Motion capture experimental device

Abstract

The invention relates to the technical field of optical motion capture. The invention discloses a motion capture experiment device which comprises a light source, a moving part fluorescence mark point and a camera. The moving part fluorescence mark point is located on a light path of the light source, and light emitted by the light source enables the moving part fluorescence mark point to generate fluorescence; the camera is located on a light path of fluorescence of the fluorescent mark point of the moving part, and the camera receives the fluorescence generated by the fluorescent mark point of the moving part; the wavelength of light emitted by the light source is located in a first wavelength range, the wavelength of light received by the camera is located in a second wavelength range, and the first wavelength range and the second wavelength range are not overlapped. According to the invention, light field information decoupling in a complex light field condition is realized, the stability of obtaining the light information of the fluorescent mark point of the moving part is improved, and light interference caused by other strong reflective materials is eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of optical motion capture, and in particular to a motion capture experimental device. Background Art

[0002] The principle of existing optical motion capture technology is to illuminate the reflective marking point with an infrared lamp, and the infrared light is reflected by the reflective marking point as infrared light of the same wavelength. Then, an infrared camera is used to capture the infrared light reflected by the reflective marking point, so as to realize the motion capture of the moving object. However, there are often other strong reflective materials (such as glass plates, acrylic plates and metal profiles, etc.) in the sampling area. These strong reflective materials will also reflect infrared light. The infrared light reflected by the strong reflective materials becomes the interference light information of the infrared camera, which will have a significant interference effect on the positioning of the reflective marking point. Therefore, it is necessary to find a motion capture device that improves the stability of obtaining reflected light information in a complex light environment to eliminate the light interference caused by other strong reflective materials. Summary of the invention

[0003] In view of this, the present invention provides a motion capture experimental device.

[0004] Specifically, the following technical solutions are included:

[0005] A motion capture experimental device, comprising:

[0006] Light source, fluorescent markers of moving parts, and camera;

[0007] The moving part fluorescent marking point is located on the light path of the light source, and the light emitted by the light source causes the moving part fluorescent marking point to generate fluorescence;

[0008] The camera is located on the optical path of the fluorescence of the fluorescent marking point of the moving part, and the camera receives the fluorescence generated by the fluorescent marking point of the moving part;

[0009] The wavelength of the light emitted by the light source is within a first wavelength range, the wavelength of the light received by the camera is within a second wavelength range, and the first wavelength range and the second wavelength range do not overlap.

[0010] Preferably, the fluorescent marking point of the moving part is made of fluorescent material;

[0011] The peak of the excitation spectrum of the fluorescent marking point of the moving part is located in the first wavelength range;

[0012] The peak value of the fluorescence spectrum of the fluorescent marking point of the moving part is located in the second wavelength range.

[0013] Preferably, the wavelengths in the first wavelength range are smaller than the wavelengths in the second wavelength range.

[0014] Preferably, the excitation spectrum peak is located in the middle of the first wavelength range.

[0015] Preferably, the fluorescence spectrum peak is located in the middle of the second wavelength range.

[0016] Preferably, the camera is a long-wavelength sensitive camera, and the sensitive wavelength of the camera is the second wavelength range.

[0017] Preferably, the camera comprises a filter and a camera body, and the filter is arranged on the camera body;

[0018] The sensitive wavelength of the camera body is in the full-band range, and the transparent wavelength range of the filter is in the second wavelength range.

[0019] Preferably, the filter is a long wavelength narrow bandpass filter.

[0020] Preferably, the motion capture experimental device further includes a support table and a water tank;

[0021] The water tank is filled with water, the moving part is located in the water tank, and the water tank, the light source and the camera are arranged on the support platform;

[0022] The water tank is located on the optical path of the light source, and the camera is located on the optical path of the light reflected by the moving part.

[0023] Preferably, the water tank is placed vertically, and the light source is arranged on the upper side of the water tank;

[0024] The camera is arranged at the lower side of the water tank, and a plurality of the cameras are arranged, and the plurality of cameras are evenly distributed circumferentially around the axis of the water tank.

