, the corresponding volumes then being substantially superimposed (result 30) and then by fine registration an optimal positioning corresponding to a fitting operation. a shoe by a foot (result 31).
    We then make an association of at least one set of points of the first model (model 18 of foot 7 user 2) to at least one set of points of the model shape 19 for shoe by which a second association with an example by an operator 32 of associations by normal projection.
    The second model 27 of the foot comprises a subset of points for additional information. Subset of points of the model 19 of shoe shape is generated 34. The association information is a pair of formation data of points of different models.
    For example, the association includes the generation of additional data indicating for each point the point or points associated with it.
    An association is made of at least one set of points of the first model 18 (user foot) to at least one set of points of the second model 27 of foot (reference) for example by a morphing operator.
    Morphing also associates two subsets of points of model 19 of shape and that 18 of foot 7 user 2 with a different algorithm 35.
    An operator 36 of shoe shape generation is then applied to the pairs of associated models (first model 18 of foot 7 user 2 / model of shape 19 for shoe and first model 18 of foot 7 user 2 / second model 27 of reference foot) .
    An embodiment of an operator 36 for generating a shoe shape will be described more precisely with reference to FIG. 10.
    For example, it is based on the idea that for each point, the space and the position between the shoe shape model 19 and the second theoretical reference model 27 which has been virtually fitted by positioning operations 28, 29 in said model 19 of shape, represents a space and a position considered to be optimal.
    A point of the second model 27 being associated on the one hand with a point of the model 19 of shoe shape and on the other hand with a point of the first model 18 of foot 7 user 2, for example a vector of difference between the second model 27 of the foot and of the model 19 of shoe shape which is reflected for example by translation of the difference, to the first model 18 of foot 7 user 2 to determine a point of the shape for the final simulation shoe 3.
    In one embodiment, a transformation, for example an affine transformation, is determined by calculation, iteratively minimizing the distance between the points translated by the shape generation operator 36 and the shoe shape model.
    This distance reduction is carried out by an ICP algorithm (English acronym for Iterated Closest Point, or Iterative Corresponding Point) known per se.
    In an embodiment corresponding to an implementation of the first level / operating mode, and also with reference to FIG. 2C, only the first first model 18 of the user foot is constructed.
    We also build the model 19 for shoe shape.
    The shoe shape model 19 is then any model.
    We then carry out the positioning step and apply overall swinging / resetting operators
    28 and late 29 between the model 18 foot user and the model of form 19 for shoe. We detects (step 37) so portions
    determined characteristics (step 37 ′) of the models.
    We then identify at least one of the following elements, each element being defined by a set of model points and / or by an equation whose solutions correspond to at least one point of the model considered:
    a lower portion of planar shape, known as the first support plane corresponding or substantially corresponding to the support plane, and a portion of the arch of the shoe model 19 and shoe user model 18 respectively, and / or elements fitting one model into the other such as for example a spherical portion and a heel portion respectively of the shoe-shaped model 19 and of the user foot model 18, and / or of the end points corresponding or substantially corresponding to the ends of a metatarsal articulation axis on model 18 of foot 7 of user 2 and two associated or corresponding points on model 19 of shape.
    A morphing step 35 ′ is then carried out between the model 18 of the foot 7 user 2 and a third model 38 (FIG. 1) of nominal foot constructed beforehand.
    The third model 38 of nominal foot is a model of foot representing any physical foot or considered to be arbitrary.
    The arbitrary foot is determined so as to represent a statistically arbitrary foot shape or a particular foot chosen for its low distinctiveness. For example, this foot model includes relative toe lengths and distributions, malleolus positions and dimensions, most commonly represented in a sample of a given human population.
    A benchmark is then identified for each model and an adjustment operation 39 is carried out.
    More precisely, the identification of lower portions, of the casing elements and of the end points having been made, an origin is chosen with the reference frame, for example the centers of the spheres detected in a previous step (casing elements for example).
    We associate at the origin:
    - a normal vector at the first support plane,
    a vector generating a straight line passing through the orthogonal projections supporting plane of the origin and the middle of the segment connecting the extremal points of the axis of the metatarsal joint and in the direction of origin towards point midpoints,
    - the vector product of the two preceding vectors determining the third vector of the reference frame.
    The rigid transformation is determined (step 40) which sends the mark thus formed for model 18 of foot 7 user 2 to the mark of model 19 of shoe shape and this transformation is applied to model 18 of foot 7 user 2.
    An adaptation training operator 41 is then applied in which:
    For example, a portion of the model corresponding to fourth and fifth subsets of points of said models is isolated by extraction first. These sub-assemblies correspond respectively to the end portion of the foot (toe) and to the shape (toe) for the shoe and to their complement (body) in the set of points of the model considered. The end points are defined as those located on the other side of the plane which contains the straight line which connects the two extremal points of the foot and orthogonal to the plane of the arch or of the support plane.
    We then isolate a sixth and seventh subsets of points respectively from the foot and shape models in the set of points of the body (fifth subset).
    The sixth subset includes the points of the arch portion and of a corresponding lower portion of the shoe shape model 19 and the points associated with the shape model points 19 are extracted in the foot model 7 user 2 for shoe.
