CN220022907U - Optical motion capturing lens - Google Patents

Abstract

The utility model provides an optical motion capture lens, which comprises a first shell, a light source circuit board, an optical lens, a main control board and an imaging circuit board, wherein: the first end of the optical lens is embedded in the first shell; the light source circuit board is electrically connected with the main control board; the main control board is electrically connected with the imaging circuit board, the main control board and the imaging circuit board are positioned in a cavity formed by the first shell, and a main processing unit formed by a system-in-chip integrated with a processor hard core and field programmable gate array FPGA resource is arranged in the main control board. The optical motion capturing lens provided by the utility model comprises the main processing unit composed of the system-level chip (the integrated processor hard core and the FPGA resource), so that the resource occupation of the FPGA can be reduced, the processor performance of the optical motion capturing lens is improved, and the hardware cost of the optical motion capturing lens is reduced.

Description

Optical motion capturing lens

Technical Field

The present utility model relates to motion capture technology, and in particular, to an optical motion capture lens.

Background

With the development of digital image processing technology, motion capturing technology appears, and optical motion capturing technology becomes an important branch in motion capturing technology by virtue of advantages of high motion capturing precision, good real-time performance and the like.

In the existing optical motion capturing technology, an optical mark (Marker) point is attached to a target part of a target object, a plurality of optical motion capturing lenses shoot the moving target object from different angles at the same time, shot image data are processed, two-dimensional coordinate information corresponding to the optical mark point is extracted, the two-dimensional coordinate information of the optical mark point is transmitted to a motion server in real time through a signal transmission device, and the motion capturing server calculates three-dimensional coordinate information of the optical mark point according to the two-dimensional coordinate information through motion capturing software to obtain a motion track of the target object, so that motion capturing of the target object is realized.

However, the current optical motion capture lens adopts an FPGA hardware scheme, a soft core CPU system is built on an FPGA chip by using logic and memory resources inside the FPGA, the consumption of the internal resources of the FPGA in the optical motion capture lens is large, and the performance of the soft core CPU is poor; however, the fpga+dedicated processor scheme, while improving the performance of the processor, may result in excessive hardware cost of the optical motion capture lens.

Disclosure of Invention

In view of the foregoing, it is desirable to provide an optical motion capture lens that can improve processor performance and reduce hardware costs.

An optical motion capture lens, comprising a first housing, a light source circuit board, an optical lens, a main control board and an imaging circuit board, wherein:

the first end of the optical lens is embedded in the first shell;

the light source circuit board is electrically connected with the main control board;

the main control board is electrically connected with the imaging circuit board, the main control board and the imaging circuit board are positioned in a cavity formed by the first shell, and a main processing unit formed by a system-in-chip integrated with a processor hard core and field programmable gate array FPGA resource is arranged in the main control board.

In one embodiment, the imaging circuit board is provided with a first image data interface and a first control interface, and the main control board is provided with a second image data interface and a second control interface.

In one embodiment, the first image data interface on the imaging circuit board and the second image data interface on the main control board are electrically connected by a board-to-board connector, and the first control interface on the imaging circuit board and the second control interface on the main control board are electrically connected by the board-to-board connector.

In one embodiment, the imaging circuit board and the main control board are integrated on a core circuit board, the first image data interface and the second image data interface are electrically connected through a first printed wiring board wire, and the first control interface and the second control interface are electrically connected through a second printed wiring board wire.

In one embodiment, the optical lens motion capture lens further comprises a second housing, wherein:

the light source circuit board is fixed on the second shell, a light source and a light source control circuit are arranged on the light source circuit board, the light source control circuit is arranged on one surface of the light source circuit board facing the first shell, the light source is arranged on the other surface of the light source circuit board, and the light source is electrically connected with the light source control circuit on the light source circuit board;

the light source circuit board is provided with a through hole in the middle, and the second end of the optical lens is arranged in the through hole.

In one embodiment, the light source is an infrared bead array, and the light source is disposed on the light source circuit board around the optical lens.

In one embodiment, an image imaging sensor is disposed in the imaging circuit board, and the optical lens is disposed opposite to the image imaging sensor.

In one embodiment, the optical motion capture lens further comprises:

and the optical filter is arranged on the first end of the optical lens.

In one embodiment, the optical lens is a C-interface optical lens.

In one embodiment, the main control board is provided with an ethernet connection interface.

