CN201431466Y - Human motion capture and thee-dimensional representation system - Google Patents
Human motion capture and thee-dimensional representation system Download PDFInfo
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- CN201431466Y CN201431466Y CN2009201089619U CN200920108961U CN201431466Y CN 201431466 Y CN201431466 Y CN 201431466Y CN 2009201089619 U CN2009201089619 U CN 2009201089619U CN 200920108961 U CN200920108961 U CN 200920108961U CN 201431466 Y CN201431466 Y CN 201431466Y
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Abstract
The utility model discloses a human motion capture and thee-dimensional representation system, which comprises a human motion capture subsystem and a human motion representation subsystem, wherein thehuman motion capture subsystem comprises a micro sensor motion measurement module and a motion parameter estimation module; the micro sensor motion measurement module measures the corresponding limbmotion data through a plurality of micro sensor units attached to human limbs; and the human motion representation subsystem is used for receiving human mass motion parameters deduced from the human motion capture subsystem. The system has the characteristics of simple structure, high precision, low cost, small volume, low power consumption, convenient use, portability and instantaneity, can be widely used in the numerous fields, and has stronger practical values and application prospects.
Description
Technical field
This utility model relates to human motion capture three dimensional playback system, belongs to the human motion perception and obtains technical field.
Technical background
Now, by to the attitude of human body and accurately obtaining and analyzing of movable information, can infer the disease that may exist according to the variation of gait; Can be according to the place of the trajectory analysis problem of athletic take-off and square stance health and extremity, thus training improved; Can follow the tracks of attitude and motion exactly, understand body language, set up the man-machine interaction of high-caliber games and simulation training, for digital movie, virtual world make up lifelike role.But because the randomness and the complexity of human motion, and the multiformity of the surrounding at human body place, obtain technology in real time accurately human motion perception and brought great challenge.Therefore, be badly in need of a kind of human motion perception and synthetic technology that can not be subjected to space-time restriction and external environmental interference at present, realize that human body attitude and freedom of motion formula obtain and reappear, for the application in fields such as health monitoring, rehabilitation training, dance training, sports analysis, film digital special effect, virtual reality, recreation and man-machine interaction provides technology.
At present, capturing movement technology commonly used is different with employed type of sensor according to operation, roughly can be divided into two classes.One class is mainly used video camera array, another kind of being to use attached to the microsensor group on the health.Use the motion capture system of video camera to utilize the photographic head of a plurality of high accuracy high sampling rates to catch reflective marker on the sporter joint, as the product Vicon on the market.This type systematic cost is extremely expensive, and the data volume of handling is huge.The patented technology of this respect has: application number is that 20080192116 United States Patent (USP) Real-time objects tracking and motion capture in sports events is a real-time moving target tracking system.It uses a plurality of video cameras to come the detection and tracking moving target, but does not relate to the motion details of target itself.The patent No. is positional information and the sporter's three-dimensional motion model that 7457439 United States Patent (USP) System and method for motion capture uses sporter that video camera obtained to indicate on one's body, recover the three-dimensional motion information of health, and utilize three-dimensional motion model, compare kinestate.Chinese patent " the colored tights that obtains based on motion ", application number 00264404 has designed and has a kind ofly obtained clothing with the encode motion of human body of color lump.Application 03120688 that Chinese patent " is handled the method that data are obtained in the passive optical motion ", it is a kind of method that data are obtained in the passive optical motion of handling, comprise: the synchronous multiple-camera image that obtains the subject that has the passive optical labelling, obtain one group of three-dimensional coordinate of labelling from the data of obtaining, in time correspondence between each labelling in determining to obtain continuously, thereby the position of the body part of the subject of definite attach mark, with one group done be labeled as the basis, determine the angle of each connection of the motion model that the subject motion projection arrives, and calculate the posture of subject.Chinese patent " a kind of scaling method and device to multicamera system ", application number 200710062825 is new methods that a kind of multiple-camera is rebuild based on the three-dimensional motion information of index point.
