CN110327048A - A kind of human upper limb posture reconstruction system based on wearable inertial sensor - Google Patents
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Abstract
A kind of human upper limb posture reconstruction system based on wearable inertial sensor, including lower computer hardware platform and human body 3D modeling host computer, the lower computer hardware platform includes nine axis inertial sensors and single-chip microcontroller, and the human body 3D modeling host computer includes that data communication part, human upper limb coordinate system building part and human body 3D articulated model draw part.Small-sized inertial sensor is arranged in human body many places artis by present system, fusion, which is carried out, by the inertial data to body part each in action process obtains human upper limb posture reconstruction result with reckoning, the model that finally uses the rod visualizes human body attitude, provide it is a kind of it is low in cost, easy to wear, using the high human upper limb posture reconstruction system of no environmental restrictions, data update rate.
Description
Technical field
The present invention is applied to human body motion capture technical field, is related to a kind of base captured suitable for human action with reconstruction
In the human upper limb posture reconstruction system of wearable inertial sensor.
Background technique
Human action capture be it is a kind of can by virtual three dimensional computer modeling accurately, rapidly people in actual life
The technical method that body motion state restores in real time.In recent years, with key technologies such as human-computer interaction and WLANs
Rapid development, human action capture are widely used in production of film and TV, robot control, sports, medical science of recovery therapy, body-sensing trip
The fields such as play, obtain very extensive concern, become one of the hot spot of electronic information technology research.
At present, common human action, which captures system, the method based on ectoskeleton and view-based access control model.The former has preferable
The space property put to good use, but because mechanical device is more complicated, and many devices are made of rigid structure, cause volume and quality compared with
Greatly, not easy donning and carrying.The method of view-based access control model has been used widely, and human motion characteristic can be embodied, convenient
Human motion posture is acquired, while can also obtain the posture of Whole Body movement.But the motion capture system of view-based access control model needs
Want multiple video cameras to prevent marker needed for motion tracking to be blocked, therefore its use space is by larger limitation and price height
It is high.Secondly, the motion capture system portability of view-based access control model is poor, camera, which generally requires, is fixed on some position, no
It is moved easily.In addition, mark luminous point when being identified by camera, is easy to be interfered by other objects, generates different degrees of noise,
So as to cause the decision of mistake.
Summary of the invention
In order to solve higher cost present in the prior art, portable poor deficiency, the present invention provides a kind of base
In the human upper limb posture reconstruction system of wearable inertial sensor, the acquisition and reconstruction to human action are realized with this.
The purpose of the present invention is what is be achieved through the following technical solutions:
One kind being based on wearable inertial sensor human upper limb posture reconstruction system, including lower computer hardware platform and people
Body 3D modeling host computer, the lower computer hardware platform includes nine axis inertial sensors and single-chip microcontroller, in the human body 3D modeling
Position machine includes that data communication part, human upper limb coordinate system building part and human body 3D articulated model draw part；
The nine axis inertial sensor is integrated with three axis accelerometer, three-axis gyroscope and three axle magnetometer, and can pass through
Fused quaternary number information is calculated in its build-in function；The single-chip microcontroller is used for and nine axis inertial sensors are communicated and read
Its quaternion algebra evidence will be sent in the form of data packet host computer after Data Integration；
The data communication part of the host computer is used for and the single chip communication of slave computer, receives the quaternary of each sensor
Number data, and contain data check function；The human upper limb coordinate system building part building human upper limb joint of the host computer
Coordinate transform tree, the quaternary number information obtained according to sensor is calculated each interarticular coordinate transform of human upper limb and closes
System；The human body 3D articulated model of the host computer draws part and respectively indicates bone and joint using cuboid and sphere, according to
The coordinate conversion relation in each joint of human upper limb calculates position and the posture information of each solid, finally visualizes boundary in 3D
Face shows each solid for representing skeleton and joint, obtains visual human body 3D articulated model.