The optical motion capturing lens comprises a first shell, a light source circuit board, an optical lens, a main control board and an imaging circuit board, wherein: the first end of the optical lens is embedded in the first shell; the light source circuit board is electrically connected with the main control board; the main control board is electrically connected with the imaging circuit board, the main control board and the imaging circuit board are positioned in a cavity formed by the first shell, and a main processing unit formed by a system-in-chip integrated with a processor hard core and field programmable gate array FPGA resource is arranged in the main control board. Because the optical motion capture lens comprises the main processing unit of the system-level chip integrated with the processor hard core and the FPGA resource, the problems that the internal resource consumption of the FPGA is large and the performance of the soft core CPU is poor in the FPGA hardware scheme of the traditional optical motion capture lens can be solved, the resource occupation of the FPGA is reduced, and the processor performance of the optical motion capture lens is improved; meanwhile, the problem that the overall cost of the optical motion capturing lens is high due to high hardware cost of a special processor in the FPGA+special processor scheme of the optical motion capturing lens is solved, and the hardware cost of the optical motion capturing lens is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present utility model, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic diagram of an optical motion capture lens according to an embodiment of the utility model;

FIG. 2 is a schematic diagram illustrating a structure of an optical motion capture lens according to an embodiment of the utility model;

reference numerals

The optical motion capture lens 10, the optical lens 2, the first housing 3, the second housing 1, the optical filter 4, the connection steel post 5, the light source 11, the light source circuit board 12, the light source control circuit 13, the imaging circuit board 31, the main control board/core circuit board 32, the board-to-board connector 33, the aperture 34, the image imaging sensor 311, the main processing unit 321, the wire-to-board connector 322, the ethernet network interface 323, the wire-to-board connector 121, the connection wire 122.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the utility model, which is therefore not limited to the specific embodiments disclosed below.

The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

As shown in FIG. 1, the present utility model provides an optical motion capture lens 10. The optical motion capture lens 10 includes a first housing 3, a light source circuit board 12, an optical lens 2, a main control board 32, and an imaging circuit board 31. Wherein a first end of the optical lens 2 is embedded in the first housing 3. The light source circuit board 12 is electrically connected to the main control board 32. The main control board 32 is electrically connected to the imaging circuit board 31, the main control board 32 and the imaging circuit board 32 are located in a cavity formed by the first housing 3, and a main processing unit 321 formed by a System On Chip (SOC) integrated with a processor hard core and FPGA resources is disposed in the main control board 32.

In this embodiment of the present utility model, the first end of the optical lens 2 is fixedly installed at the opening 34 on the outer surface of the first housing 3 through threaded connection, and is embedded in the first housing 3. The light source circuit board 12 and the main control board 32 are electrically connected by a wire-to-board connector 121, a wire-to-board connector 322, and a connection wire 122. The imaging circuit board 31 is used to acquire real-time image data of a target object and transmit the real-time image data to the main processing unit 321 on the main control board 32. The main processing unit 321 is configured to receive real-time image data, perform corresponding data processing on the real-time image data to extract key information such as two-dimensional coordinates and a central position of a target object, and is also configured to control and schedule system functions, process and package data, transmit real-time image data obtained by motion capture, control the imaging circuit board 31, and control the light source 11.

The main processing unit 321 may also be provided with a program memory, a data memory, an ethernet network interface, and a power module. The program memory is used for storing a system guide file and an FPGA configuration bit stream file. The data storage is used for providing the system running memory.

The optical motion capturing lens 10 disclosed by the embodiment of the utility model can solve the problems that in the FPGA hardware scheme of the traditional optical motion capturing lens, the internal resources of the FPGA consume much and the performance of a soft core CPU is poor due to the main processing unit consisting of the system-level chip integrated with the hard core of the processor and the FPGA resources, so that the resource occupation of the FPGA is reduced, and the processor performance of the optical motion capturing lens is improved; since the optical motion capture lens consists of the main processing unit 321 composed of the system-in-chip (integrated processor hard core and FPGA resource), the cost is between the FPGA hardware scheme and the fpga+special purpose processor, and compared with the fpga+special purpose processor, the optical motion capture lens 10 using the system-in-chip (integrated processor hard core and FPGA resource) has lower power consumption, smaller PCB size, and higher communication bandwidth between the processor and the FPGA. The method can solve the problem that the overall cost of the optical motion capturing lens is high due to high hardware cost of a special processor in the FPGA+special processor scheme of the optical motion capturing lens, and reduce the hardware cost of the optical motion capturing lens. And because the main processing unit 321 composed of the system-in-chip is internally integrated with one or more hard core processors (such as ARM cores) and abundant FPGA hardware resources, the hard core processor with the programmable software and the FPGA with the programmable hardware are integrated in one chip, and the main processing unit 321 composed of the system-in-chip is also integrated with very abundant peripheral interfaces, the optical motion capture lens 10 also has very strong flexibility and expandability.