Microelectromechanical systems (MEMS), microsensor and development of wireless communication devices make a kind of brand-new human motion obtain with analytical technology becomes possibility.This class microsensor volume is little, energy consumption is low, measurement is direct, wearing is convenient, not limited by space-time simultaneously, is fit to very much make the motion analysis device of wearing or hand-held.United States Patent (USP) System and Method forMotion Capture in Natural Environments, IPC8 class: AG01C2300FI, the USPC class: 73510 use ultrasound emission source and the receptor that is placed on parts of body, measure the position of corresponding site, the corner that the reuse inertial sensor is measured comes calibrating position to measure, thereby draws the kinematic parameter of health.Owing to used sonac and inertial sensor, for example acceleration transducer and gyroscope become complicated thereby make whole motion obtain system.
The utility model content
The purpose of this utility model is in order to overcome the weak point of above-mentioned prior art, a kind of portable real time human movement capture three dimensional playback system to be provided.
This utility model has been to use the motion of microsensor to obtain system.Whole system is based on modelling of human body motion: the motion of the placement wearing of pick off, the estimation of kinematic parameter, the constraint between the kinematic parameter, human body three-dimensional image is reproduced, and all is based upon on the basis of threedimensional model.
This utility model comprises real-time playback subsystem two parts of Wearable microsensor real time kinematics deriving means and human body three-dimensional motion image (Avatar), and the kinematic parameter that is obtained is a three degree of freedom under the whole human body three-dimensional coordinate; On the other hand, also can derive the position of this human body, increase three degree of freedom so again, thereby become six-freedom degree with respect to the global space coordinate.These two parts of the present utility model are all based on the motion model of human body.Because human body is made up of a plurality of activity limbs that are mutually related, the human motion system is connected together by articulated chain by skeleton and forms, and the variation of human body attitude is realized by the motion drive skeleton of human synovial and the motion in following one deck joint.Therefore, this utility model has been set up the human motion structure model of a stratification.In this model, used the variation of relative motion between the joint and skeleton position to describe the motion of anthropometric dummy.When joint position changes, the skeleton that depends on this joint with and the position in sub-joint also change thereupon.In order to describe human motion, this utility model has defined the local coordinate system in human body global coordinate system and each joint.
In order to measure the kinematic parameter of each movable limbs of health, Wearable microsensor real time kinematics deriving means is placed a microsensor unit at least on each movable limbs.Each microsensor unit comprises all or part of following pick off: 3-axis acceleration sensor, three minisize gyroscopes, three miniature magnetic meters, sonac, etc.Use the microsensor unit to record 3-axis acceleration, three axis angular rates and direction as input, Bayes's filtering of system can estimate the kinematic parameter that each constantly should the activity limbs: three-dimensional perspective, angular velocity and angular acceleration.
In the whole human body motor system, the motion of each movable limbs is subjected to the restriction of whole human body motor system.When Wearable microsensor real time kinematics deriving means when some movable limbs being used microsensor unit measured value carry out position and estimating motion, the drift of the sum of errors long time integration of valuation may destroy the basic constraints of people's mass motion model.Therefore, this utility model also is integrated into human motion system restriction condition among the valuation computational methods in valuation, thereby corrects the drift of valuation sum of errors.
In order further to improve certainty of measurement, Wearable microsensor real time kinematics deriving means adds sonac also at key position as positions such as trunk, upper arm, lower limb, accurately measures their relative position, with the drift of calibration estimating motion sum of errors.Simultaneously, add sonac or Magnetic Sensor, also can measure the position of human body in whole coordinate more easily.
When Wearable microsensor real time kinematics deriving means to human body three-dimensional motion image after playback subsystem is exported the kinematic parameter of each movable limbs in real time, three-dimensional motion image playback subsystem is in real time used these kinematic parameters, drives three-dimensional (3 D) manikin.In order to reach effect true to nature, the virtual human body model has added surface skin on the skeleton model, it is formed with polygonal mesh, can represent topological structure arbitrarily, be suitable for the ramose structure of being with of this complexity of human body, also can link together easily between the different parts.When the skeleton model is driven by kinematic parameter, can drive the skin model distortion, produce good fidelity.