Further, the process that the human upper limb right arm is rebuild is as follows:
(1) single-chip microcontroller is communicated with three nine axis inertial sensors, sends data requesting instructions.Nine axis inertial sensors
After receiving instruction, its quaternary number information for measuring and being calculated is returned；
(2) single-chip microcontroller presses certain frequency, by the quaternion algebra of collected each nine axis inertial sensor according to packing, and passes through
Data-interface is sent to upper computer end；
(3) after the data communication of human body 3D modeling host computer is partially received the data packet that single-chip microcontroller is sent, from data packet
It is middle to restore above-mentioned quaternion algebra evidence and pass to human upper limb coordinate system building part；
(4) coordinate that the human upper limb coordinate system building part of human body 3D modeling host computer constructs human upper limb joint becomes
Tree is changed, each interarticular coordinate conversion relation of human upper limb is calculated in the quaternary number information obtained according to sensor；
(5) the human body 3D articulated model of human body 3D modeling host computer draws part and respectively indicates bone using cuboid and sphere
Bone and joint calculate the position of each solid according to the coordinate conversion relation in each joint of human upper limb obtained in step (4)
With posture information, each solid for representing skeleton and joint finally is shown in 3D visualization interface, is then visualized
Human body 3D articulated model.
Further, the installation method of the nine axis inertial sensor are as follows: by taking the reconstruction of human upper limb right arm as an example, need
Use 3 nine axis inertial sensors；Wherein, first nine axis inertial sensor need to be placed on human body chest, the base as human body
Conventional coordinates.Second nine axis inertial sensor is placed on above elbow joint, for measuring the athletic posture information of upper arm；Third
Nine axis inertial sensors are placed on above wrist joint, for measuring the athletic posture information of lower arm；The reconstruction of left arm and right arm phase
Together, not repeated description herein.
Further, the method for each joint coordinates transformation of the human upper limb are as follows:
First according to skeleton feature, the connection relationship in human upper limb major skeletal and joint is determined, and draw human body
Upper limb bone arborescence, note geographic coordinate system are G, and chest coordinate system is B, and right shoulder joint coordinate system is S, right elbow joint coordinate system
For E, right wrist joint coordinate system is W；
Next, defining each coordinate system existing translation transformation and rotation transformation between any two: wherein translation transformation P is sat
Marking (x, y, z) indicates, four dimensional vectors (w, a, b, the c) form of rotation transformation Q quaternary number indicates；
The translation rotation transformation of chest coordinate system B under geographic coordinate system G:
The nine axis inertial sensors placement in setting chest is consistent with each reference axis of geographic coordinate system G, this makes it possible to obtain:
The translation rotation transformation of shoulder joint coordinate system S under the coordinate system B of chest:
Right shoulder joint coordinate system S relative to chest coordinate system B be it is static, this makes it possible to obtain:
The translation rotation transformation of elbow joint coordinate system E under shoulder joint coordinate system S:
Right shoulder elbow joint coordinate system E relative to right shoulder coordinate system S rotation transform information by elbow joint nine axis inertia
Sensor provides, but what it obtained is rotation transformation relative to geographic coordinate system GTherefore elbow joint coordinate system E is relative to shoulder
Rotation transformation under joint coordinate system S are as follows:
Initial calibration moment human arm and ground keeping parallelism (remember that the state is T-pose) to the right straight,L1It is constant, indicates upper arm lengths, with the movement of human arm, E also can relative to the translational coordination of S
It changes, in order to calculate the translational coordination after variation, needs that three-dimensional coordinate is first converted to quaternary number and operate again, enable just
The beginning quaternary number of moment coordinate is expressed as pSE=(0, L1, 0,0), then the coordinate more new formula after rotating are as follows:
After obtaining each arm motion by formula (2), elbow joint is relative to the spatial position where shoulder joint, to make mould
Type is synchronous with manpower posture, needs carrying out calibration operation, the operation of calibration at the beginning are as follows: Schilling arm keeps T-pose quiet