    One calculates the transformation which adapts the characteristic portions (one of the fifth subsets and the seventh subset) of the first model 19 of form for shoe at the points of the characteristic portions (one of the fourth subs3053816 sets and the sixth subset) of the model 18 foot.
    As shown in FIG. 11, this transformation is carried out for example by composition of three transformations in three independent directions corresponding exactly or substantially to the axes of length, width and height of the foot and shape models.
    The first of these three transformations is a stretch transformation along the length direction (Arrow E t i) of the model of form F.
    The stretch factor (ratio between the lengths along the given stretching axis before and after stretching) is calculated so that the transformation when applied to the seventh subset of the form model F makes the length between two points coincide P f i, P f2 on the direction of the length of the shape model with the length between two points P p i, P p2 on the direction of the length l p of the foot model Pi, the distance being able to be chosen as Euclidean, or as the length of a geodesic on a surface implicitly described by the points of the sixth subsets of the shape and foot models.
    These two points can be for example the projection of the center of a sphere by normal association on the sixth or seventh subset of point of the foot or shape model, and the association by normal projection of the middle of the two extremal points of the metatarsal axis of the foot or shape model on these same subsets.
    The second transformation is a transformation similar to the first but in the direction of the width (arrow E t 2) of the shape model. The two points P'fi, P ' f2 , P' p ±, P ' p 2 used to calculate the distances which must be equal after transformation can be for example the projection by association by normal projection of the extreme points of the metatarsal axis of the P ± model of foot or form F on a subset of point of the model of foot or form corresponding respectively to the vault or to the first of form.
    The third transformation is a transformation of stretch in the direction of the height (arrow E t 3) of the model F of form, which after applied to the model of form makes coincide the length of the circumference C ir i of a portion of the cloud of points of model F of the form lying between two parallel planes with the length of the circumference C ir 2 of a portion of the cloud of points of model P ± of foot lying between two parallel planes.
    For example, two planes can be taken on either side of the border between the end and the body of the model of form F and between the end and the body of the model P ± of foot, or on both sides of a plane containing the direction of width of the model Pi of foot or form F and making an angle of a determined value with the direction of length of the model of foot or form.
    A value of this angle can be for example in 0.5 rad and 1.5 rad for example between 0.7 rad and 1 rad for example 0.7 9 rad, corresponding substantially with a circumference (cross section) at the level of the instep (ankle) in a foot or shape model.
    The remaining central part (the body, or fifth subset, minus the sixth and seventh sets of points) remaining from the cloud (before isolation of the subsets) transformed by or similar from the one to the initial model of form is identical transformation transformations of previously described stretch.
    The portion of the central part complementary to the first of the extracted shape is adjusted to make it coincide on its border with the central part complementary to the treated cloud.
    We find the affine transformation of the fourth set of points at the end of the shape which makes its border coincide at best with the border of the fifth set of points in the central part of the body with which it must be in contact while preserving the geometric proportions of the fourth point set from the tip of the shape.
    For example, the factors of this affine transformation in the height and width direction of the shape model 19 can be determined so as to best coincide the border of the tip with the border of the body of the shape model. The stretch factor in the form length direction can be set as equal to the product of the two previously calculated stretch factors.
    The border is for example, the set of points of the periphery of a model or part of a model according to a section, at one end of the model or of the part of said model, for example the frontal section of the circumferences Ci r i and Ci r 2 in the figure
    11.
    FIG. 3 schematically presents different states of an operator 28 for global swinging or global registration. By overall swinging is meant more particularly here, an operation of relative positioning in space and / or in a reference frame, of two models 42, 43 relative to each other so that at least one characteristic direction 44 , 45, 46 and 47, 48, 49 relating to each model is substantially aligned with each other.
    In the embodiment more particularly described here, the point clouds correspond respectively to the clouds of model 18 of foot and of model 19 of shape for shoe or respectively to clouds of models 18 and 27.
    By characteristic direction 44, 45, 46 and 47, 48, 49 is meant more particularly here, a curve, for example oriented and substantially rectilinear, generated from the data of a model and associated with it.
    For each model 42, 43 the calculation means 12 define and / or calculate a point 50, 51 of centering or reference belonging to each model 42, 43 and belonging or not to the point cloud of said model.
    In the embodiment more particularly described here, the centering points are calculated to form an additional point of the model. The calculation can for example be that of determining an isobarycenter of each cloud.
    In one embodiment, the calculation means 12 determine at least one characteristic direction 44, 45, 46 and 47, 48, 49, for example by carrying out, in a manner known per se to those skilled in the art, a step of calculation by SVD (English acronym for singular value decomposition known in French under the name decomposition in singular value).
    For each model 42, 43 of foot or shoe shape, a first direction 46, 47 of the length or substantially of the length of the model is determined by identifying a point which verifies a second criterion of position determined relative to the reference point / centering.
    The second position criterion valid here, for example the point having the greatest distance between it and the reference / centering point or the one whose straight line passing through this point and the reference / centering point has a collinear or substantially collinear direction with an eigenvector of the matrix resulting from the SVD calculation for the shoe shape model 19.
