CN103135765A - Human motion information capturing system based on micro-mechanical sensor - Google Patents
Human motion information capturing system based on micro-mechanical sensor Download PDFInfo
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Abstract
The invention discloses a human motion information capturing system based on a micro-mechanical sensor. The human motion information capturing system comprises a plurality of sensor units, a main controller system and a data processing and graph rebuilding system, wherein the plurality of sensor units are used for obtaining motion posture data of every feature point position of the human body; the main controller system is used for performing processing on the basis of the human motion posture data obtained through a corresponding sensor network sensor unit and performing data transmission in a bluetooth module wireless pass-through mode; and the data processing and graph rebuilding system is provided with personal computer (PC) software and BVH files, can perform calculation according to the motion posture data obtained by processing through the main controller system and rebuilds a human motion posture model in real time. Every sensor unit, the main controller system and the data processing and graph rebuilding system are connected in sequence. Real-time data capturing of motion of the whole human body can be achieved in a wireless mode through the human motion information capturing system based on the micro-mechanical sensor, and the human motion information capturing system can be applied to motion control of virtual characters or robots in animations and games.
Description
Technical field
The present invention relates to moving image and catch and processing technology field, particularly, relate to a kind of human action information capture system based on micro mechanical sensor.
Background technology
Motion capture (Motion capture) technology is that Measurement accuracy moving object is in the technology of three-dimensional space motion situation.Obtain exercise data on the skeleton key point by being bundled in several inertia measurement nodes on human body, employing wireless data penetration transmission mode transfers to the PC end, processing through data calculates the volume coordinate (X, Y, Z) of key point on the different time measurement unit, and the appliance computer graph technology shows reconstruction simulation human action.
In the animation creation, the motion control of three-dimensional animation model is the work that workload is huge, and being also affects the key that efficient improves in the cartoon creation.For solving the bottleneck problem in this animation creation, in recent years, both at home and abroad industry has begun to be applied to the research of the movement capturing technology of cartoon making, its method is to use the motion-captured motion that human body movement data is controlled cartoon role of obtaining, control and the workload of setting to alleviate role movement, improve the degree true to nature of creation efficient and role movement.At present, successfully develop the types of applications system, and be applied in the production of cartoon.
Abroad, the appearance of movement capturing technology can be traced back to the end of the seventies of eighties of last century, Walt Disney Company is for improving the effect of cartoon making, improve the quality of animation, the mode of attempting the coherent photograph of the true stage business of employing " imitation " high-speed capture reaches, and this method that is called as Rotosooping can be described as based on motion and obtains prototype or the pioneer who produces animation.
When computer technology just begins to be applied to cartoon making, the RebeccaAllen in computer graphics techniques laboratory, New York has just designed a kind of optical devices, true dancer's performance posture is incident upon on computer screen, as the reference of digital dancer's animation key frame, this behave has promoted the development of movement capturing technology.The eighties in 20th century, U.S. Biomechanics laboratory, Massachusetts Institute of Technology (MIT) etc. have all carried out the research motion-captured to the computing machine human body.
Application in computer graphics starts from the phase at the beginning of the eighties in last century, and Abel research group is used for the generating three-dimensional animation with movement capturing technology first.1988, U.S. Pacific Ocean data image company designed the input media of 8 degree of freedom, and in order to the position of controlling the animated character and the motion of lip, the motion that this device can be caught human body in real time drives the visual human.At computer animation, also begun the discussion about movement capturing technology in the international conference of the association areas such as computer graphics, particularly also held specially for motion-captured international conference capTech ' 98 later in 98 years.After this, movement capturing technology has attracted increasing researchist and developer's sight, and has progressively moved towards practical from Journal of Sex Research on probation.
At home, the development of movement capturing technology has also had the history of decades, and along with the develop rapidly of computer graphics (Computer Graphics, be called for short CG) industry, for the demand of motion capture system also in expansion at full speed.Some scientific research institutions such as Institute of Automation, CAS, Zhejiang University's graphics is real all in the research of carrying out related fields.