[0025] The beneficial effects of the technical solution provided by the present invention include at least:

[0026] In the present invention, the wavelength of the light emitted by the light source is within the first wavelength range, the wavelength of the light received by the camera is within the second wavelength range, the first wavelength range and the second wavelength range do not overlap, and the wavelength of the light in the first wavelength range is smaller than the light in the second wavelength range. The light emitted by the light source causes the fluorescent marking point of the moving part to produce a fluorescent reaction, and the generated fluorescence is received by the camera, so the wavelength of the light received by the fluorescent marking point of the moving part is within the first wavelength range, and the wavelength of the fluorescence of the fluorescent marking point of the moving part is within the second wavelength range. At this time, the wavelength of the light reflected by other strong reflective materials is within the first wavelength range, so the camera can only receive the light reflected by the moving part within the second wavelength range, thereby realizing the decoupling of light field information in complex light field conditions, improving the stability of obtaining reflected light information, and eliminating light interference caused by other strong reflective materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram of the structure of a motion capture test device according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the motion capture principle of an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the motion capture principle of another embodiment of the present invention.

[0031] The reference numerals in the figures represent respectively:

[0032] 1-light source; 2-water tank; 3-camera; 4-fluorescent marking point of moving parts.

[0033] The above drawings have shown clear embodiments of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Before further describing the embodiments of the present invention in detail, the directional nouns involved in the embodiments of the present invention, such as "upper part", "lower part", "side part", etc., are Figure 1 The directions shown in the figure are for reference only and do not limit the protection scope of the present invention.

[0036] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0037] As mentioned above, in the existing optical motion capture technology, the infrared reflected by the strong reflective material becomes the interference light information of the infrared camera 3, which will significantly interfere with the positioning of the fluorescent marking point of the moving part. In order to solve the above problem, the present application provides a motion capture experimental device. Figure 1As shown, the motion capture experimental device includes a support table, a water tank 2, a light source 1, a moving part fluorescent marking point 4, and a camera 3. The water tank 2 is filled with water, and the moving part fluorescent marking point 4 is located in the water tank 2. The water tank 2, the light source 1, and the camera 3 are arranged on the support table. The water tank 2 is located on the optical path of the light source 1, and the camera 3 is located on the fluorescent optical path of the moving part fluorescent marking point 4. The water tank 2 is placed vertically, and the light source 1 is arranged on the upper side of the water tank 2; the camera 3 is arranged on the lower side of the water tank 2, and multiple cameras 3 are arranged, and the multiple cameras 3 are evenly distributed around the axis of the water tank 2. Further, the moving part fluorescent marking point 4 is located on the optical path of the light source 1, and the camera 3 is located on the fluorescent optical path of the fluorescent marking point moving part 3. The light emitted by the light source 1 causes the moving part fluorescent marking point 4 to generate fluorescence, which is then received by the camera 3; the wavelength of the light emitted by the light source 1 is in the first wavelength range, and the wavelength of the light received by the camera 3 is in the second wavelength range, and the first wavelength range and the second wavelength range do not overlap. In the present application, the wavelength of the light emitted by the light source 1 is within the first wavelength range, and the wavelength of the light received by the camera 3 is within the second wavelength range. The first wavelength range and the second wavelength range do not overlap, and the light emitted by the light source 1 causes the moving part fluorescent marking point 4 to generate fluorescence, which is then received by the camera 3. Because the wavelength of the light received by the moving part fluorescent marking point 4 is within the first wavelength range, the wavelength of the generated fluorescence is within the second wavelength range, and at this time, the wavelength of the light reflected by other strong reflective materials is within the first wavelength range, so the camera 3 can only receive the fluorescence generated by the moving part fluorescent marking point 4 within the second wavelength range, thereby realizing the decoupling of light field information in complex light field conditions, improving the stability of obtaining reflected light information, and eliminating light interference caused by other strong reflective materials. The specific principle can be referred to. Figure 2 and Figure 3 shown.

[0038] Furthermore, the moving part fluorescent marking point 4 is set in the water tank 2, which verifies that the motion capture experimental device of the present application can capture the motion of underwater running equipment, thereby expanding the application field of the motion capture experimental device.

[0039] Specifically, the moving part fluorescent marking point 4 is made of fluorescent material. The excitation spectrum peak of the moving part fluorescent marking point 4 is in the first wavelength range; the fluorescence spectrum peak of the moving part fluorescent marking point 4 is in the second wavelength range; the light emitted by the light source 1 is reflected by the moving part fluorescent marking point 4 and received by the camera 3. That is, the light emitted by the light source 1 can excite the fluorescent material in the moving part fluorescent marking point 4 to emit light, and the fluorescence emitted by the fluorescent material in the moving part fluorescent marking point 4 after being excited can be received by the camera 3.