    A second direction 44, 49 is then determined for each model 18, 42 of foot or of shape 19, 43 for shoe, by identifying a point verifying a third criterion of position determined with respect to a straight line 52, 53 passing through the point of reference of said model and directed by the direction of the length or substantially the length of said model.
    The third determined position criterion validates for example the point whose distance to the straight line 52, 53 is the greatest, or the point whose straight line passing through this point and the reference point has a direction collinear or substantially collinear with a vector proper of the matrix resulting from the SVD calculation for the shoe shape model.
    A third direction 45, 48 is then determined, forming a base with the first 46, 47 and second 44, 49 directions.
    The calculation means 12 then generate for each model 42, 43 a set of three directions 44, 45, 46 and 47, 48, 49 characteristics forming a basis of the space.
    For each model, the centering point and the characteristic directions 44, 45, 46 and 47, 48, 49 are associated so as to form a reference mark R1, R2 of the model.
    The method then comprises a step 54 of superimposing the at least two models 42, 43 or of sending one model on the other. The points 50, 51 of centering of each model 42, 43 are placed in coincidence and / or superposition, all the point clouds of each model being displaced in an identical manner (same displacement vector) as the displacement of the centering point considered .
    For example, a third operator 55 is constructed for each model 18, 42 of the foot, which sends the reference R1 of the model 18, 42 of the foot 7 user 2 to the reference R2 of a model 38 of the foot or of the shape 19 for shoe in minimizing a fourth determined criterion and it is applied to each intermediate model of foot.
    The fourth criterion determined is for example the mean square deviation in distance and / or angle, between the characteristic directions of each model.
    For a given model, a set of points of said model is determined and / or chosen. The points chosen are associated with an operator 32 of normal projection to their corresponding points of another model, as will be more precisely described with reference to FIG. 5.
    We then simulate the possible combinations of association of the three reference vectors RI, R2 of the foot models with those of the shape model.
    More specifically, the combinations include, the six permutation transformations associating the directions of the basic vectors of the foot models with those of the shoe shape model and for each of said six permutations, the eight associations are also simulated by direction of said vectors.
    For example, for permutations, given a first coordinate system (A; B; C) and a second coordinate system (D; E; F), a permutation corresponds to an association of the type ([A, D]; [B, E ]; [C, F]) or ([A, D]; [B, F]; [C, E]) or ([A, E]; [B, D]; [C, F]) or ( [A, Ê]; [B, F]; [C, D]) or ([A, F]; [B, D]; [C, F]) or ([A, F]; [B, F ]; [C, D]).
    An association by direction corresponds to a transformation which, with a couple of vectors, associates between them said vectors by being either in the same direction or in an opposite direction, for example an association by direction associated for permutation ([A, D] ; [B, E]; [C, F]) given, the vectors A to D in the same direction, B to E in the same direction and C to F in opposite directions to each other.
    The combinations are therefore forty-eight in number.
    In each of these simulations 54, 56, 57, 58, iteratively minimizes the distance between the two point clouds. This minimization is carried out by an image registration.
    In the embodiment more particularly described here, the three-dimensional images or models are readjusted / reconciled by an ICP algorithm.
    At least one iteration is carried out, for example at least two iterations, for example five ICP iterations for each simulation.
    We select the final rigid transformation which minimizes a given criterion, for example, the mean square of the distance between the pairs of associated points between the transformed / approximated point cloud and the reference cloud.
    FIGS. 4A to 4C schematically show steps resulting from an operator 29 of fine rocking or fine registration. By fine swinging is meant more particularly here, an operation of relative positioning in space of two models previously balanced / readjusted globally with respect to each other so that the two models have at least one of their characteristic direction substantially aligned.
    At this stage the two models are oriented or substantially oriented in the same direction in a common reference.
    A determined transformation is determined which minimizes a fifth determined criterion between a determined number of points 59 of a foot model and the corresponding corresponding points 60 of the shoe shape model, and the determined transformation is applied to the foot model.
    The fine swinging operator therefore comprises a step of association by the fourth association operator 32 for example by normal projection, between said points.
    To do this, a determined number of control points 62 is selected, for example greater than 1% of the total number of points of the model, for example greater than 5%, for example 10%.
    The operator 32 of normal projection is then used with the fifth criterion determined for example a distance threshold value determined for example proportional to a given distance from a model.
    The distance can be taken between points of the models determined or calculated from these. For example, the determined distance is calculated by the calculation means 12 to be the greatest distance between a point 62 belonging to the model and a calculated point, for example an isobarycenter, or the centroid of the model considered.
    The proportional threshold value is then between 5% and 50% of the determined distance, for example between 10% and 40%, for example 25%.
    Three-dimensional images or models are finely readjusted / balanced by an ICP algorithm. As much iteration of the operator is carried out as necessary so that the difference between the mean distance difference between the points of the foot model and those associated with the shoe shape model of the previous iteration and of the current iteration is less at a certain threshold.
    The difference in mean distance deviation di, i; d2, ±; ch, i (i natural integer representing the iteration) between the control points and their corresponding points associated between two iterations is therefore less than a determined threshold S.
