CN110389352A - Optical 3-dimensional motion capture method and system - Google Patents
Optical 3-dimensional motion capture method and system Download PDFInfo
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- CN110389352A CN110389352A CN201910758318.9A CN201910758318A CN110389352A CN 110389352 A CN110389352 A CN 110389352A CN 201910758318 A CN201910758318 A CN 201910758318A CN 110389352 A CN110389352 A CN 110389352A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000011514 reflex Effects 0.000 claims description 5
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The present invention relates to dynamic capture system fields in training on electric power, more specifically to optical 3-dimensional motion capture method and system.The described method includes: with predetermined frequency infrared ray in the pre-set space of fired infrared receiver in three-dimensional space；For the infrared ray currently emitted: the handle moved in three-dimensional space receives and reflects current infrared ray to fired infrared receiver；Current infrared ray is incident to the direction of handle and handle reflects the direction of current infrared ray opposite direction each other；Background system emits the time point of current infrared ray according to fired infrared receiver and receives the time point of current infrared ray, calculates the current position coordinates of handle in three-dimensional space；Whether background system judges handle currently beyond preset range: if handle exceeds preset range, sounding an alarm according to current position coordinates.The present invention can guarantee that student is located in Virtual Experiment Environment in real time in training on electric power.
Description
Technical field
The present invention relates to dynamic capture system fields in training on electric power, more specifically to optical 3-dimensional motion capture
Method and system.
Background technique
In training on electric power, in order to utmostly guarantee the safety in training process of student, often through virtual existing
Real technology carries out the training of practical operation to student.In virtual reality technology, by constructing virtual experimental situation, Xue Yuantong
It crosses wearing immersion head library to be immersed in completely in virtual Training Environment, passes through the real training in the operation completion virtual environment of handle
Operation.
But if student has exceeded the range of experimental situation during operation, training operation can not be just carried out.Such as
What makes institute in training process in real time in experimental situation, to become problem to be solved in training on electric power.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing optical 3-dimensional movement and catching
Method and system are caught, can guarantee that student is located in Virtual Experiment Environment in real time in training on electric power.
The technical solution adopted by the present invention to solve the technical problems is:
On the one hand, optical 3-dimensional motion capture method is constructed, comprising:
With predetermined frequency infrared ray in the pre-set space of fired infrared receiver in three-dimensional space；
For the infrared ray currently emitted:
The handle moved in three-dimensional space receives and reflects current infrared ray to fired infrared receiver；It is current infrared
Line is incident to the direction of handle and handle reflects the direction of current infrared ray opposite direction each other；
Background system emits the time point of current infrared ray according to fired infrared receiver and receives current infrared ray
Time point calculates the current position coordinates of handle in three-dimensional space；
Whether background system judges handle currently beyond preset range: if handle is beyond pre- according to current position coordinates
If range then sounds an alarm.
Further, the fired infrared receiver include three cameras: the direction x camera, the direction y camera and
The direction z camera；
With predetermined frequency infrared ray in the pre-set space of the fired infrared receiver in three-dimensional space, before
Further include:
The direction x camera is respectively set on the correspondence predeterminated position of x-axis, y-axis and z-axis in three-dimensional space, the direction y is taken the photograph
As head and the direction z camera；
With predetermined frequency infrared ray in the pre-set space of the fired infrared receiver in three-dimensional space, specifically
Include:
The direction x camera, the direction y camera and the direction z camera are respectively being corresponded to preset frequency simultaneously respectively
Transmitting range on emit corresponding infrared beam simultaneously；The preset range is located at the direction x camera, the direction y camera and the side z
It is corresponded to camera in the pre-set space that transmitting range is constituted.
Further, the handle moved in three-dimensional space receives and reflects current infrared ray to infrared emission and connects
Receiving apparatus specifically includes:
For each camera:
Current location receives the infrared beam that the camera currently emits in pre-set space；
Incident path of the current infrared beam along the camera will be received and reflex to the camera.