According to statistics domestic three-dimensional manufacturing industry to the usage ratio of motion capture system up to 60%, more enterprise is applied to motion capture system in the product of oneself by cooperation or the mode such as rent, eastern sharp softcom limited such as Dalian, the system manufacturers such as Pekinese skill company limited of Di Shengtong Boke also add to come in one after another, and research and development have the domestic motion capture system of independent intellectual property right.The application of movement capturing technology also head and shoulders above performance animation, now oneself is through successfully being applied to many aspects such as virtual reality, game, ergonomics research, simulated training, biomechanics Research.In recent years, the capturing movement technology has become one of human body animation mainstream technology, and how processing and use motion capture data is the hot issue of current computer animation circle research.
Along with developing rapidly of computer technology and 3-D view technology, the 3D production development is dissolved in the middle of people's life gradually, and the application of motion capture system in animation is more and more extensive.Movement capturing technology can solve the bottleneck problem of definition role movement in three-dimensional animation production, can increase substantially the efficient of three-dimensional animation and development of games.
Animation game industry, comprise animation cartoon, digital entertainment, media product etc., be described as the core industry of 21st century kownledge economy, it is most promising sunrise industry, this post-modernism industry tide, bring fundamental shifts not only for the global economic strategy structure, also created opportunity to develop very rare for entering the China's economic of new century.Particularly pupillary inspirit culture demand of the people had both been satisfied in its development, also be simultaneously the advanced culture that builds socialism, the development that promotes China's cultural industry lays the foundation, to realizing the coordinated development of China's economy, politics, culture, build a well-off society in an all-round way, be of great immediate significance and far-reaching strategic importance.
In the making of three-dimensional animation, after the digital model of having set up the role, people need to be the model definition motion according to the requirement of script, how to use traditional movement control technology, this is the work that workload is huge, and being also affects the key that efficient improves during cartoon is produced.The application of movement capturing technology has great importance to the raising of cartoon production efficient and quality, and only a short a few days of needs can complete after originally needing job applications motion capture system that the several months complete.
The application that should say movement capturing technology is the important breakthrough of cartoon production technology, is also the trend of animation design technique development from now on.If can based on the research of acceleration transducer technology, Bluetooth technology, real time data acquisition and treatment technology, develop the domestic machinery formula motion capture system with independent intellectual property right.This will bring huge social benefit and certain economic benefit to country.
In realizing process of the present invention, the inventor finds to exist at least in prior art the defectives such as the remote control ability is weak, dexterity of action is poor and relative independentability is poor.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of human action information capture system based on micro mechanical sensor, with the advantage that realizes that the remote control ability is strong, dexterity of action good and relative independentability is good.
For achieving the above object, the technical solution used in the present invention is: a kind of human action information capture system based on micro mechanical sensor, comprise a plurality of sensor units be used to the athletic posture data of obtaining each unique point of human body place, be used for the main controller system processed based on the human motion attitude data that the respective sensor unit obtains, and have PC software and a BVH file and can process according to described main controller system that gained athletic posture data be calculated and the data of real-time reconstruction human motion attitude mode are processed and the image reconstruction system; Each sensor unit in described a plurality of sensor unit, main controller system and data are processed and the image reconstruction system, connect successively.
Further, each sensor unit comprises a plurality of sensing units that are complementary and arrange with human joint points, and with the data-interface of each sensing unit coupling setting, and coupling is arranged on the data bus between a plurality of sensing units; Be connected to main controller system by data bus between a plurality of sensing units in each sensor unit, and transfer to the PC end by bluetooth module in the wireless transparent transmission mode.
Here, each sensing unit can be the micro mechanical sensor unit, and described micro mechanical sensor unit comprises nine axle sensors, and is connected to the MCU between described nine axle sensors and main controller system.This nine axle sensor can comprise parallel 3-axis acceleration sensor, three axis angular rate sensors and the three axle geomagnetic field sensors that arrange.