    The determined threshold is for example less than 1%, for example less than 0.25%, for example 0.1% of the distance before the last ICP.
    FIG. 5 schematically presents the result of an association operator 32. In this embodiment, the association is made by normal projection. By association by normal projection is meant more particularly here, an operation of association of an oriented source point 63 and a reference point 64 each belonging to a cloud of different points.
    A line 65 passing through the source point 63 carried by its orientation vector 66 is determined. The reference point cloud 67 is pre-qualified, the points 68 being at a distance D from the source point less than a determined distance threshold (d <D).
    Each pre-qualified point 68 of the reference point cloud 67 is assigned a score as a function of the distance el, e2, e3, ... e N (N natural integer) between the point and said straight line. We select the reference point with the lowest score.
    An additional association information is then established between the source point 63 and the reference point 64 finally retained.
    FIG. 6A schematically presents the result of a plane detection operator DP 69 as well as the points 70 forming a foot arch. In the embodiment more particularly described here, the plane detection operator is formed from an operator known to a person skilled in the art under the name operator of Ransac (acronym of RANdom SAmple Consensus) intended for the determination aberrations in data series.
    FIG. 6A shows a three-dimensional model of shoe shape and the plane 69 determined from said model.
    The plane 69 is a support plane of a foot or shoe shape model.
    The operations of this plane detection are illustrated in FIG. 6B.
    A position threshold value and a threshold value of determined orientations are chosen. The position threshold value is for example less than 100 unit of distance, for example less than 50 unit of distance, for example 20 unit of distance. The orientation threshold value is for example less than 0.5 radiant, for example less than 0.1 radiant, for example 0.02 radiant.
    For each oriented point of a point cloud, we determine the plane P passing through this point and orthogonal to its orientation vector.
    The subset of oriented points of said cloud are selected whose distance 11, 12, 13, 14, 15, 16 with the plane considered is less than or equal to the position threshold Sp and whose angle βΐ, β2, β3, β4 , β5, ββ formed between the orientation vector of the point considered with the vector normal to the plane (or orientation vector of the generating point) is less than or equal to the orientation threshold So.
    We associate with each plane thus defined a score corresponding to the number of points of the subset thus defined and positioned in space on the side of the plane towards which point the orientation vector of the point considered.
    The plan P with the highest score is selected.
    In one embodiment, the parameters of the plane which best approximates the selected points are recalculated. The calculated plane is that which minimizes a distance criterion with the selected points, such as for example the mean square distance of the points selected with the calculated plane. One way of calculating this plane is to determine whether the cloud of points formed by the selected points is substantially contained in a remarkable plane of the coordinate system of the selected points, like the plane containing the first two elements of the base of the coordinate system. If the cloud formed by the selected points is appreciably contained in this remarkable plane, the parameters of the plane which approximates the cloud are estimated using a parametrization by the third variable of the benchmark z = f (x, y). If the cloud formed by the selected points is not appreciably contained in the remarkable plan evoked, one can use a parametrization of the type x = g (y, z) or y = h (x, z) to calculate the parameters of the plan which minimizes the criterion of mean square distance for the selected points.
    In FIG. 7A are represented two models 71, 72 of shapes and two models of feet 73, 74 according to an embodiment of the invention.
    A first foot model 73 or a first shape model 71 comprises eighth and ninth subsets of points respectively forming a heel 75 and a fitting zone 76.
    On the second model of foot or second model of shape there is shown a set of points forming a sphere or substantially a sphere corresponding to said heel and fitting area.
    FIGS. 7B to 7D show a state in the steps of determining said spheres, according to an embodiment of the invention, in which a set of points substantially forming a shape is determined in a foot model, or respectively of shoe shape. spherical portion of the model corresponding to the heel of the foot model, respectively to the fitting zone of the shoe shape model.
    A sphere is determined whose center 80 is for example the point which minimizes the sum of the distances to the two lines 81, 82 passing through each of the initial points 83, 84 and carried by their orientation vector 85, 86.
    The radius r is calculated for example by determining the average distance of the two points 83, 84 considered at the center 80 calculated.
    A position threshold value and a threshold value of determined orientations are chosen. The position threshold value is for example less than 20 units of distance, for example less than 10 units of distance, for example 5 units of distance. The orientation threshold value is for example less than 1 radiant, for example less than 0.25 radiant, for example 0.1 radiant.
    We select the subset of oriented points of said cloud whose distance from the considered sphere is less than or equal to the position threshold and whose angle formed between the orientation vector of the point considered with the straight line passing through the center and the point considered is less than or equal to the orientation threshold.
    In one embodiment, at least one nonzero tolerance quantity ε is determined and this quantity is added to the position threshold value and / or the orientation threshold value to make the distance and angle comparisons.
    We associate with each sphere thus defined a score corresponding to the number of points of the subset thus defined.
    The comparison score is compared with the score obtained and if the score obtained is higher than said comparison score, the value of the score obtained is kept as the new comparison score to be kept and / or stored.
    The sphere is determined by iteration of calculating a score and comparing the scores obtained between two iterations.