[0040] Specifically, the wavelengths within the first wavelength range are smaller than the wavelengths within the second wavelength range.

[0041] Specifically, in one embodiment, Figure 2As shown, light source 1 is a short-wave band light source 1, and the light emitted by light source 1 is short-wavelength light; camera 3 is a long-wave band photosensitive camera, and the photosensitive wavelength of camera 3 is the second wavelength range, and the reflected light received by camera 3 is long-wave. It can be understood that camera 3 does not have the photosensitivity to the light emitted by light source 1 and the light reflected by the strong reflective material, and camera 3 can only receive long waves. The short-wavelength light (located in the first wavelength range) emitted by light source 1 irradiates the fluorescent material and other strong reflective materials in the moving part fluorescent marking point 4, and the light reflected by other strong reflective materials is still short-wavelength light (located in the first wavelength range), and the fluorescent material in the moving part fluorescent marking point 4 is excited by the light emitted by light source 1 to undergo spectral red shift according to the Stokes shift principle, generating long-wave fluorescence (located in the second wavelength range). Camera 3 can only receive long-wave fluorescence, and camera 3 sends the received long-wave fluorescence information to the post-processing software for processing, completes the collection of effective information and the decoupling of interference information, and obtains the motion capture information of the moving part 3.

[0042] Specifically, the peak wavelength of the light intensity of the light source 1 should be close to the peak of the excitation spectrum of the fluorescent material. The photosensitivity range of the camera 3 should be close to the peak of the fluorescence spectrum of the fluorescent material under the excitation of the adopted short-wave light source 1. Preferably, the peak of the excitation spectrum is located in the middle of the first wavelength range. The peak of the fluorescence spectrum is located in the middle of the second wavelength range.

[0043] Specifically, for example, the fluorescent material is selected from [(Y 0.65 G 0.3 Zr 0.05 ) 0.97 Eu 0.03 ]2O3 powder (excitation spectrum peak is 245nm), then the light emitted by light source 1 (first wavelength range) should cover (Y 0.65 G 0.3 Zr 0.05 ) 0.97 Eu 0.03 ]2O3 excitation spectrum peak (245nm), so a short-wave ultraviolet lamp (200-275nm) is used. The photosensitive range of camera 3 (second wavelength range) should cover [(Y 0.65 G 0.3 Zr 0.05 ) 0.97 Eu 0.03 ]2O3 has a fluorescence spectrum peak (about 610nm) under the 245nm wavelength excitation spectrum, and is not photosensitizing in the short-wave ultraviolet lamp emission band.

[0044] In another embodiment, the camera 3 includes a filter and a camera body, the filter is arranged on the camera body; the sensitive wavelength of the camera body is a full-band range, and the light transmission wavelength range of the filter is the second wavelength range. Preferably, the filter is a long-wavelength narrow-band pass filter. Specifically, as Figure 3 As shown, the light source 1 is a short-wave band light source 1, and the light emitted by the light source 1 is short-wavelength light; the camera body is a photosensitive camera that can receive light of all bands. It can be understood that the camera body has the ability to be sensitive to the light emitted by the light source 1 and the light reflected by the strong reflective material. The short-wavelength light (located in the first wavelength range) emitted by the light source 1 irradiates the fluorescent material and other strong reflective materials in the moving part fluorescent marking point 4. The light reflected by other strong reflective materials is still short-wavelength light (located in the first wavelength range), and the fluorescent material in the moving part fluorescent marking point 4 is excited by the light emitted by the light source 1 to undergo spectral red shift according to the Stokes shift principle, generating long-wave fluorescence (located in the second wavelength range). The long-wavelength narrow-bandpass filter only allows long-wave fluorescence to pass through. The camera 3 sends the received long-wave fluorescence information to the post-processing software for processing, completes the collection of effective information and the decoupling of interference information, and obtains the motion capture information of the moving part fluorescent marking point 4. For example, the fluorescent material is selected [(Y 0.65 G 0.3 Zr 0.05 ) 0.97 Eu 0.03 ]2O3 powder (excitation spectrum peak is 245nm), then the light emitted by light source 1 (first wavelength range) should cover (Y 0.65 G 0.3 Zr 0.05 ) 0.97 Eu 0.03 ]2O3 excitation spectrum peak (245nm), so a short-wave ultraviolet lamp (200-275nm) is used. The filtering range (second wavelength range) of the long-wavelength narrow-bandpass filter should cover [(Y 0.65 G 0.3 Zr 0.05 ) 0.97 Eu 0.03 ]The fluorescence spectrum peak (about 610nm) of ]2O3 under the 245nm wavelength excitation spectrum is increased to allow wavelengths within the second wavelength range to be received by the camera body.

