CN106923837A - Colored joint motions test system and method - Google Patents

Abstract

The invention discloses a color joint motion test system and method, wherein the color joint motion test system includes: a marking point, a camera unit, an image processing unit and a central processing unit; the marking point is fixed on the joint, and the marking point has a preset color ; The camera unit is used to capture the marking point and obtain a color image containing the marking point; the image processing unit is used to perform graphic image processing on the color image to obtain the plane position information of the marking point in the color image; the central processing unit is used for Calculate and obtain the spatial position coordinates of the marked points according to the plane position information, and send the spatial position coordinates to other devices. The present invention is based on marking points with color information, when capturing points at different positions, color information is added, the recognition is stable, there is no drift phenomenon, and the stability of motion capture is improved; and there is no need to make multiple points into rigid bodies for recognition , easy to use.

Description

Color joint motion testing system and method

technical field

The invention relates to the technical field of human motion capture, in particular to a color joint motion testing system and method.

Background technique

At present, the joint motion test uses infrared reflection filtering technology to reduce the calculation amount of the hardware, and distinguishes individuals through the definition of the rigid body on the joint (that is, three marked points that are not on the same straight line to form a surface). Although the calculation amount of the above method is small, the requirements for hardware are low. However, with the substantial improvement of computer performance, this advantage no longer exists, and more disadvantages of this method are exposed, as follows:

(1) It is necessary to make three or more marking points into a large rigid body in order to recognize and work, which is bulky and cumbersome;

(2) The accuracy is low, when the distance between the two marking points is less than 1.5cm, it cannot be positioned;

(3) It is impossible to distinguish a single marking point;

(4) There is a drift phenomenon when capturing different positions;

(5) The marking point must be a sphere, and there are requirements for its size, and only a specific size can be recognized.

Existing joint motion test systems are all based on single gray marker points, which are complicated to use, have low resolution, and are prone to drift, affecting use.

Contents of the invention

The present invention provides a color joint motion test system and method to at least solve the problem that the existing joint motion test method is based on a single gray mark point, the use method is complicated, easy to drift, and affects the use.

According to one aspect of the present invention, a kind of color joint motion testing system is provided, comprising: a marker point, a camera unit, an image processing unit and a central processing unit; the marker point is fixed on the joint, and the marker point has a preset color The camera unit is used to capture the marking point and obtain a color image containing the marking point; the image processing unit is used to perform graphic image processing on the color image to obtain the marking point in the The plane position information in the color image; the central processing unit is configured to calculate and obtain the spatial position coordinates of the marking points according to the plane position information, and send the spatial position coordinates to other devices.

In one embodiment, the number of the marking points is one or more.

In one embodiment, when there are multiple marking points, adjacent marking points have different colors.

In one embodiment, the marking points are two-dimensional marking points or three-dimensional marking points.

In one embodiment, the system further includes: a light emitting device for illuminating the marking point.

In one embodiment, the camera unit includes two cameras, and the two cameras are placed at a preset angle for capturing the marking points from different angles.

In one embodiment, the camera unit includes a binocular camera.

In one embodiment, the image processing unit includes: an analog-to-digital conversion module for performing analog-to-digital conversion on a color image in the form of an analog signal; an image processing module for performing graphic image processing on the color image after the analog-to-digital conversion , to obtain plane position information of the marker point in the color image.

In one embodiment, the central processing unit is further configured to receive an activation instruction, and activate the camera unit and the image processing unit according to the activation instruction.

According to another aspect of the present invention, a color joint motion test method is provided, comprising: a camera unit captures a marker point fixed on a joint, and obtains a color image containing the marker point, wherein the marker point has a preset color The image processing unit performs graphic image processing on the color image to obtain the plane position information of the marker point in the color image; the central processing unit calculates and obtains the spatial position coordinates of the marker point according to the plane position information , and send the spatial location coordinates to other devices.

In one embodiment, the number of the marking points is one or more.

In one embodiment, when there are multiple marking points, adjacent marking points have different colors.

In one embodiment, the marking points are two-dimensional marking points or three-dimensional marking points.

In one embodiment, before the camera unit captures the marker points fixed on the joint, the method further includes: illuminating the marker points with a light emitting device.

In one embodiment, the camera unit captures the marker points fixed on the joint, including: placing two cameras at a preset angle, and captures the marker points from different angles.

In one embodiment, the image processing unit performs graphic image processing on the color image, and obtains the plane position information of the marker point in the color image, including: an analog-to-digital conversion module performs an analog signal on the color image in the form of an analog signal digital conversion; the image processing module performs graphic image processing on the color image after the analog-to-digital conversion, and obtains the plane position information of the marking point in the color image.

In one embodiment, before the camera unit captures the marker points fixed on the joint, the method further includes: the central processing unit receives an activation instruction, and activates the imaging unit and the image processing unit according to the activation instruction.