    The determination includes a limited number of iterations. This number depends on and is less than the number of possible combinations of choice of two points among the set of points of a model. The determined number is for example greater than 500, for example greater than 5000, for example 10000.
    After determining a first comparison score equal to zero, two points having an orientation in a determined model are randomly selected, or not.
    We select the sphere associated with the last comparison score kept.
    We will describe an operator for detecting lateral points of a shape comprising a step of detecting a metatarsal axis in which we detect in a foot or shoe shape model two extreme points substantially corresponding to a metatarsal axis with reference to Figure 8.
    The determination of said points comprises a projection step, for example orthogonal, on a plane 90 of the shoe shape model.
    The plane 90 is for example a support plane detected by a plane detection operator or substantially parallel to it.
    By substantially parallel here is meant a plane forming angles with the support plane, the maximum angle of which is less than a determined threshold, for example between 0.1 rad and 0.5 rad, for example 0.25 rad.
    This gives a finished surface in a plane comprising an outer casing 91.
    Said surface comprises two subsets of points, a proximal portion 92 of the heel and a
    part distal 93 metatarsal, convex, related Between they by a third part 94 of connection. The parts 92 heel and metatarsal are from
    maximum width (front direction) greater than that of the third connecting part 94.
    A first segment 95 is then detected on an internal side of the surface in the longitudinal direction (sagittal direction). The first segment 95 is the longest segment between two points corresponding to the envelope respectively of the heel and metatarsal parts, said segment being outside the surface.
    By segment outside the surface is meant that the set of points of the surface facing the segment by projection onto the sagittal plane is on one side of said segment.
    The first segment connects on the side of the heel part an internal fitting point and at the other end an internal articulation point.
    We detects so a second segment on one side external of the area in the longitudinal direction (direction sagittal). The second segment 96 is the longest segment Between of them points corresponding to the envelope
    heel and metatarsal parts respectively, said segment being outside the surface.
    For each segment 96 tested iteratively, an angular condition is verified.
    To verify compliance with the angular condition by the second segment tested, the projected point B is determined on the plane of the isobarycenter of the point cloud of the shape.
    The projected point of isobarycenter B is projected orthogonally on the first segment and the second segment tested to obtain points B1 and B2 respectively on said segments.
    The angle formed by (B1, B, B2) is checked to be greater than a determined threshold, for example 40 °, for example 45 °.
    The first segment 95 connects on the side of the heel part an external fitting point and at the other end an external articulation point.
    In one embodiment, it is determined that the ends of the segment are nesting or articulation points by comparison of their distance from the projection of the center of the sphere detected by the DS sphere detection operator, the most great distance corresponding to the points of articulations.
    In one embodiment, a DPE operator for detecting extreme points of a foot model is determined.
    This operator comprises as input a point cloud oriented foot model and a point cloud oriented third nominal foot model.
    The extreme points of the metatarsal axis on the nominal foot are determined beforehand.
    An image registration is carried out, for example as previously described, of said foot model of the user with the third nominal foot model.
    In one embodiment, a fine swing or fine registration of said user's foot model is carried out with the third nominal foot model.
    We then perform a morphing of the two foot models (user and nominal).
    This results in an association of the points of the nominal foot model including the extreme points with those of the user foot model.
    A sixth determined criterion is then applied to determine the extreme points of the user foot model.
    For example, the sixth determined criterion corresponds to the choice of the point of the user foot model most of the associated extremal point of the third nominal foot model among the set of points associated with the extreme points.
    In one embodiment, the normal projection in the foreground of the center of the heel sphere or of the casing element as well as the extremal points of the foot or shape model are sent / superimposed on the corresponding points of the foot model or of corresponding shape.
    In Figure 9 are shown states of a morphing operator. Morphing is understood here as a point association operation of two point clouds.
    For example, for at least a determined number of points of a first cloud, the set 93 of points of said cloud is determined, in the vicinity of the point considered, for example at a distance below a determined threshold.
    The determined number is for example greater than 50% of the total number of points of the cloud considered, for example greater than 80%, for example 100%.
    The determined threshold is for example chosen so that the number of cloud points in said neighborhood is less than a determined percentage threshold of the total number of cloud points.
    For example, the determined percentage threshold of the total number of points in the cloud is less than 5%, for example less than 2%, for example 1%.
    One associates, for example by normal projection, a point of said neighborhood of the first point cloud with a point of a second point cloud 94.
    A registration of all the points of the neighborhood considered is carried out on all of the points of the second cloud associated with said points of the first cloud.
    The registration is for example carried out by at least one iteration of ICP.
    We associate with each point of the first cloud the point associated with it by the ICP.
    In FIG. 10, the states of the stages of a shape generation operator are shown.
    For each point P pr of a foot model 95 associated with a shape model 96, the point P fE associated in the shoe shape model 96 is identified.
    A training vector 97 is determined having the point P pr of the foot model as its origin and the associated point P fr of the shoe shape model as its end.
    The point P pc of the user model 98 associated with that of the model 95 is determined.
    A point P fc of form 99 for shoe is determined by translating the point P pc of the model 98 of the user foot by the training vector 97.