One of direct application of the present utility model is real-time three-dimensional animation action design.Put on portable real time human movement of the present utility model by the performer and obtain system, human body three-dimensional motion image in the three dimensional playback system in this utility model is the role in the animation, human motion is obtained system kinematic parameter is exported to role in the animation, makes this role move according to performer's action fully.Owing to be in real time, and directly see effect, make the Production Time of animation shorten greatly, cost of manufacture reduces greatly.
Two of direct application of the present utility model is to try recreation, simulation training and the teaching of dancing quantification alternately.Recreation side or quilt training side put on portable real time human movement of the present utility model and obtain system, and the human body three-dimensional motion image in the three dimensional playback system in this utility model also is recreation side or the quilt virtual role of training side in the training of mixed reality games and simulation.Human motion obtain system with kinematic parameter export in mixed reality recreation or the simulation training recreation side or by the virtual role of training side, make this virtual role fully according to true man action and move.Because the kinematic parameter of true man's motion limbs has comprised angle, displacement, speed and acceleration, if boxing, can release out position, the speed and vigor of fist thus, and can so according to the other side's action, determine the result of this fist.Also can make and commenting and demonstration, reach the purpose of training the action of this fist.
Three of direct application of the present utility model is mixed realities (Mixed reality) and uses, as immersion study (Immersive Learning).Learner is put on portable real time human movement of the present utility model and is obtained system, participates in (real, long-range, microcosmic, untouchable or virtual) study scene with other learner (true or virtual learner).The virtual image of learner (Avatar) also is that the human body three-dimensional motion image in the three dimensional playback system in this utility model appears among the scene, and their body language and language are understood together, constitute real learning experience jointly.
This utility model human motion capture three dimensional playback system is characterized in that, comprising:
Human motion capture subsystem and human motion playback subsystem, described human motion capture subsystem is made up of microsensor motion measurement module and kinematic parameter estimation module;
Described microsensor motion measurement module, it measures corresponding limb motion data respectively by a plurality of microsensor unit attached to each limbs of human body;
Described kinematic parameter estimation module, it gets up the unitary different types of microsensor data fusion of each microsensor, estimate the kinematic parameter of corresponding limbs, integrate each limb motion of human body then, derive the mass motion of human body, comprise the whole displacement of human body and the orientation of each limbs;
Described human motion playback subsystem is used to receive the human body integral kinematic parameter that the human motion capture subsystem is derived, and drives human body three-dimensional motion image, reproduces corresponding true man's motion with the form of animation at virtual world.
Described microsensor unit is dressed and is attached on each tested limbs of human body;
Described microsensor unit comprises:
Miniature three-dimensional accelerometer, minisize gyroscopes, miniature magnetic meter, miniature ultrasonic diastimeter, micro capacitance diastimeter;
Preamplifier and analog-digital converter in order to receive the signal that microsensor is gathered, are amplified to the desired signal amplitude dynamic range of analog-digital converter to it, and then are converted to digital signal;
Controller is used for each microsensor data packing;
Wireless communication chips.
The microsensor motion measurement module that subsystem is obtained in described human motion has two kinds of structures:
Structure one is the wired connection structure.All there is not wireless communication chips in all the sensors unit, microsensor motion measurement module comprises one or several control unit, module is distributed a unique address for each sensor unit, by a data/address bus all the sensors unit is connected together with control unit in the module, control unit is selected different pick offs by address bus, to each sensor unit distribution control command, as activate, synchronously, set sample rate etc., obtain unitary each the drive test amount data of each microsensor;
Structure two is the wireless connections structure, wireless communication chips and controller are independently all arranged in all the sensors unit, so that with the direct communication of microsensor kinematic parameter estimation module, do not have independently controller in the microsensor motion measurement module, have only one group of sensor unit that is parallel to each other with wireless communication ability.
The function of described microsensor kinematic parameter estimation module has: merge the kinematic parameter attached to these limbs of all the sensors data estimation on a certain limbs, merge the motion of all limbs and mutual restriction and the kinematical boundary condition between each limbs, the limbs attitude of derivation human body according to modelling of human body motion; The displacement of derivation human body in global coordinate system.