Further, described data bus comprises the RS-485 bus.
Further, described main controller system comprises left side and the right side that is separately positioned on human body and mates with a plurality of sensor units two master controller subsystems that arrange.
Further, each master controller subsystem comprises the MCU that is connected with the respective sensor unit, and the Bluetooth transmission module and the power module that are connected with described MCU respectively; Described Bluetooth transmission module is connected to data and processes and the image reconstruction system.
For example, described MCU is included in the singlechip control panel STM32F103RET7 of ARM 32-bit CortexTM-M3 kernel; And/or described Bluetooth transmission module comprises the SMD bluetooth module of GC-01 CLASS1; And/or described power module comprises the accumulator of a plurality of series connection, and the power management chip that is connected respectively and is used for a plurality of accumulators are carried out power management with a plurality of accumulators of described series connection.
Further, described data are processed and the image reconstruction system, comprise the bluetooth receiver module that is connected with described main controller system, and the PC that is connected and has data processing and image reconstruction software with described bluetooth receiver module.
The human action information capture system based on micro mechanical sensor of various embodiments of the present invention, due to a plurality of sensor units that comprise be used to the athletic posture data of obtaining each unique point of human body place, be used for the main controller system processed based on the human motion attitude data that the respective sensor unit obtains, and have PC software and a BVH file and can process according to main controller system that gained athletic posture data are calculated and the data of real-time reconstruction human motion attitude mode are processed and the image reconstruction system; Can obtain by setting up sensor unit the movable information at human body feature point place, the human skeleton model is abstracted into 17 crucial joints (unique point), the athletic posture of each unique point of human body be merged to simulate the athletic posture of whole manikin; Realize the wireless transmission of human action data by Bluetooth technology, do not had the constraint of cable effectively to improve the flexibility ratio of performing artist's action, owing to having higher relative independentability between the motion capture module; With wireless mode realize the real time data of Whole Body action catches and is applied to animation, play in the action control of virtual role or robot; Control thereby can overcome the prior art medium-long range defective that ability is weak, dexterity of action is poor and relative independentability is poor, with the advantage that realizes that the remote control ability is strong, dexterity of action good and relative independentability is good.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from instructions, perhaps understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of instructions, is used for together with embodiments of the present invention explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the software function schematic diagram that the present invention is based on the human action information capture system of micro mechanical sensor;
Fig. 2 a and Fig. 2 b are the principle of work schematic diagram that the present invention is based on the human action information capture system of micro mechanical sensor;
Fig. 3 is based on the human synovial hierarchical structure schematic diagram of layering skeleton structure model in the present invention;
Fig. 4 is based on the node distribution schematic diagram of sensor unit shown in Figure 3 in the present invention;
Fig. 5 a and Fig. 5 b are data flow and the treatment scheme schematic diagram of human motion attitude image reconstruction in the present invention;
Fig. 6 is the principle of work schematic diagram of sensor in the present invention;
Fig. 7 is the rotation sequential schematic of Eulerian angle in the present invention;
Fig. 8 a-Fig. 8 e is the electrical principle schematic diagram of singlechip control panel STM32F103RET7 in the present invention;
Fig. 9 is the hardware block diagram of SMD bluetooth module in the present invention (GC-01 plate);
Figure 10 a-Figure 10 d is the CCD algorithm flow schematic diagram of the athletic posture data of each articulation point of human body in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the present invention, is not intended to limit the present invention.
According to the embodiment of the present invention, provide a kind of human action information capture system based on micro mechanical sensor.as shown in Fig. 1-Figure 10 d, the human action information capture system based on micro mechanical sensor of the present embodiment, comprise a plurality of sensor units (a plurality of sensor units can consist of sensor network) be used to the athletic posture data of obtaining each unique point of human body place, be used for the main controller system processed based on the human motion attitude data that the respective sensor unit obtains, and have PC software and a BVH file, and can process gained athletic posture data according to main controller system and calculate also the data processing and image reconstruction system of real-time reconstruction human motion attitude mode, each sensor unit in a plurality of sensor units, main controller system and data are processed and the image reconstruction system, connect successively.