    In one embodiment, an adaptation training operator is used.
    We will now describe the production of a shape for a simulation shoe with reference to FIGS. 1 and 2.
    A user 2 presents himself, for example directly in a shoe store.
    It has at least one of its feet 7 or both successively or not in means 4 of three-dimensional image acquisitions, for example a three-dimensional scanner which acquires an image of the foot (s) 7.
    The user 2 then selects, for example by means 14 for selecting means 13 for interface of the device 1, if he wishes to have a shape 3 for shoe chosen in a catalog (for example virtual) of shoe model for which a database 22 of device 1 comprises a model 19 of suitable shoe shape and a corresponding reference foot model 27, or if it wishes to obtain a shoe shape 20 for example from a shoe model 25 with which he has previously provided.
    User 2 therefore chooses between a first or a second operating mode.
    In the first operating mode, the user visualizes on the display means 15 the model he wishes and introduces by the interface means 13, the relevant data such as for example his shoe size, his weight or his age.
    User 2 then has no other operation to perform.
    In the second operating mode, the user 2 must for example introduce the shoe 20 into the image acquisition means 4 and ask the device to generate a digital model of form 19.
    Once this operation has been performed here again, the user 2 has no other operation to perform.
    The calculation means 12 then automatically and without further intervention generate a simulation form model 3 adapted to the user’s foot (s) 2 which can, for example, then order the creation of said simulation form 3, for example. materially 100 by shape creation means (arrow 101), for example of the three-dimensional printer type (not shown) or of the material removal machine type such as a shape lathe or a numerically controlled milling machine.
    We will also describe an operator for changing the shape model's camber, comprising a step of slicing the model into a slice (front section) and a step of aligning these slices on a target profile with reference to FIG. 12. A profile is defined as a curve included in a plane without self-intersection.
    A lower profile 102 of the shape model 103 is determined, for example by normal projection in the height direction of the shape model of a set of points of a straight line 104 passing through a remarkable point of the shape model, for example the center of the casing zone 105, the direction of which coincides exactly or substantially with the length direction 106 of the shape model. The lower profile is obtained by associating these points with points
    in the half lower of the model of form, determined by a criteria orientation, by example determined as the part formed by the points
    verifying a certain orientation criterion with the direction used for normal projection, for example by retaining and / or qualifying the points whose direction makes an angle in absolute value less than 90 ° with the direction used for normal projection. The points associated with the points of the straight line 104 are located with an association operator by normal projection. The points of the shape model located during the association are then projected orthogonally into a median plane across the width of the shape model, for example the plane 107 containing a remarkable point of the shape model, for example the origin of the model shape, and two directions coinciding exactly or substantially with the length and width directions of the shape model.
    A central profile 108 is determined so as to substantially coincide with the zone determined or defined as the least deformable of the foot, a bony line which extends from the center of the heel to the tips of the toes. This line can be estimated by a criterion of distance from the lower profile, for example by moving each point of the lower profile by a given length, for example greater than or equal to 1 cm, for example 2 cm, in the direction of the normal to the profile at each point.
    The shape model is cut into slices 109 into cut points 110 spaced apart according to a criterion of distance along the central profile, for example such that the length per arc along the profile is constant between each cut point. The boundaries of the slices 111 are planes orthogonal to the central profile and passing through the cut points.
    The number of slices can be set to a value greater than a percentage of the number of points in the shape model cloud. This operator also works when taking infinitely thin slices (theoretical slice of zero thickness or for example less than a micrometer).
    The orientation of the wafer is determined as a function of the orientation of the two faces of the wafer, for example as an average of these orientations, or by the two points of the central profile closest to the two faces of the wafer, for example the direction of the line which passes through these two points. The target orientation is a direction determined from the points of the target profile, flat 111 for the flattening operation and curved 112 for the bending operation, assumed to be inscribed in the same plane as the lower profile. For example, the target direction of a slice can be determined as the direction of the vector formed by calculating the difference between the point of the target profile closest to the front face of the slice and that closest to the rear face of the slice.
    The rotation applied to the slice is an axial rotation which makes it possible to align the slice with the target direction.
    One way of determining the direction of the axis is to take as direction that of the normal to the plane containing the lower and target profiles.
    The angle of rotation is determined by an angular criterion between the direction of the slice and the target direction, for example the angular difference between two vectors of these respective directions in the plane in which the lower and target profiles are inscribed.
    The center of rotation is chosen on the central profile by a distance criterion along the central profile, for example the point 113 at equal distance from the two cut-off points of the wafer in the sense of the length distance by arc.
    The outer envelope 116 of the point cloud obtained is then retained as a shape model after modification of camber.
    The zones 114 where several slices meet translate compression zones which can be controlled by adapting the target profile, for example by reducing or increasing the convexity of the target profile depending on whether these zones are on the top or the bottom of the model. shape after modification of camber.
    The zones 115 where the slices deviate reflect stretch zones, which can also be controlled by adapting the target profile, for example by reducing or increasing the concavity of the target profile depending on whether these zones are on the top or the bottom of the shape model after modification of camber.