In one embodiment, as shown in fig. 1, a first image data interface and a first control interface are provided on the imaging circuit board 31, and a second image data interface and a second control interface are provided on the main control board 32.

The imaging circuit board 31 may further be provided with a first power interface, the imaging circuit board 31 may further be provided with a power circuit, and the main control board 32 may further be provided with a second power interface. The first image data interface and the first control interface may be provided on the imaging circuit board 31, the first image data interface and the first control interface may be combined on the same connector, or may be provided separately, as two interfaces, the second image data interface and the second control interface may be provided on the main control board 32, and the second image data interface and the second control interface may be combined on the same connector, or may be provided separately, as two interfaces.

The imaging circuit board 31 transmits real-time image data to a second image data interface on the main control board 32 through the first image data interface, and the main control board 32 receives real-time image data through the second image data interface; the main control board 32 transmits parameter data such as parameter (such as resolution, frame rate, exposure time, etc.) configuration and selection of a working mode to the imaging circuit board 31 through the second control interface, and the imaging circuit board 31 receives the parameter data through the first control interface; the main control board 32 supplies input power to the power supply circuit on the imaging circuit board 31 through the second power supply interface and the first power supply interface.

According to the embodiment of the disclosure, through the first image data interface on the imaging circuit board 31 and the second image data interface on the main control board 32, the imaging circuit board 31 transmits real-time image data to the main control board 32, through the second control interface on the main control board 32 and the first control interface on the imaging circuit board 31, parameter data adjustment can be performed on the imaging circuit board 31, input power is provided for a power circuit on the imaging circuit board through the second power interface, data transmission between the imaging circuit board 31 and the main control board 32 can be realized, the subsequent processing of real-time image data is facilitated, and two-dimensional coordinates and other information of a target object are extracted.

In one embodiment, as shown in fig. 1, a first image data interface on the imaging circuit board 31 and a second image data interface on the main control board 32 are electrically connected by a board-to-board connector 33, and a first control interface on the imaging circuit board 31 and a second control interface on the main control board 32 are electrically connected by a board-to-board connector 33.

The board-to-board connector 33 includes two parts, a first part being a board-to-board connector located on the imaging circuit board 31 and a second part being a board-to-board connector located on the main control board 32. The first image data interface and the first control interface on the imaging circuit board 31 may be disposed on the first portion of the board-to-board connector 33, the first power interface may also be disposed on the first portion of the board-to-board connector 33, the second image data interface and the second control interface on the main control board 32 may be disposed on the second portion of the board-to-board connector 33, and the second power interface may also be disposed on the second portion of the board-to-board connector 33, and the two circuit boards may be connected together through the mated first portion and second portion of the board-to-board connector.

In the embodiment of the disclosure, the interface between the imaging circuit board 31 and the main control board 32 is electrically connected through the board-to-board connector 33, instead of the existing connector special for FMC (FPGA Mezzanine Card, FPGA intermediate laminate card), and the hardware cost of the optical motion capture lens 10 is reduced.

In one embodiment, as shown in fig. 2, the imaging circuit board and the main control board are integrated on the core circuit board 32, the first image data interface and the second image data interface are electrically connected by a first printed wiring board conductor, and the first control interface and the second control interface are electrically connected by a second printed wiring board conductor.

The imaging circuit in the imaging circuit board and the main control circuit in the main control board are integrated to obtain a core circuit board, a first image data interface of the imaging circuit and a second image data interface of the main control circuit are electrically connected through a first printed circuit board lead (PCB interconnection line), and a first control interface of the imaging circuit and a second control interface of the main control circuit are electrically connected through a second printed circuit board lead.

According to the embodiment of the disclosure, the original imaging circuit board and the main control board are integrated, and as the core circuit 32, bidirectional data transmission between the imaging circuit and the main control board is performed through the Printed Circuit Board (PCB) and the PCB instead of the FMC connector and the universal board-to-board connector, so that the integration level and reliability of the optical motion capture lens 10 are improved, the data transmission rate, the transmission bandwidth and the transmission quality are greatly improved, and the overall performance of the optical motion capture lens is improved.