Still further, the background system emits the time point of current infrared ray according to fired infrared receiver and connects
It receives the time point of current infrared ray, calculates the current position coordinates of handle in three-dimensional space, specifically include:
For each camera:
Obtain the time point that the camera emits current infrared beam；
Obtain the time point that current infrared beam is reflected back into the camera；
The camera is calculated for the transmitting of current infrared beam and received time difference；
According to the camera for current infrared beam transmitting with the received time difference, calculate handle in three-dimensional space away from
The current distance of the camera；
Current distance according to handle respectively away from three cameras obtains the current location of handle in three-dimensional space and sits
Mark.
Also further, whether the background system judges handle currently beyond default model according to current position coordinates
It encloses, specifically includes:
According to the current position coordinates of handle in three-dimensional space, judge whether current position coordinates fall into preset range
It is interior:
If not falling in preset range, determine handle currently beyond preset range.
On the other hand, construct optical 3-dimensional motion capture system, comprising: fired infrared receiver, background system and
The handle moved in three-dimensional space；The reflection sphere that surface is covered with phosphor powder layer is provided on the handle；
The fired infrared receiver, for infrared with predetermined frequency in pre-set space in three-dimensional space
Line；
The handle, for for the infrared ray currently emitted:
It receives and reflects current infrared ray to fired infrared receiver；Current infrared ray is incident to direction and the hand of handle
Handle reflects the direction of current infrared ray opposite direction each other；
The background system, for emitting the time point of current infrared ray according to fired infrared receiver and receiving current
The time point of infrared ray calculates the current position coordinates of handle in three-dimensional space；
And according to current position coordinates, judge handle currently whether beyond preset range: if handle exceeds default model
It encloses, then sounds an alarm.
Further, the fired infrared receiver include three cameras: the direction x camera, the direction y camera and
The direction z camera；
The system, further includes:
The direction x is respectively set on the correspondence predeterminated position of x-axis, y-axis and z-axis in three-dimensional space in setting unit
Camera, the direction y camera and the direction z camera；
The direction x camera, the direction y camera and the direction z camera are respectively used to preset frequency simultaneously respective
Emit corresponding infrared beam on corresponding transmitting range simultaneously；The preset range is located at the direction x camera, the direction y camera
In the pre-set space for corresponding to transmitting range composition with the direction z camera.
Further, the handle, is specifically used for:
For each camera:
Current location receives the infrared beam that the camera currently emits in pre-set space；
Incident path of the current infrared beam along the camera will be received and reflex to the camera.
Still further, the background system, is specifically used for:
For each camera:
Obtain the time point that the camera emits current infrared beam；
Obtain the time point that current infrared beam is reflected back into the camera；
The camera is calculated for the transmitting of current infrared beam and received time difference；
According to the camera for current infrared beam transmitting with the received time difference, calculate handle in three-dimensional space away from
The current distance of the camera；
Current distance according to handle respectively away from three cameras obtains the current location of handle in three-dimensional space and sits
Mark.
Also further, the background system, is also used to:
According to the current position coordinates of handle in three-dimensional space, judge whether current position coordinates fall into preset range
It is interior: if not falling in preset range, to determine handle currently beyond preset range.
In the present invention, student holds handle, and handle can reflect infrared ray by the direction of infrared ray incident direction, thus
Know that handle will not generate diffusing reflection phenomenon, therefore background system can emit and receive same according to fired infrared receiver
The time difference of infrared ray calculates the position of handle.To which the present invention can complete limitation and behaviour area to student zone of action
The acquisition of domain internal coordinate data guarantees that instruction of the student in zone of action can be carried out in virtual world, for super
Zone of action instruction out is prompted and provides alarm.