    As is obvious and as also follows from the above, the present invention is not limited to the embodiments more particularly described. On the contrary, it embraces all variants thereof and in particular those where the shape includes and / or takes into account a comfort and / or orthopedic sole, and those where the method applies to the production of other objects in particular articulated, in particular glasses, hearing implants, orthoses and prostheses.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Method for producing a simulation shape (3) for a shoe (20) adapted to the foot (7) of a user (2), in which a three-dimensional image (9) of a shape for a shoe is acquired ( 20) consisting of a first set (10) of points, characterized in that a three-dimensional image (5) of the foot (7) of the user (2) is acquired, consisting of a second set (8) of points, first and second orientation data (16, 17) are determined for at least a subset of the first (10) and second (8) sets of points respectively, at least one foot model (18, 27) is produced , 38,
    42, 73, 74, Pi) including a first user foot model (18, 42, 73, 74, Pi) comprising said three-dimensional image (5) of foot (7) of the user (2) and said first data d orientation (16), at least one shape model (19, 43, 71,
    72, F) for a shoe comprising said three-dimensional image (9) of shape and said second orientation data (17), is positioned in space, by calculation means (12) arranged to apply first operators (28, 29, 32, 55), each foot model (18, 27, 42,
    73, 74, Pi) compared to the shape model (19, 43,
    71, 72, F) for shoes according to a first determined optimization criterion, means (12) for calculating second operators (35, 36, 37, 39, 40, DP, DS, DPL) are automatically determined by comparison between the shape model (19, 43, 71, 72, F) for shoe and the user foot model (18, 27, 42, 73, 74, Pi) to determine a set of transformations to be carried out, these transformations are applied at least a third subset included in the first or second set of corresponding points of the foot model (18, 27, 42, 73, 74, Pi) of the user or of the shape model (19) for shoes, to get the simulation form (3).
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that the first determined optimization criterion is an alignment criterion.
    [3" id="c-fr-0003]
    3. Method according to claim 2, characterized in that at least one characteristic direction is determined (44, 45, 46, 47, 48, 49) for each model and the alignment criterion is carried out on said directions.
    [4" id="c-fr-0004]
    4. Method according to any one of the preceding claims, characterized in that one positions in space by calculation means (12) by implementing a first step (39) of global registration in which, for each model of foot or shoe shape:
    - a reference point is selected, said point being calculated from corresponding points of each model,
    - a first direction (46, 47) of the length or substantially of the length of the model is determined by identifying a point which verifies a second position criterion determined with respect to the reference point,
    a second direction is determined (44, 49) by identifying a point verifying a third criterion of position determined with respect to a straight line passing through the reference point of said model and directed by the direction of the length or substantially the length of said model, a third direction is determined (45, 48) forming a base with the first and second directions, associated with a point to form a reference point, then, for each foot model,
    - A third operator (55) is constructed which sends the reference mark of the foot model to the reference mark of a foot model or shoe shape while minimizing a fourth determined criterion, and it is applied to each foot model.
    [5" id="c-fr-0005]
    5. Method according to claim 4, characterized in that it is positioned in space by means (12) of calculation by implementing a second step (29) of fine registration in which:
    a first sub-step in which a fourth operator of association of points is applied to the points of a foot model in order to associate them with points in the shoe shape model,
    a second sub-step in which a determined transformation is determined which minimizes a fifth criterion determined between a determined number of points of a foot model and the corresponding corresponding points of the shoe shape model, and the determined transformation is applied to foot model,
    - the first and second substeps are repeated until the difference between the average distance difference between the points of the foot model and those associated with the shoe shape model of the previous iteration and of the current iteration is below a certain threshold.
    [6" id="c-fr-0006]
    6. Method according to any one of the preceding claims, characterized in that it is positioned in space and / or at least part of the third subset is determined by implementing at least one of the following steps:
    a step of determining a first plane (69) substantially corresponding to the support plane of a foot or shoe shape model,
    a step of determining a sphere substantially corresponding to a heel of the foot or to a fitting zone of a foot model or shoe shape, in which a foot model, or shape respectively, is determined, a set of points substantially forming a spherical portion of the model corresponding to the heel of the foot model, respectively to the fitting zone of the shoe shape model,
    a step for detecting a metatarsal axis in which two extremal points substantially corresponding to a metatarsal axis are detected in a foot or shoe shape model.
    [7" id="c-fr-0007]
    7. Method according to any one of the preceding claims, characterized in that at least one of the second operators comprises a step in which at least a second foot image having been constructed elsewhere, a training or morphing step is carried out, in which said morphing is carried out between at least a second foot model (27, 38) and the first user foot model
    [8" id="c-fr-0008]
    8. Method according to any one of the dependent claims of 6, characterized in that automatically determines at least a part of the third subset by implementing, for a user foot model and for a shoe shape model. , at least one of the following determination steps:
    the support plane (69) and the end points having been determined, two fourth and two fifth sub-sets of points of end part and body respectively are determined for each model, corresponding to the sets of part points and another of a second plane containing a line passing through the two extreme points and orthogonal to the support plane and / or,
    - the support plan having been determined, a sixth subset of points is determined
    5 corresponding respectively to a set of points of the shape model and to the set of points of the first user foot model, corresponding to a foot arch, below a third plane forming with the
    10 foreground an angle below a determined threshold, the points of the third plane being determined by their distance less than a determined threshold on the support plane and a seventh subset is determined
    15 corresponding for each of said models to the points above said third plane and / or,
    - an eighth and a ninth subset are determined corresponding respectively to a set of points in an area
    20 of casing and a set of points of a heel.