In one embodiment, as shown in fig. 1, the optical lens motion capture lens 10 further includes a second housing, as shown in fig. 1, wherein the light source circuit board 12 is fixed on the second housing 1. The light source circuit board 12 is provided with a light source 11 and a light source control circuit 13. The light source control circuit 13 is provided in a face of the light source circuit board 12 facing the first housing 1. The light source 11 is provided on the other surface of the light source circuit board 12, and the light source 11 is electrically connected to the light source control circuit 13 on the light source circuit board 12. A through hole is provided in the middle of the light source circuit board 12, and the second end of the optical lens 2 is disposed in the through hole.

The light source circuit board is used for providing an irradiation light source for the optical motion capture lens under the control of the main control board. The light source control circuit 13 is used for controlling the on and off of the light source 11 and adjusting the brightness of the light source 11. The light source circuit board 12 and the core circuit board 32 are electrically connected by the wire-to-board connector 121 and the wire-to-board connector 322, and the connection wires 122. The core circuit board 32 is provided with a third power interface and a third control interface, and the light source circuit board 12 is provided with a fourth power interface and a fourth control interface. The core circuit board 32 supplies the operating power to the fourth power interface of the light source circuit board 12 through the third power interface. The core circuit board 32 may transmit the light source adjustment parameter to the fourth control interface through the third control interface, so that the light source control circuit 13 controls the light source 11. The third control interface and the fourth control interface may be universal control interfaces, for example, I2C or SPI interfaces, and the first housing 3 and the second housing 1 are connected into a whole through a connecting steel column 5.

In the embodiment of the disclosure, the light source circuit board 12 can provide an illumination light source for the optical motion capture lens under the control of the main control board, and when motion capture is performed, a target object can be illuminated by the light source 11 carried by the optical motion capture lens 10, and then the light source reflected by the target object is acquired by the optical lens 2 and imaged on the core circuit board 32. By directly disposing the light source 11 around the optical lens 2, the lens can be improved in its integration, without carrying a dedicated light source additionally, the reliability of light source control is improved, and the convenience of using the optical capturing lens 10 is also improved.

In one embodiment, as shown in fig. 1, the light source 11 is an infrared bead array, and the light source 11 is disposed on the light source circuit board 12 around the optical mirror 2.

Wherein the light source 11 is typically an array of infrared LED light beads. The central wavelength of the infrared LED lamp beads can be 850nm to 940nm, which is not limited in the embodiment of the present utility model. The technician can set up the infrared LED lamp pearl of different quantity according to observing distance and practical application scene, but is usually not less than 5 infrared LED lamp pearls. An array of infrared LED light beads is disposed around the optical lens 2, typically one or more rings of infrared LED light beads are disposed around the optical lens 2, and the array of infrared LED light beads is disposed on the light source circuit board 12.

When the optical motion capture lens 10 works, the light source 11 on the light source circuit board 12 is used for emitting infrared irradiation light source with specific wavelength under the control of the main control board 32 to irradiate on the target object.

According to the embodiment of the disclosure, the light source 11 is set to be an infrared LED lamp bead array, so that the optical mark points attached to the target object can be conveniently and subsequently irradiated through the infrared LED lamp beads, the optical lens 2 obtains the infrared light source reflected by the target object and images the infrared light source on the core circuit board 32, in addition, the infrared LED lamp beads arranged around the optical lens 2 can provide more uniform light sources when irradiating the target object, and the accuracy of subsequent image processing can be improved.

In one embodiment, as shown in fig. 1, an image imaging sensor 311 is provided in the imaging circuit board 31, and an optical lens 2 is provided opposite to the image imaging sensor 311.

The image imaging sensor 311 disposed on the imaging circuit board 31 may perform induction imaging processing on the infrared reflected light collected by the optical lens 2, and obtain real-time image data of the target object based on the infrared reflected light. The image imaging sensor 311 transmits real-time image data to the main processing unit 321 on the main control board 32, and the main processing unit 321 processes the real-time image data, thereby obtaining motion information such as two-dimensional coordinates of a target object.

In the embodiment of the disclosure, the image imaging sensor 311 is arranged opposite to the optical lens 2, so that the image imaging sensor 311 can receive the infrared reflected light collected by the optical lens 2, and the imaging sensitivity and the image quality of the image imaging sensor are improved.

In one embodiment, as shown in fig. 1, the optical motion capture lens 10 further includes a filter 4, the filter 4 being disposed on a first end of the optical lens 2.