The beneficial effects of the present invention are: real time position tracking is carried out to the student for holding handle, guarantees student entire
Line operation will not be got over during the practical operation of training on electric power, without departing from the range of Virtual Experiment Environment.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is the structural schematic diagram of present system；
Fig. 3 is the location arrangements schematic diagram of three cameras in the embodiment of the present invention；
Fig. 4 is the transmitting reflection schematic diagram of reflection sphere and the direction x camera in the embodiment of the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
As shown in Figure 1, optical 3-dimensional motion capture method of the present invention, comprising:
101, with predetermined frequency infrared ray in the pre-set space of fired infrared receiver in three-dimensional space；
102, for the infrared ray currently emitted:
The handle moved in three-dimensional space receives and reflects current infrared ray to fired infrared receiver；It is current infrared
Line is incident to the direction of handle and handle reflects the direction of current infrared ray opposite direction each other；
103, background system emits the time point of current infrared ray according to fired infrared receiver and receives current infrared
The time point of line calculates the current position coordinates of handle in three-dimensional space；
104, whether background system judges handle currently beyond preset range: if handle is super according to current position coordinates
Preset range out then sounds an alarm.
As shown in Fig. 2, optical 3-dimensional motion capture system of the present invention, comprising: fired infrared receiver 21, after
Platform system 23 and the handle 22 moved in three-dimensional space；The reflection that surface is covered with phosphor powder layer is provided on the handle 22
Ball 3；
The fired infrared receiver 21, for infrared with predetermined frequency in pre-set space in three-dimensional space
Line；
The handle 22, for for the infrared ray currently emitted:
It receives and reflects current infrared ray to fired infrared receiver；Current infrared ray is incident to direction and the hand of handle
Handle reflects the direction of current infrared ray opposite direction each other；
The background system 23, for emitting the time point of current infrared ray according to fired infrared receiver and reception is worked as
The time point of preceding infrared ray calculates the current position coordinates of handle in three-dimensional space；
And according to current position coordinates, judge handle currently whether beyond preset range: if handle exceeds default model
It encloses, then sounds an alarm.
Student holds handle 22 in the present embodiment, and handle 22 can reflect infrared ray by the direction of infrared ray incident direction,
It can thus be appreciated that handle 22 will not generate diffusing reflection phenomenon, therefore background system 23 can emit according to fired infrared receiver 21
The position of handle 22 is calculated with time difference for receiving same infrared ray.To, can complete limitation to student zone of action and
The acquisition of zone of action internal coordinate data guarantees that instruction of the student in zone of action can be carried out in virtual world,
For being prompted beyond zone of action instruction and providing alarm.
As shown in figure 3, the fired infrared receiver includes three cameras: the direction x camera, the direction y camera
With the direction z camera；
The system, further includes:
The side x is respectively set on the correspondence predeterminated position of x-axis, y-axis and z-axis in three-dimensional space in setting unit 24
To camera 1, the direction y camera 2 and the direction z camera 3；
The direction x camera 1, the direction y camera 2 and the direction z camera 3 are respectively used to exist simultaneously with preset frequency
Emit corresponding infrared beam on corresponding transmitting range simultaneously；The preset range is located at the direction x camera 1, the direction y is taken the photograph
As first 2 and the direction z camera 3 correspond in the pre-set space that transmitting range is constituted.
In Fig. 3, the direction x camera 1 is arranged in x-axis, and the direction y camera 2 is arranged on the y axis, the direction z camera 3
It is arranged in z-axis.The range for the infrared beam that the direction x camera 1, the direction y camera 2 and the direction z camera 3 can emit surrounds
One " cuboid ".This " cuboid " is exactly the pre-set space in the present embodiment.
The handle 22, is specifically used for:
For each camera:
Current location receives the infrared beam that the camera currently emits in pre-set space；
Incident path of the current infrared beam along the camera will be received and reflex to the camera.
The background system 23, is specifically used for:
For each camera:
Obtain the time point that the camera emits current infrared beam；
Obtain the time point that current infrared beam is reflected back into the camera；
The camera is calculated for the transmitting of current infrared beam and received time difference；
According to the camera for current infrared beam transmitting with the received time difference, calculate handle in three-dimensional space away from
The current distance of the camera；
Current distance according to handle respectively away from three cameras obtains the current location of handle in three-dimensional space and sits
Mark.