Through the color joint motion test system and method of the present invention, based on the marking points with color information, when capturing different position points, color information is added, the recognition is stable, there is no drift phenomenon, and the stability of motion capture is improved; and no Make multiple points into rigid body for identification, easy to use.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is the structural representation of the color articulation test system of the embodiment of the present invention;

Fig. 2 is another structural schematic diagram of the color articulation test system of the embodiment of the present invention;

Fig. 3 is a flow chart of a color joint motion test method according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

An embodiment of the present invention provides a color joint motion testing system. FIG. 1 is a schematic structural diagram of a color joint motion testing system according to an embodiment of the present invention. As shown in FIG. 1 , the color joint motion testing system 100 includes: marking points 10, A camera unit 20 , an image processing unit 30 and a central processing unit 40 .

The marking point 10 is fixed on the joint, and the marking point 10 has a preset color. The preset color can be black, white, or red, yellow, blue and other colored.

The camera unit 20 is configured to capture the marking point 10 and obtain a color image including the marking point 20 . The camera unit 20 is capable of capturing color, that is to say, the present invention adds color information to the captured information. Images can be static pictures or dynamic videos.

The image processing unit 30 is configured to perform graphic image processing on the color image, and acquire plane position information of the marking point 10 in the color image.

The central processing unit 40 is configured to calculate and obtain the spatial position coordinates of the marking point 10 according to the plane position information, and send the spatial position coordinates to other devices 50 . Other devices 50 may be computers, mobile phones, and the like. The other device 50 can obtain the motion track of the marked point according to the spatial position coordinates of the marked point, so as to understand the motion of the joint and analyze the motion of the joint.

Through the above-mentioned color joint motion test system, based on the marked points with color information, color information is added when capturing different position points, the recognition is stable, there is no drift phenomenon, and the stability of motion capture is improved; and there is no need to use multiple points Made into a rigid body for identification, easy to use.

There are no specific requirements on the size and shape of the marked points, and no special surface treatment is required, just to facilitate the calculation. Markers can be 2D markers or 3D markers. If it is a two-dimensional marker point, the shape of the marker point can be a circle, a rectangle, etc.; if it is a three-dimensional marker point, the shape of the marker point can be a sphere, a cube, etc.

The number of marker points can be one or more. Multiple markers can use the same color or different colors. For a plurality of marker points, the movement trajectory of each marker point can be finally obtained through other devices 50, and the motion analysis of the joints can be performed.

When there are multiple marking points, different colors can be used for adjacent marking points. Therefore, no matter how close the distance between adjacent marking points is, each marking point can be easily and quickly identified and distinguished to improve resolution. rate while avoiding the drift phenomenon.

As shown in FIG. 2 , the above system may further include: a light emitting device 60 for illuminating the marking point 10 . Lighting can enhance the quality of captured color images.

In one embodiment, the camera unit 20 may adopt two cameras, and the two cameras are placed at a preset angle for capturing the marking points from different angles. For the same point, according to the parameters of different angles at the same moment, the position of the point in space can be determined. The camera unit 20 can also adopt a binocular camera.

The image processing unit 30 may include: an analog-to-digital conversion module, which is used to perform analog-to-digital conversion to the color image in the form of an analog signal; an image processing module, which is used to perform graphic image processing on the color image after the analog-to-digital conversion, and obtain the marker points in color Plane position information in the image. Through the image graphics algorithm and image matching algorithm, the plane position of the color marker point in the color image can be found out, and the spatial geometric operation can be performed according to the plane position, and the actual space coordinates of the corresponding color marker point can be calculated, so as to obtain the motion of the joint. It is transmitted in the form of digital signal and has strong anti-interference ability.

The central processing unit 40 is also configured to receive an activation instruction, and activate the camera unit 20 and the image processing unit 30 according to the activation instruction. Wherein, the starting instruction may be sent by other devices 50, or the user may press a switch on the colored joint motion testing system to send the starting instruction.

As used above, the term "unit" or "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

Based on the same inventive concept, an embodiment of the present invention also provides a color joint motion test method, which is implemented based on the above color joint motion test system. Since the problem-solving principle of the color joint motion testing method is similar to the above-mentioned system, the implementation of this method can refer to the implementation of this system, and the repetition will not be repeated.

Fig. 3 is the flowchart of the color joint motion test method of the embodiment of the present invention, as shown in Fig. 3, this method comprises the following steps:

Step S301, the camera unit captures the marker points fixed on the joint, and obtains a color image containing the marker points, wherein the marker points have a preset color;

Step S302, the image processing unit performs graphic image processing on the color image, and obtains the plane position information of the marker point in the color image;

Step S303, the central processing unit calculates and obtains the spatial position coordinates of the marked point according to the plane position information, and sends the spatial position coordinates to other devices.

Through the above-mentioned color joint motion test method, based on the marked points with color information, color information is added when capturing different position points, the recognition is stable, there is no drift phenomenon, and the stability of motion capture is improved; and there is no need to use multiple points Made into a rigid body for identification, easy to use.