The filter 4 may be a long-pass filter with a wavelength of 850nm to 940nm, specifically, the wavelength is the same as the selected infrared LED lamp beads. The optical lens 2 receives infrared reflected light generated by an optical mark point attached to a target object and other light sources in the environment, the optical filter 4 is an infrared optical filter which is in the same wave band as the selected infrared LED lamp beads, and the optical filter 4 can filter the ambient light and other light sources in the non-selected infrared wave band to obtain the infrared reflected light in the selected infrared wave band. The filter 4 is disposed at the first end of the optical lens 2 so as to obtain the infrared reflected light of the desired target object at the optical lens 2.

According to the embodiment of the disclosure, as the environment where the target object is located contains a plurality of light sources, the light sources are filtered in time through the optical filter, so that only the infrared reflected light required by the follow-up is reserved, more accurate real-time image data of the target object can be conveniently obtained, and the accuracy of the follow-up image processing is improved.

In one embodiment, as shown in FIG. 1, the optical lens 2 is a C-interface optical lens.

The optical lens 2 is used for collecting infrared reflected light generated by an optical mark point attached to a target object.

In one embodiment, as shown in FIG. 1, an Ethernet connection interface 323 is provided on the main control board 32.

The ethernet connection interface 323 is used to provide an external ethernet network connection function for the optical motion capture lens 10, and the ethernet connection interface 323 may be connected to an external switch through a network cable to provide a network data communication interface for the optical motion capture lens. The optical motion capture lens 10 transmits motion capture real-time image data, data synchronization information, and control information associated with each control interface via the ethernet connection interface 323.

According to the embodiment of the disclosure, the optical motion capture lens 10 transmits the obtained two-dimensional coordinate data of the optical mark point attached to the target object to the motion capture server in real time through the Ethernet network interface 323 arranged on the main control board 32, and then the motion capture software performs three-dimensional coordinate reconstruction of the optical mark point and identification and tracking of the target object, so that timeliness of data processing is improved.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model and are described in detail herein without thereby limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of the utility model should be assessed as that of the appended claims.

Claims (10)

1. An optical motion capture lens, wherein, optical motion capture lens includes first casing, light source circuit board, optical lens, main control panel and imaging circuit board, wherein:

the first end of the optical lens is embedded in the first shell;

the light source circuit board is electrically connected with the main control board;

the main control board is electrically connected with the imaging circuit board, the main control board and the imaging circuit board are positioned in a cavity formed by the first shell, and a main processing unit formed by a system-in-chip integrated with a processor hard core and field programmable gate array FPGA resource is arranged in the main control board.

2. The optical motion capture lens of claim 1, wherein the imaging circuit board is provided with a first image data interface and a first control interface, and the main control board is provided with a second image data interface and a second control interface.

3. The optical motion capture lens of claim 2, wherein the first image data interface on the imaging circuit board and the second image data interface on the main control board are electrically connected by a board-to-board connector, and the first control interface on the imaging circuit board and the second control interface on the main control board are electrically connected by the board-to-board connector.

4. The optical motion capture lens of claim 2, wherein the imaging circuit board and the main control board are integrated on a core circuit board, the first image data interface and the second image data interface are electrically connected by a first printed wiring board lead, and the first control interface and the second control interface are electrically connected by a second printed wiring board lead.

5. The optical motion capture lens of claim 1, further comprising a second housing, wherein:

the light source circuit board is fixed on the second shell, a light source and a light source control circuit are arranged on the light source circuit board, the light source control circuit is arranged on one surface of the light source circuit board facing the first shell, the light source is arranged on the other surface of the light source circuit board, and the light source is electrically connected with the light source control circuit on the light source circuit board;

the light source circuit board is provided with a through hole in the middle, and the second end of the optical lens is arranged in the through hole.

6. The optical motion capture lens of claim 5, wherein the light source is an array of infrared beads and the light source is disposed on the light source circuit board around the optical lens.

7. The optical motion capture lens of any one of claims 1-6, wherein an image imaging sensor is disposed in the imaging circuit board, the optical lens being disposed opposite the image imaging sensor.

8. The optical motion capture lens of claim 7, wherein the optical motion capture lens further comprises:

and the optical filter is arranged on the first end of the optical lens.

9. The optical motion capture lens of claim 1, wherein the optical lens is a C-interface optical lens.

10. The optical motion capture lens of claim 1, wherein the main control board has an ethernet connection interface disposed thereon.