In the estimating motion algorithm in described microsensor kinematic parameter estimation module,, adopt many noise patterns in order to reduce the influence of sensor noise; For the non-linear and random motion of each limbs of valuation health more accurately, adopt multi-locomotion mode.
In described microsensor kinematic parameter estimation module, in order to solve the nonuniformity problem of estimation between each limbs, use mechanical hand D-H model etc., use the interlock character between adjacent limbs, reduce the kinematic parameter number, also the interlock characteristics between each adjacent limbs can be expressed as motion restriction mutually, be applied in the estimation algorithm.
After described microsensor kinematic parameter estimation module has been finished the human body attitude valuation, can there be three kinds of methods to estimate or measure position in its world coordinates:
Use distance-finding methods such as ultrasonic, radar, laser, from the distance of several reference substances, derive world coordinates;
Use gait analysis method, derivation people displacement body;
Use is derived speed and displacement to the integration of acceleration transducer reading.
Described human motion playback subsystem is utilized human body attitude information that the microsensor unit provides and the human body displacement information with respect to the known reference coordinate system, be translated into the input parameter of modelling of human body motion, the animation that Real Time Drive virtual human body model carries out corresponding real human body motion reappears.
Modelling of human body motion in the described human motion playback subsystem adopts the modeling pattern based on surface model, is divided into casing play and surface skin layer;
Ground floor also is that casing play is the basis of human motion control, and its parameter is made up of skeleton, joint link parameter, joint angles constraint and the physical attribute of tree-shaped hierarchical structure;
The second layer is the surface skin layer, and the distortion of skin is driven by the joint body structure of bottom;
During the real human body motion, microsensor kinematic parameter estimation module provides the angle in each joint on the current time human skeleton, drive skeleton to a certain athletic posture, drive the human body surface skin movements of corresponding site again by each skeleton on the skeleton, the Deformation control point is subjected to the position in bottom skeleton joint and the constraint of power, and finally how much skins of the common generation of these distortion are looped around the deformation effect on the skeleton.
Method for transformation and the hypercomplex number representation of real-time and effective from the father node to the child node between the parameter information of body motion information in the described human motion playback subsystem and virtual human body model, letter was moved in required angle rotation information and position when the parameter information of parameter estimation module input was converted into the driving model motion.
Described human motion playback subsystem is reproduced the real athletic posture of human body in real time in the mode of data-driven, relates to three nested each other coordinate systems: global coordinate system is consistent with displaing coordinate system; The human body coordinate system is got the sacrum osteoarthrosis behaviour body weight heart, and in the basis coordinates system of this joint definition human body, its direction is consistent with global coordinate system; Local joint coordinate system, joints axes direction are Z axle positive direction, get a joint and this joint closure is the X-axis positive direction, determine Y direction according to right hand rule then.
Described human motion playback subsystem is decomposed into rotation and translation with respect to the body part coordinate system with skeleton motion, its rotation, translation are represented by a rotation four-tuple and a translation vector, simultaneously in change procedure, the Deformation control point is subjected to the constraint and the restriction of the anglec of rotation in position, length and the joint of bottom skeleton, guarantees that the virtual human body model satisfies normal person's kinematic constraint.
System initialization comprises the setting of the initial value that uses human body actual parameter and standard operation to move to obtain subsystem and motion playback subsystem parameter, and the concordance between these two subsystems and synchronously.
Its azimuth, the anglec of rotation and angular velocity can be estimated to each limbs,, position, speed, acceleration and the dynamics in this joint, limbs lower end can be further calculated out according to the length of these limbs.
With estimated azimuth, the anglec of rotation and the angular velocity that goes out of the single sensing unit that is attached to a certain limbs, as the parameter of man-machine interaction.
Described single sensing unit human-computer interaction device is made the single-sensor unit form of wireless handheld remote controller, when hand-held device points to screen, it is motion angle up and down, and the anglec of rotation, input as computer, as mouse, the movement position of this remote controller, speed, acceleration and dynamics also can estimate and angle together as the means of game interaction.