The background system 23, is also used to:
According to the current position coordinates of handle in three-dimensional space, judge whether current position coordinates fall into preset range
It is interior: if not falling in preset range, to determine handle currently beyond preset range.
As shown in Figures 3 and 4, by taking the direction x camera 1 as an example:
The direction x camera 1 emits current infrared beam, and background system 23 obtains launch time point at this time.
The reflection sphere 3 of handle 22 is currently located at the position that coordinate is (a, b, c).The reflection sphere 3 of handle 22 receives the direction x
The infrared beam that camera 1 currently emits.Then the infrared beam that reflection sphere 3 emits the current direction x camera 1, by incidence
Original route reflected, reflection direction is opposite with incident direction.
When in the direction x, camera 1 receives the current infrared beam of the return of reflection sphere 3, background system 23 obtains this again
When receiving time point.
Background system 23 calculates handle 22 currently away from the direction x camera 1 according to above-mentioned launch time point and receiving time point
Distance.
It should be noted that since the light velocity is more much faster than student movement speed, so one can consider that, even if
Student is in the case where real-time mobile, and the time difference of above-mentioned launch time point and receiving time point is also far smaller than student
Time needed for change in location.So, it is believed that the direction x camera 1 is learned within the period for emitting and receiving current infrared beam
Member is static.
Similarly, background system 23 calculate separately out handle 22 currently away from the direction y camera 2 and the direction z camera 3 away from
From.Then background system 23 calculates changing coordinates (a, b, c) according to above three distance.
If changing coordinates (a, b, c) are not fallen in preset range, then background system sounds an alarm
The present invention carries out real time position tracking to the student for holding handle, guarantees student in the practical operation of entire training on electric power
Line operation will not be got in journey, without departing from the range of Virtual Experiment Environment.
The embodiment of the invention also provides optical 3-dimensional motion capture method, the system that above-mentioned offer may be implemented is implemented
Example, concrete function realize the explanation referred in system embodiment, and details are not described herein.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of optical 3-dimensional motion capture method characterized by comprising
With predetermined frequency infrared ray in the pre-set space of fired infrared receiver in three-dimensional space；
For the infrared ray currently emitted:
The handle moved in three-dimensional space receives and reflects current infrared ray to fired infrared receiver；Current infrared ray enters
The direction of current infrared ray opposite direction each other is reflected in the direction and handle for being incident upon handle；
Background system emits the time point of current infrared ray according to fired infrared receiver and receives the time of current infrared ray
Point calculates the current position coordinates of handle in three-dimensional space；
Whether background system judges handle currently beyond preset range: if handle exceeds default model according to current position coordinates
It encloses, then sounds an alarm.
2. optical 3-dimensional motion capture method according to claim 1, which is characterized in that the fired infrared receiver
Including three cameras: the direction x camera, the direction y camera and the direction z camera；
With predetermined frequency infrared ray in the pre-set space of the fired infrared receiver in three-dimensional space, also wrap before
It includes:
The direction x camera, the direction y camera are respectively set on the correspondence predeterminated position of x-axis, y-axis and z-axis in three-dimensional space
With the direction z camera；
It is specific to wrap with predetermined frequency infrared ray in the pre-set space of the fired infrared receiver in three-dimensional space
It includes:
The direction x camera, the direction y camera and the direction z camera are respectively with preset frequency simultaneously in corresponding hair
It penetrates in range while emitting corresponding infrared beam；The preset range is located at the direction x camera, the direction y camera and the direction z and takes the photograph
In the pre-set space for corresponding to transmitting range composition as head.
3. optical 3-dimensional motion capture method according to claim 2, which is characterized in that described to move in three-dimensional space
Handle receive and reflect current infrared ray to fired infrared receiver, specifically include:
For each camera:
Current location receives the infrared beam that the camera currently emits in pre-set space；
Incident path of the current infrared beam along the camera will be received and reflex to the camera.