Only, quaternary number q under this state is savedE0, to each posture of subsequent elbow joint E, rotate quaternary numberIt needs to multiply
Upper qE0 -1, to eliminate initial position error bring model bias.Translational coordination calculation formula is as follows:
pSE'=(qE0)-1qEipSE(qEi)-1qE0 (3)
The translation rotation transformation of wrist joint coordinate system W under elbow joint coordinate system E:, available wrist similar with elbow joint
Joint coordinate system W is as follows relative to the rotation transformation under shoulder joint coordinate system S:
An auxiliary coordinates A is introduced, is equivalent to and moves to shoulder joint coordinate system S at elbow joint coordinate system E, obtain:
Then the translation transformation for calculating wrist joint coordinate system W relative to auxiliary coordinates A is as follows:
pAW'=(qW0)-1qWipAW(qWi)-1qW0 (6)。
The beneficial effects of the present invention are: small-sized inertial sensor is arranged in human body many places artis, by acting
The inertial data of each body part carries out fusion and obtains human upper limb posture reconstruction as a result, the mould that finally uses the rod with reckoning in journey
Type visualizes human body attitude.Expensive optical motion capture system is substituted using the hardware device of low cost for present system
System, be not afraid of block, no light influence, indoor and outdoor can be used, it is easy to accomplish round-the-clock, unconfined motion capture；It is based on
The wearable device of inertial sensor has the characteristics that easy to wear, miniaturization, at low cost, small power consumption；The data volume of system acquisition
Smaller, the time overhead of information processing is few, it can be achieved that acquisition high-frequency to human body attitude and reconstruction.
Detailed description of the invention
Fig. 1 is present system structural block diagram.
Fig. 2 is human upper limb bone tree structure figure.
Fig. 3 is each joint coordinates schematic diagram of human body right arm.
Specific embodiment
To be more clear the object, technical solutions and advantages of the present invention, below by taking the reconstruction of human upper limb right arm as an example,
In conjunction with attached drawing, the technical scheme of the present invention will be further described.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
Referring to Fig.1~Fig. 3, a kind of human upper limb posture reconstruction system based on wearable inertial sensor, including under
Position machine hardware platform and human body 3D modeling host computer, the lower computer hardware platform include nine axis inertial sensors and single-chip microcontroller,
The human body 3D modeling host computer includes that data communication part, human upper limb coordinate system building part and human body 3D articulated model are drawn
Part processed；
The nine axis inertial sensor is integrated with three axis accelerometer, three-axis gyroscope and three axle magnetometer, and can pass through
Fused quaternary number information is calculated in its build-in function, and the communication mode with single-chip microcontroller is I2C agreement；Nine axis inertia pass
The installation method of sensor are as follows: by taking the reconstruction of human upper limb right arm as an example, need to use 3 nine axis inertial sensors, wherein first
A nine axis inertial sensor need to be placed on human body chest, the frame of reference as human body.Second nine axis inertial sensor is put
Above elbow joint, for measuring the athletic posture information of upper arm, nine axis inertial sensors of third are placed on above wrist joint,
For measuring the athletic posture information of lower arm.The reconstruction of left arm is identical as right arm, not repeated description herein.
The single-chip microcontroller be used for and nine axis inertial sensors communicate and read its quaternion algebra evidence, by after Data Integration with number
Host computer is sent to by serial ports according to the form of packet.
The data communication part of host computer passes through the single chip communication of serial ports and slave computer, receives the quaternary of each sensor
Number data, and contain data check function；The human upper limb coordinate system building part of host computer constructs human upper limb joint
Each interarticular coordinate conversion relation of human upper limb is calculated in coordinate transform tree, the quaternary number information obtained according to sensor；
The human body 3D articulated model of host computer draws part and respectively indicates bone and joint using cuboid and sphere, according to human upper limb
The coordinate conversion relation in each joint calculates position and the posture information of each solid, people is finally shown in visualization interface
Body 3D articulated model.