For specific descriptions of the marker points and the camera unit, reference may be made to the method embodiments, which will not be repeated here.

Before step S301, the above method may further include: using a light emitting device to illuminate the marking point, so as to improve the quality of the captured color image.

The camera unit captures the marker points fixed on the joint, which may include: placing two cameras at preset angles to capture the marker points from different angles.

Step S302 may include: the analog-to-digital conversion module performs analog-to-digital conversion on the color image in the form of an analog signal; the image processing module performs graphic image processing on the color image after the analog-to-digital conversion, and obtains the plane position information of the marker point in the color image.

Before step S301, the above method may further include: the central processing unit receives an activation instruction, and activates the camera unit and the image processing unit according to the activation instruction.

To sum up, the color joint motion test system and method of the present invention, based on the colored marking points, can identify and spatially analyze the marking points through visual capture, and obtain the spatial position coordinates of the marking points, so that the movement of the marking points can be obtained. trajectory to analyze joint motion. Bringing the visual capture or visual positioning in the medical field from a single gray space to a new colorful world, people can observe more details with the help of this system, and can also develop more and better application methods. The system and method can improve the stability of motion capture, can simplify the evaluation of operation effect, and can also reduce pain of patients.

Any process or method descriptions described in flowcharts or otherwise herein may be understood as representing a module, segment or portion of code comprising one or more executable instructions for implementing specific logical functions or steps of the process , and the scope of preferred embodiments of the invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including in substantially simultaneous fashion or in reverse order depending on the functions involved, which shall It is understood by those skilled in the art to which the embodiments of the present invention pertain.

It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the scope of the present invention. Protection scope, within the spirit and principles of the present invention, any modification, equivalent replacement, improvement, etc., shall be included in the protection scope of the present invention.

Claims (17)

1. A color joint motion test system, is characterized in that, comprises: marking point, camera unit, image processing unit and central processing unit; The marking point is fixed on the joint, and the marking point has a preset color; The camera unit is configured to capture the marking point and obtain a color image including the marking point; The image processing unit is configured to perform graphic image processing on the color image, and obtain plane position information of the marker point in the color image; The central processing unit is configured to calculate and obtain the spatial position coordinates of the marking point according to the plane position information, and send the spatial position coordinates to other devices. 2. The system according to claim 1, characterized in that, the number of the marking points is one or more. 3. The system according to claim 2, wherein when there are multiple marking points, adjacent marking points have different colors. 4. The system according to claim 1, wherein the marking points are two-dimensional marking points or three-dimensional marking points. 5. The system according to claim 1, further comprising: a light emitting device, configured to illuminate the marking point. 6 . The system according to claim 1 , wherein the camera unit comprises two cameras, and the two cameras are placed at preset angles for capturing the marked points from different angles. 7. The system according to claim 1, wherein the camera unit comprises a binocular camera. 8. The system according to claim 1, wherein the image processing unit comprises: An analog-to-digital conversion module, which is used to perform analog-to-digital conversion to a color image in the form of an analog signal; The image processing module is configured to perform graphic image processing on the color image after analog-to-digital conversion, and acquire plane position information of the marking point in the color image. 9. The system according to claim 1, wherein the central processing unit is further configured to receive an activation instruction, and activate the camera unit and the image processing unit according to the activation instruction. 10. A color joint motion testing method, characterized in that, comprising: The camera unit captures the marking points fixed on the joint, and obtains a color image containing the marking points, wherein the marking points have a preset color; The image processing unit performs graphic image processing on the color image to obtain plane position information of the marker point in the color image; The central processing unit calculates and obtains the spatial position coordinates of the marking point according to the plane position information, and sends the spatial position coordinates to other devices. 11. The method according to claim 10, wherein the number of the marking points is one or more. 12. The method according to claim 11, wherein when there are multiple marking points, adjacent marking points have different colors. 13. The method according to claim 10, wherein the marking points are two-dimensional marking points or three-dimensional marking points. 14. The method according to claim 10, characterized in that, before the camera unit captures the marking points fixed on the joint, the method further comprises: illuminating the marking points with a light emitting device. 15. The method according to claim 10, wherein the camera unit captures the marker points fixed on the joints, comprising: placing two cameras at a preset angle to capture the marker points from different angles. 16. The method according to claim 10, wherein the image processing unit performs graphic image processing on the color image, and obtains the plane position information of the marker point in the color image, comprising: The analog-to-digital conversion module performs analog-to-digital conversion on the color image in the form of an analog signal; The image processing module performs graphic image processing on the color image after analog-to-digital conversion, and obtains the plane position information of the marking point in the color image. 17. The method according to claim 10, characterized in that, before the camera unit captures the marker points fixed on the joint, the method further comprises: a central processing unit receives an activation instruction, and starts the imaging according to the activation instruction unit and the image processing unit.