Wherein, each sensor unit comprises a plurality of sensing units that are complementary and arrange with human joint points, and with the data-interface of each sensing unit coupling setting, and coupling is arranged on the data bus between a plurality of sensing units; Be connected to main controller system by data bus between a plurality of sensing units in each sensor unit.Each sensing unit is the micro mechanical sensor unit, and the micro mechanical sensor unit comprises nine axle sensors, and is connected to the MCU between nine axle sensors and main controller system.Nine axle sensors comprise parallel 3-axis acceleration sensor, three axis angular rate sensors and the three axle geomagnetic field sensors that arrange.Data bus comprises the RS-485 bus.
Above-mentioned main controller system comprises left side and the right side that is separately positioned on human body and mates with a plurality of sensor units two master controller subsystems that arrange.Each master controller subsystem comprises the MCU that is connected with the respective sensor unit, and the Bluetooth transmission module and the power module that are connected with MCU respectively; The Bluetooth transmission module is connected to data and processes and the image reconstruction system.During concrete enforcement, MCU can be included in the singlechip control panel STM32F103RET7 of ARM 32-bit CortexTM-M3 kernel; And/or the Bluetooth transmission module can comprise the SMD bluetooth module of GC-01 CLASS1; And/or power module can comprise the accumulator of a plurality of series connection, and is connected with a plurality of accumulators of series connection respectively and for a plurality of accumulators being carried out the power management chip of power management.
Above-mentioned data are processed and the image reconstruction system, comprise the bluetooth receiver module that is connected with main controller system, and the PC that is connected and has data processing and image reconstruction software with the bluetooth receiver module.
The human action information capture system based on micro mechanical sensor of the present embodiment has following characteristics:
⑴ based on micro mechanical sensor;
⑵ can carry out acceleration, angular velocity, the magnetic field intensity of 17 articulation points of human body and measure in real time;
⑶ can carry out the locus coordinate Calculation of 17 articulation points of human body and show intuitively with patterned way;
⑷ generating three-dimensional animation model document format data, the data format file as 3ds MAX etc. facilitates the application of data;
⑸ applying Bluetooth is realized data acquisition.
The human action information capture system based on micro mechanical sensor of the present embodiment, relate generally to the micro mechanical sensor technology, Bluetooth technology, real time data acquisition and treatment technology, graphical motion model reconstruction software design are the domestic machinery formula action message capture systems with independent intellectual property right.Should be based on the human action information capture system of micro mechanical sensor, mainly to use the micro mechanical sensor unit to obtain exercise data on human body feature point, and be wirelessly transmitted to workstation (PC) by Bluetooth technology, process and the motion analysis reconstruction software again the data of controlled three-dimensional animation role movement through graphics data.
The human action information capture system based on micro mechanical sensor of the present embodiment, the gordian technique that solves emphatically mainly comprise data acquisition and processing, the graphics data processing of PC end and the motion analysis reconstruction software etc. of sensor unit design of node, sensing unit.draw the crucial articulation point that affects human motion by the division on human skeleton model, native system with human skeleton model abstract be 17 crucial articulation points, set up thus virtual human body joint hierarchical model, micro mechanical sensor of each articulation point place's placement, be used for obtaining the exercise data at human body particular joint point place, consist of sensor network by 17 sensor nodes, the fusion of each unique point of human body place athletic posture can the whole human body of approximate simulation athletic posture, sensor network is exactly be used to the exercise data that obtains 17 articulation points of whole human body, be wirelessly transmitted to workstation (PC) by the Bluetooth transmission module, the PC end is processed and the motion model reconstruction software through graphics data, software inhouse adopts Inverse kinematics that exercise data is resolved, the data of last controlled three-dimensional animation role movement and real-time reconstruction modelling of human body motion, exporting simultaneously the BVH formatted file is convenient to storage and upgrades.