The following are the processes that present system rebuilds human upper limb right arm:
(1) single-chip microcontroller is communicated by I2C agreement with three nine axis inertial sensors, sends data requesting instructions.Nine
After axis inertial sensor receives instruction, its quaternary number information for measuring and being calculated is returned；
(2) single-chip microcontroller presses certain frequency, by the quaternion algebra of collected each nine axis inertial sensor according to packing, and passes through
The mode of serial ports is sent to upper computer end；
(3) after the data communication of human body 3D modeling host computer is partially received the data packet that single-chip microcontroller is sent, from data packet
It is middle to restore above-mentioned quaternion algebra evidence and pass to human upper limb coordinate system building part；
(4) coordinate that the human upper limb coordinate system building part of human body 3D modeling host computer constructs human upper limb joint becomes
Tree is changed, each interarticular coordinate conversion relation of human upper limb, specific mistake is calculated in the quaternary number information obtained according to sensor
Journey is as follows:
According to skeleton feature, the connection relationship in human upper limb major skeletal and joint is determined, and draw human upper limb
Bone arborescence.As shown in Fig. 2, wherein note geographic coordinate system is G, chest coordinate system is B, and right shoulder joint coordinate system is S, right elbow
Joint coordinate system is E, and right wrist joint coordinate system is W.
Between any two there is translation transformation and rotation transformation, translation transformation P is indicated each coordinate system with coordinate (x, y, z),
Rotation transformation Q indicates a quaternary number with four dimensional vectors (w, a, b, c), next indicates that a coordinate system is opposite with P and Q
In the translation rotation transformation of another coordinate system.
The translation rotation transformation of chest coordinate system B under geographic coordinate system G:
The nine axis inertial sensors placement in setting chest is consistent with each reference axis of geographic coordinate system G, this makes it possible to obtain:
The translation rotation transformation of shoulder joint coordinate system S under the coordinate system B of chest:
Right shoulder joint coordinate system S relative to chest coordinate system B be it is static, this makes it possible to obtain:
The translation rotation transformation of elbow joint coordinate system E under shoulder joint coordinate system S:
Right shoulder elbow joint coordinate system E relative to right shoulder coordinate system S rotation transform information by elbow joint nine axis inertia
Sensor provides, but what it obtained is rotation transformation relative to geographic coordinate system GTherefore elbow joint coordinate system E is relative to shoulder
Rotation transformation under joint coordinate system S are as follows:
Initial calibration moment human arm and ground keeping parallelism (remember that the state is T-pose) to the right straight,L1It is constant, indicates upper arm lengths.With the movement of human arm, E also can relative to the translational coordination of S
It changes, in order to calculate the translational coordination after variation, needs that three-dimensional coordinate is first converted to quaternary number and operate again, enable just
The beginning quaternary number of moment coordinate is expressed as pSE=(0, L1, 0,0), then the coordinate more new formula after rotating are as follows:
After the available each arm motion of formula (2), elbow joint is relative to the spatial position where shoulder joint.For
Keep model synchronous with manpower posture, needs carrying out calibration operation at the beginning.The concrete operations of calibration are as follows: Schilling arm keeps T-
Pose is static, saves quaternary number q under this stateE0, to each posture of subsequent elbow joint E, rotate quaternary number
It needs to be multiplied by qE0 -1, to eliminate initial position error bring model bias.Translational coordination calculation formula is as follows:
pSE'=(qE0)-1qEipSE(qEi)-1qE0 (3)
The translation rotation transformation of wrist joint coordinate system W under elbow joint coordinate system E:, available wrist similar with elbow joint
Joint coordinate system W is as follows relative to the rotation transformation under shoulder joint coordinate system S:
An auxiliary coordinates A is introduced, is equivalent to and moves to shoulder joint coordinate system S at elbow joint coordinate system E, obtain:
Then it is as follows relative to the translation transformation of auxiliary coordinates A that wrist joint coordinate system W can be calculated:
pAW'=(qW0)-1qWipAW(qWi)-1qW0 (6)
According to the corresponding relationship between above-mentioned each coordinate system, it can be deduced that the posture information in each joint of human upper limb right arm,
Schematic diagram such as Fig. 3.