According to the instant angle of people's waist, upper arm, forearm and wrist and the present position and the speed of corresponding joint, relation between the dynamics of analysis fist, sword, racket and the movement locus at the main position of health, athletic training is pushed to the level of quantification, to the analysis at lower limb, foot and other position, corresponding motion also there is same effect.
Attached to the sensor unit on thigh, shank and the foot can measure instant angle, knee, the ankle of these limbs, position, speed and stressed can be used for of sole is the quantitatively characterizing of gait and the data of analysis.
Advantage of the present utility model is: simple in structure, and the precision height, cost is low, and volume is little, and is low in energy consumption, easy to use, has the characteristics of portable and real-time, has extensive use in various fields, has stronger practical value and application prospect.
Description of drawings
Fig. 1 is the overall logic block diagram of human motion capture three dimensional playback system described in the utility model;
Fig. 2 is one of the collection of this utility model human motion capture subsystem signals, Processing Structure block diagram and embodiment.
The specific embodiment
Below in conjunction with the drawings and specific embodiments this utility model is done further detailed introduction, Fig. 1 is an overall logic block diagram of the present utility model, and this utility model is made up of human motion capture subsystem 100 and 3-d reproduction subsystem 200.Human motion capture subsystem 100 is made up of microsensor move materials module 110 and kinematic parameter estimation module 120.Microsensor motion measurement module 110 is gathered the exercise data of each movable limbs of human body in real time, use these data, and being integrated into the restrictive condition of modelling of human body motion, kinematic parameter estimation module 120 estimates the attitude information of corresponding movable limbs and with respect to the displacement of global coordinate system.The attitude information and the global displacement information of the movable limbs that human motion playback subsystem 200 estimates according to kinematic parameter estimation module 120 drive human 3d model, with the motion image of the reproduction wearer of human body animation.
All movable limbs of human body are root with the vertebra, derive neck head, lower limb and upper limb totally 5 branches.Anthropometric dummy is the basis of motion measurement, kinematic parameter estimation and motion playback image.The skeleton model has clearly defined each movable limbs of human body, therefore, on each limbs that will measure, all will place at least one microsensor unit.In other words, measure if do all-around exercises, need 20 left and right sides microsensors, be placed on head, vertebra (this utility model is only placed pick off at cervical vertebra, thoracic vertebra and three positions of lumbar vertebra), two upper arm, forearm, palm, finger respectively, two thighs, shank, sole, toe etc.
Each microsensor unit comprises all or part of of three-dimensional micro acceleration transducer, miniature three-dimensional gyroscope, miniature three-dimensional magnetometer, ultrasonic distance measuring apparatus etc.
Because what be positioned over that the microsensor of certain movable limbs measures is the dynamic data of these activity limbs, the kinematic parameter of these activity limbs that gone out by the data estimation that records also is under the coordinate system of these limbs.The accumulation of any measurement and estimation difference all will cause position and bigger its normal value of skew of kinematic parameter of these limbs, and then inconsistent with adjacent limbs.Therefore, merge restriction of multiple measurement data and anthropometric dummy and knowledge, improve and measure and estimated accuracy, reduce the accumulation estimation difference, guarantee the concordance of each limbs parameter, and and then estimate the position of human body in global coordinate system, being difficult point, also is one of technology emphasis of the present utility model.
First kind of embodiment of the present utility model, as shown in Figure 2, microsensor motion measurement module is made up of several microsensor unit, several supersonic sounding unit and one or several control units.The microsensor unit can only use mini inertial sensor, and promptly three dimension acceleration sensor and three-dimensional gyroscope also can increase magnetometer when needing.The supersonic sounding unit is made up of accurate synchronous emitter and the receptor of time that is placed on two positions of health (as breast and upper arm, breast and head, breast and thigh etc.).Time difference between transmitting and receiving can accurately calculate two distances between limbs.As supersonic frequency is 40k, and certainty of measurement can reach 2 millimeters.This can be used to calibrate the relative distance between the limbs.