4. optical 3-dimensional motion capture method according to claim 3, which is characterized in that the background system is according to infrared
Sending and receiving apparatus emits the time point of current infrared ray and receives the time point of current infrared ray, calculates handle in three-dimensional space
Interior current position coordinates, specifically include:
For each camera:
Obtain the time point that the camera emits current infrared beam；
Obtain the time point that current infrared beam is reflected back into the camera；
The camera is calculated for the transmitting of current infrared beam and received time difference；
According to the camera for the transmitting of current infrared beam and received time difference, calculates handle and taken the photograph in three-dimensional space away from this
As the current distance of head；
Current distance according to handle respectively away from three cameras obtains the current position coordinates of handle in three-dimensional space.
5. optical 3-dimensional motion capture method according to claim 4, which is characterized in that the background system is according to current
Position coordinates judge that handle, whether beyond preset range, is specifically included currently:
According to the current position coordinates of handle in three-dimensional space, judge whether current position coordinates fall into preset range:
If not falling in preset range, determine handle currently beyond preset range.
6. a kind of optical 3-dimensional motion capture system characterized by comprising fired infrared receiver, background system and
The handle moved in three-dimensional space；The reflection sphere that surface is covered with phosphor powder layer is provided on the handle；
The fired infrared receiver, in pre-set space in three-dimensional space with predetermined frequency infrared ray；
The handle, for for the infrared ray currently emitted:
It receives and reflects current infrared ray to fired infrared receiver；Current infrared ray be incident to handle direction and handle it is anti-
Penetrate the direction of current infrared ray opposite direction each other；
The background system, for emitting the time point of current infrared ray according to fired infrared receiver and receiving current infrared
The time point of line calculates the current position coordinates of handle in three-dimensional space；
And according to current position coordinates, judge handle currently whether beyond preset range: if handle exceeds preset range,
Then sound an alarm.
7. optical 3-dimensional motion capture system according to claim 6, which is characterized in that the fired infrared receiver
Including three cameras: the direction x camera, the direction y camera and the direction z camera；
The system, further includes:
The camera shooting of the direction x is respectively set in setting unit on the correspondence predeterminated position of x-axis, y-axis and z-axis in three-dimensional space
Head, the direction y camera and the direction z camera；
The direction x camera, the direction y camera and the direction z camera are respectively used to respectively corresponding to simultaneously with preset frequency
Transmitting range on emit corresponding infrared beam simultaneously；The preset range is located at the direction x camera, the direction y camera and the side z
It is corresponded to camera in the pre-set space that transmitting range is constituted.
8. optical 3-dimensional motion capture system according to claim 7, which is characterized in that the handle is specifically used for:
For each camera:
Current location receives the infrared beam that the camera currently emits in pre-set space；
Incident path of the current infrared beam along the camera will be received and reflex to the camera.
9. optical 3-dimensional motion capture system according to claim 8, which is characterized in that the background system, it is specific to use
In:
For each camera:
Obtain the time point that the camera emits current infrared beam；
Obtain the time point that current infrared beam is reflected back into the camera；
The camera is calculated for the transmitting of current infrared beam and received time difference；
According to the camera for the transmitting of current infrared beam and received time difference, calculates handle and taken the photograph in three-dimensional space away from this
As the current distance of head；
Current distance according to handle respectively away from three cameras obtains the current position coordinates of handle in three-dimensional space.
10. optical 3-dimensional motion capture system according to claim 9, which is characterized in that the background system is also used
In:
According to the current position coordinates of handle in three-dimensional space, judge whether current position coordinates fall into preset range: if
It does not fall in preset range, then determines handle currently beyond preset range.
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| CN201910758318.9A CN110389352A (en) | 2019-08-16 | 2019-08-16 | Optical 3-dimensional motion capture method and system |
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