(5) the human body 3D articulated model of human body 3D modeling host computer draws part and respectively indicates bone using cuboid and sphere
Bone and joint calculate the position of each solid according to the coordinate conversion relation in each joint of human upper limb obtained in step (4)
With posture information, each solid for representing skeleton and joint finally is shown in 3D visualization interface, is then visualized
Human body 3D articulated model.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
But the present invention is not limited to the above embodiments, those skilled in the art's announcement according to the present invention, changes for what the present invention made
Into and modification all should be within protection scope of the present invention.
Claims (4)
1. a kind of human upper limb posture reconstruction system based on wearable inertial sensor, it is characterised in that: on the human body
Limb posture reconstruction system includes lower computer hardware platform and human body 3D modeling host computer, and the lower computer hardware platform includes nine axis
Inertial sensor and single-chip microcontroller, the human body 3D modeling host computer include data communication part, human upper limb coordinate system building portion
Divide and human body 3D articulated model draw part, in which:
The nine axis inertial sensor is integrated with three axis accelerometer, three-axis gyroscope and three axle magnetometer, and can be by it
It sets function calculating and obtains fused quaternary number information；Single-chip microcontroller is used for and nine axis inertial sensors communicate and read its quaternary number
Data will be sent in the form of data packet host computer after Data Integration；
The data communication part of host computer and the single chip communication of slave computer, receive the quaternion algebra evidence of each sensor, and contain
There is data check function；The human upper limb coordinate system building part of host computer constructs the coordinate transform tree in human upper limb joint, root
Each interarticular coordinate conversion relation of human upper limb is calculated in the quaternary number information obtained according to sensor；The human body of host computer
3D articulated model draws part and respectively indicates bone and joint using cuboid and sphere, according to the coordinate in each joint of human upper limb
Transformation relation calculates position and the posture information of each solid, and human body 3D articulated model is finally shown in visualization interface.
2. a kind of human upper limb posture reconstruction system based on wearable inertial sensor as described in claim 1, special
Sign is: the process that the human upper limb right arm is rebuild is as follows:
(1) single-chip microcontroller is communicated with three nine axis inertial sensors, sends data requesting instructions, and nine axis inertial sensors receive
After instruction, its quaternary number information for measuring and being calculated is returned；
(2) single-chip microcontroller presses certain frequency, by the quaternion algebra of collected each nine axis inertial sensor according to packing, and passes through data
Interface is sent to upper computer end；
(3) it is multiple from data packet after the data communication of human body 3D modeling host computer is partially received the data packet that single-chip microcontroller is sent
Former above-mentioned quaternion algebra evidence simultaneously passes to human upper limb coordinate system building part；
(4) the human upper limb coordinate system building part of human body 3D modeling host computer constructs the coordinate transform in human upper limb joint
Each interarticular coordinate conversion relation of human upper limb is calculated in tree, the quaternary number information obtained according to sensor；
(5) the human body 3D articulated model of human body 3D modeling host computer draw part using cuboid and sphere respectively indicate bone with
Joint calculates position and the appearance of each solid according to the coordinate conversion relation in each joint of human upper limb obtained in step (4)
State information finally shows each solid for representing skeleton and joint in 3D visualization interface, then obtains visual people
Body 3D articulated model.
3. a kind of human upper limb posture reconstruction system based on wearable inertial sensor as claimed in claim 1 or 2,
It is characterized in that: the installation method of the nine axis inertial sensor are as follows: by taking the reconstruction of human upper limb right arm as an example, need to use 3
Nine axis inertial sensors, wherein first nine axis inertial sensor need to be placed on human body chest, the reference coordinate as human body
System, second nine axis inertial sensor are placed on above elbow joint, and for measuring the athletic posture information of upper arm, nine axis of third are used
Property sensor be placed on above wrist joint, for measuring the athletic posture information of lower arm, the reconstruction of left arm is identical as right arm.