    [9" id="c-fr-0009]
    9. Method according to claim 7, characterized in that the transformations comprise a step in which:
    - the sixth and seventh subsets having been determined, said sixth subset is adapted to make the contained or contiguous points of the foreground of said sixth subset coincide with the corresponding points of said seventh set, and / or
    - the fourth, sixth and seventh subsets having been determined, an affine transformation is applied to the fourth end subset of the shape model to make the points of said fourth subset contained or contiguous of the second plane coincide or substantially coincide with the corresponding points of sixth and seventh subsets of the shape while preserving the geometric proportions of the fourth subset of the shape model.
    [10" id="c-fr-0010]
    10. Method according to any one of the preceding claims, characterized in that
    - At least one profile of a shape model is determined, said profile being substantially parallel or parallel to a direction substantially corresponding to the axis of the length of the shape model,
    - We cut sliced the model of form of which limits are determined by a criterion angular and / or distance determined by report to these profiles,we determine, slice by slice, the rotation who align it slice with a profile of
    target camber, flat for the flattening operation and curve for the bending operation,
    - the rotation of a slice is centered on a remarkable point, for example a point on a determined profile of the shape model substantially coinciding with the most rigid bone area of the foot,
    - The model obtained has stretching and compression zones that can be controlled by the target profile.
    [11" id="c-fr-0011]
    11. Device for producing a form of simulation (3) comprising:
    a three-dimensional image (9) of a shoe shape consisting of a first set (10) of points, means (4) for acquiring a three-dimensional image (5) of the foot, at least one image (5) three-dimensional foot (7) user (2) acquired by said acquisition means (4), and consisting of a second (8) set of points, calculation means (12) connected to said acquisition means (4) and arranged to determine first (16) and second (17) orientation data for at least a subset respectively of the first (10) and the second (8) set of points and, arranged to form at least one model ( 18, 27, 38, 42, 73, 74, Pi) of foot including a first model (18, 42, 73, 74, Pi) of user foot comprising said image (5) three-dimensional foot (7) of the user (2) and said first (16) orientation data, said means (12) of calculations also being arranged to form at least one model (19, 43, 71,
    72, F) for shoe shape comprising said three-dimensional image (9) of shape and said second (17) orientation data, and arranged to position in space, by first operators (28, 29, 32, 55) , each foot model relative to the shoe shape model according to a first determined optimization criterion, said calculation means being further arranged to automatically determine second operators (35, 36, 37, 39, 40, DP, DS , DPL) by comparison between the shoe shape model and a user foot model to determine a set of transformations to be performed and arranged to apply to at least a third subset of points included in the first or second corresponding point set of the user's foot model or of the shoe form model, said transformations to obtain the simulation form.
    [12" id="c-fr-0012]
    12. Device according to claim 11 characterized in that it comprises a three-dimensional printer.
    1/10
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    同族专利:
    公开号 | 公开日
    FR3053816B1|2020-01-24|
    WO2018020083A2|2018-02-01|
    WO2018020083A3|2018-05-11|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2009036939A2|2007-09-18|2009-03-26|Magari S.R.L.|Method for calculating the geometry of a last for customised footwear|
    FR3054691A1|2016-07-28|2018-02-02|Anatoscope|METHOD FOR DESIGNING AND MANUFACTURING A PERSONALIZED APPARATUS WHICH SHAPE IS ADAPTED TO A USER'S MORPHOLOGY|
    FR3083634A1|2018-07-04|2020-01-10|Nathanael Majster|Method for automatically optimizing the fitting qualities of a shoe shape|
    TWI687649B|2018-11-14|2020-03-11|誠鋒興業股份有限公司|Shoe upper detection device and shoe upper detection method|
    法律状态:
    2017-05-09| PLFP| Fee payment|Year of fee payment: 2 |
    2018-01-12| PLSC| Search report ready|Effective date: 20180112 |
    2018-06-28| PLFP| Fee payment|Year of fee payment: 3 |
    2020-01-27| PLFP| Fee payment|Year of fee payment: 5 |
    2020-09-23| PLFP| Fee payment|Year of fee payment: 6 |
    2021-09-08| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1601077A|FR3053816B1|2016-07-11|2016-07-11|METHOD AND DEVICE FOR PRODUCING A CUSTOM SHOE SHAPE|
    FR1601077|2016-07-11|FR1601077A| FR3053816B1|2016-07-11|2016-07-11|METHOD AND DEVICE FOR PRODUCING A CUSTOM SHOE SHAPE|
    PCT/FR2017/000146| WO2018020083A2|2016-07-11|2017-07-26|Method and device for producing a custom-made shoe last|
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