[0045] The present invention is a motion capture experimental device based on spectral band difference in complex light environments. The Stokes shift principle is used to generate a light information band difference between the moving part fluorescent marker 4 and other strong reflective materials that may cause interference, thereby completing the separate decoupling of the light information of the moving part fluorescent marker 4. This device can greatly improve the ability of the motion capture technical method to locate the moving part fluorescent marker 4 in a complex light environment. In the present invention, the band (first wavelength range) of light emitted by the light source 1 and the band (second wavelength range) of light that can be received by the camera 3 have a certain wavelength difference, and the wavelength of the light emitted by the light source 1 is completely smaller than the wavelength of the light that can be received by the camera 3. Therefore, the interference light information generated by other strong reflective materials in the sampling area will not be received by the camera 3. The moving part fluorescent marking point 4 in the present invention is made of fluorescent material, which will produce fluorescence with a longer wavelength under the action of the light source 1. The wavelength band of the light receivable by the camera 3 and the wavelength band of the fluorescence highly overlap, so the camera 3 can only receive the light information of the moving part fluorescent marking point 4. Therefore, the device can complete the optical information decoupling in a complex light environment, and has the ability to accurately locate the moving part fluorescent marking point 4 under multiple interference strong reflective materials.

[0046] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0047] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only.

[0048] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A motion capture experimental device, characterized in that: include: Light source, fluorescent markers of moving parts, and camera; The moving part fluorescent marking point is located on the light path of the light source, and the light emitted by the light source causes the moving part fluorescent marking point to generate fluorescence; The camera is located on the optical path of the fluorescence of the fluorescent marking point of the moving part, and the camera receives the fluorescence generated by the fluorescent marking point of the moving part; The wavelength of the light emitted by the light source is within a first wavelength range, the wavelength of the light received by the camera is within a second wavelength range, and the first wavelength range and the second wavelength range do not overlap.

2. A motion capture experimental device according to claim 1, characterized in that: The fluorescent marking points of the moving parts are made of fluorescent materials; The peak of the excitation spectrum of the fluorescent marking point of the moving part is located in the first wavelength range; The peak value of the fluorescence spectrum of the fluorescent marking point of the moving part is located in the second wavelength range.

3. A motion capture experimental device according to any one of claims 1 to 2, characterized in that: The wavelengths within the first wavelength range are smaller than the wavelengths within the second wavelength range.

4. A motion capture experimental device according to claim 2, characterized in that: The excitation spectrum peak is located in the middle of the first wavelength range.

5. A motion capture experimental device according to claim 2, characterized in that: The fluorescence spectrum peak is located in the middle of the second wavelength range.

6. The motion capture experimental device according to claim 1, characterized in that: The camera is a long-wavelength photosensitive camera, and the photosensitive wavelength of the camera is within the second wavelength range.

7. The motion capture experimental device according to claim 1, characterized in that: The camera comprises a filter and a camera body, wherein the filter is arranged on the camera body; The sensitive wavelength of the camera body is in the full-band range, and the transparent wavelength range of the filter is in the second wavelength range.

8. The motion capture experimental device according to claim 5, characterized in that: The filter is a long wavelength narrow band pass filter.

9. The motion capture experimental device according to claim 1, characterized in that: The motion capture experimental device also includes a support table and a water tank; The water tank is filled with water, the fluorescent marking point of the moving part is located in the water tank, and the water tank, the light source and the camera are arranged on the support platform; The water tank is located on the optical path of the light source, and the camera is located on the optical path of the light reflected by the fluorescent marking point of the moving part.

10. The motion capture experimental device according to claim 5, characterized in that: The water tank is placed vertically, and the light source is arranged on the upper side of the water tank; The camera is arranged at the lower side of the water tank, and a plurality of the cameras are arranged, and the plurality of cameras are evenly distributed circumferentially around the axis of the water tank.

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