4. a kind of human upper limb posture reconstruction system based on wearable inertial sensor as claimed in claim 1 or 2,
It is characterized in that: the method for each joint coordinates transformation of human upper limb are as follows:
First according to skeleton feature, the connection relationship in human upper limb major skeletal and joint is determined, establish human upper limb bone
Bone tree structure figure；
Next, defining each coordinate system existing translation transformation and rotation transformation between any two: wherein translation transformation P coordinate
(x, y, z) is indicated, four dimensional vectors (w, a, b, the c) form of rotation transformation Q quaternary number indicates；
The translation rotation transformation of chest coordinate system B under geographic coordinate system G:
The nine axis inertial sensors placement in setting chest is consistent with each reference axis of geographic coordinate system G, this makes it possible to obtain:
The translation rotation transformation of shoulder joint coordinate system S under the coordinate system B of chest:
Right shoulder joint coordinate system S relative to chest coordinate system B be it is static, this makes it possible to obtain:
The translation rotation transformation of elbow joint coordinate system E under shoulder joint coordinate system S:
Right shoulder elbow joint coordinate system E relative to right shoulder coordinate system S rotation transform information by elbow joint nine axis inertia sensings
Device provides, but what it obtained is rotation transformation relative to geographic coordinate system GTherefore elbow joint coordinate system E is relative to shoulder joint
Rotation transformation under coordinate system S are as follows:
Initial calibration moment human arm and ground keeping parallelism remember that the state is T-pose straight to the right,L1It is constant, indicates upper arm lengths；With the movement of human arm, E also can relative to the translational coordination of S
It changes, in order to calculate the translational coordination after variation, needs that three-dimensional coordinate is first converted to quaternary number and operate again, enable just
The beginning quaternary number of moment coordinate is expressed as pSE=(0, L1, 0,0), then the coordinate more new formula after rotating are as follows:
After obtaining each arm motion by formula (2), elbow joint relative to the spatial position where shoulder joint, for make model with
Manpower posture is synchronous, needs carrying out calibration operation, the concrete operations of calibration at the beginning are as follows: Schilling arm keeps T-pose quiet
Only, quaternary number q under this state is savedE0, to each posture of subsequent elbow joint E, rotate quaternary numberIt needs to multiply
Upper qE0 -1, to eliminate initial position error bring model bias, translational coordination calculation formula is as follows:
pSE'=(qE0)-1qEipSE(qEi)-1qE0 (3)
The translation rotation transformation of wrist joint coordinate system W under elbow joint coordinate system E: it is similar with elbow joint, obtain wrist joint coordinate
It is W as follows relative to the rotation transformation under shoulder joint coordinate system S:
An auxiliary coordinates A is introduced, is equivalent to and moves to shoulder joint coordinate system S at elbow joint coordinate system E, obtain:
The translation transformation that wrist joint coordinate system W can be calculated relative to auxiliary coordinates A is as follows:
pAW'=(qW0)-1qWipAW(qWi)-1qW0 (6)
It then, can according to each bone length information of human body of the quaternary number information of each nine axis inertial sensor and known estimation
By the transformation relation between above-mentioned two Two coordinate system.
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| CN111027431A (en) * | 2019-11-29 | 2020-04-17 | 广州幻境科技有限公司 | Upper limb posture fuzzy positioning method and system based on inertial sensor |
| CN112720489A (en) * | 2020-12-25 | 2021-04-30 | 华南理工大学 | Unitized combined modeling method, system and medium for wearable robot and human body |
| CN112949031A (en) * | 2021-01-27 | 2021-06-11 | 国家体育总局体育科学研究所 | Upper limb movement space range calculation system, construction method and use method thereof |
| CN113311943A (en) * | 2021-05-26 | 2021-08-27 | 北京航空航天大学 | Wearable interactive device for guiding movement of upper limbs of human |
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