Microsensor unit and supersonic sounding unit can data/address bus wired mode and control unit link, control unit and then link with wireless or wired mode and master computer, described master computer is desk-top or portable.Kinematic parameter estimation module 120 and motion playback subsystem 200 realize on master computer with form of software that all kinematic parameter estimation module 120 also can realize on portable computer.Portable computer and then realize being connected of kinematic parameter estimation module 120 and motion playback subsystem 200 with wireless transmission method.
This utility model is not limited to the foregoing description; to those skilled in the art; any improvement that the foregoing description of the present utility model is made or change can not exceed the embodiment of the present utility model that only illustrates by way of example and the protection domain of claims; described embodiment only is intended to be convenient to understanding of the present utility model, and it is not played any qualification effect.
Claims (5)
1, human motion capture three dimensional playback system, it is characterized in that, comprise: human motion capture subsystem (100) and human motion playback subsystem (200), described human motion capture subsystem (100) is made up of microsensor motion measurement module (110) and kinematic parameter estimation module (120);
Described microsensor motion measurement module (110), it measures corresponding limb motion data respectively by a plurality of microsensor unit attached to each limbs of human body;
Described kinematic parameter estimation module (120), it gets up the unitary different types of microsensor data fusion of each microsensor, estimate the kinematic parameter of corresponding limbs, integrate each limb motion of human body then, derive the mass motion of human body, comprise the whole displacement of human body and the orientation of each limbs;
Described human motion playback subsystem (200) is used to receive the human body integral kinematic parameter that human motion capture subsystem (100) is derived, and drives human body three-dimensional motion image, reproduces corresponding true man's motion with the form of animation at virtual world.
2, human motion capture three dimensional playback system according to claim 1 is characterized in that: described microsensor unit is dressed and is attached on each tested limbs of human body.
3, human motion capture three dimensional playback system according to claim 1 is characterized in that, the microsensor motion measurement module (110) in the described human motion capture subsystem (100) has two kinds of structures:
Structure one is the wired connection structure, microsensor motion measurement module (110) comprises a plurality of sensor units, and one or several control unit, module is distributed a unique address for each sensor unit, by a data/address bus all the sensors unit is connected together with control unit in the module, control unit is selected different pick offs by address bus, to each sensor unit issue control command, obtain unitary each the drive test amount data of each microsensor, after this control unit is connected with portable pico computer by wireless or wired mode, and microsensor motion measurement module is mail in the fetched data unification;
Structure two is the wireless connections structure, in all the sensors unit, except that various microsensors, all comprise wireless communication chips and controller, they can independently carry out sensing data and obtain, and are mutual with portable pico computer, take orders, send data, portable pico computer can select the mode of timesharing or competition to communicate by letter with a plurality of sensor units.
4, human motion capture three dimensional playback system according to claim 3 is characterized in that: the microsensor unit in the microsensor motion measurement module (110) of described wireless connections structure comprises:
Miniature three-dimensional accelerometer, minisize gyroscopes, miniature magnetic meter, miniature ultrasonic diastimeter, micro capacitance diastimeter;
Preamplifier and analog-digital converter in order to receive the signal that microsensor is gathered, are amplified to the desired signal amplitude dynamic range of analog-digital converter to it, and then are converted to digital signal;
Controller, control are sent to communication chip to the data sampling of each microsensor with the packing of adopting data, exchange with pico computer;
Wireless communication chips.
5, human motion capture three dimensional playback system according to claim 1 is characterized in that, the modelling of human body motion in the described human motion playback subsystem (200) adopts the modeling pattern based on surface model, is divided into casing play and surface skin layer;
Ground floor, promptly casing play is the basis of human motion control, its parameter is made up of skeleton, joint link parameter, joint angles constraint and the physical attribute of tree-shaped hierarchical structure;
The second layer is the surface skin layer, and the distortion of skin is driven by the joint body structure of bottom.
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| CN102323854A (en) * | 2011-03-11 | 2012-01-18 | 中国科学院研究生院 | Human motion capture device |
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| CN103544713A (en) * | 2013-10-17 | 2014-01-29 | 芜湖金诺数字多媒体有限公司 | Human-body projection interaction method on basis of rigid-body physical simulation system |
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