The human action information capture system based on micro mechanical sensor of the present embodiment is mainly used in catching in real time the human motion attitude and shows in real time in image reconstruction software, is the real-time seizure that realizes data and the real-time demonstration of figure.Should concentrate on based on major function of the human action information capture system of micro mechanical sensor hardware capture device and software image reconstruction system, hardware device mainly contains micro mechanical sensor and is used for obtaining in real time human body particular joint motion of point information; Micro controller system is used for the exercise data (Eulerian angle or hypercomplex number) of each node of Real-time Collection sensor network, integrated Bluetooth wireless transmission module in micro controller system, this module is used for being sent to from the data that sensor unit gathers workstation (PC), thereby realizes the wireless transmission function of equipment and PC end; The PC end has corresponding blue teeth wireless receiver module, is used for the data that the Real-time Obtaining micro controller system sends.Software section is exactly the modelling of human body motion reconstruction software of PC end, this software resolves the exercise data (Eulerian angle or hypercomplex number) of 17 unique points of human body by Inverse kinematics, obtain at last the athletic posture model of human body and show in real time, need be achieved as follows function in software, specifically referring to Fig. 1.
The human action information capture system based on micro mechanical sensor of the present embodiment is divided into human body 17 crucial articulation points altogether, and each articulation point place all arranges a micro mechanical sensor, thereby forms sensor network.Each sensor (being the micro mechanical sensor of each sensing unit) is all to be made of 3-axis acceleration sensor, three axis angular rate sensors and magnetic sensor and MCU, therefore, this part of data acquisition based on the human action information capture system of micro mechanical sensor is comprised of a plurality of sensor nodes, and each sensor has independently controller, in motion process, each Node Controller of master controller order gathers three-dimensional acceleration, three dimensional angular speed and the three-dimensional magnetic field intensity of each articulation point of human body by sensor.
Take the bus-network topological structure between each Node Controller and main controller system, utilize bus form to communicate.Main controller system gathers the information that each sensor node sends, and after information is analyzed and is processed, the valid data of output are wirelessly transmitted to PC end (being PC) by bluetooth module, the graphical athletic posture reconstruction software of PC end can effectively be processed data, be mainly that a kind of Inverse kinematics commonly used of employing is that cyclic coordinate descent algorithm (CCD algorithm) resolves exercise data, obtain at last human motion attitude data and real-time reconstruction modelling of human body motion.Therefore, by the processing mode of human motion attitude data, can process two large modules with data acquisition and data should mainly be divided into based on the human action information capture system of micro mechanical sensor.
Wherein, the data acquisition module content that will realize comprises: the ⑴ overall system design; ⑵ sensor senses Unit Design; ⑶ master controller ARM system; ⑷ power circuit design; ⑸ scm software design.The content that data processing module will be realized is mainly: the ⑴ modelling of human body motion is set up; ⑵ sensor senses Unit Design; ⑶ athletic posture data (nodal displacement) are calculated.Be somebody's turn to do the groundwork principle based on the human action information capture system of micro mechanical sensor, can be referring to Fig. 2.
Particularly, in the human action information capture system based on micro mechanical sensor of the present embodiment, arranging of each subsystem is as follows:
⑴ sensor network
the effect of sensor network is mainly the athletic posture data of obtaining each unique point of human body place, the fusion of each unique point athletic posture of human body can be used for simulating the athletic posture of whole human body, should the motion of human skeleton model be abstracted into the motion of human synovial model based on the human action information capture system of micro mechanical sensor, human skeleton is a kind of articulated chain structure, articulated chain is (to suppose that generally object is subject to much external force or rotates how soon all indeformablely by a series of rigid bodies that are connected successively, claim that such object is rigid body, it is about an ideal model of research object in mechanics) be formed by connecting, the junction of two rigid bodies is referred to as articulation point.and any change can not occur in any moment of the part between each articulation point, so the human skeleton model is continued to take out 17 crucial articulation points, corresponding joint is respectively stern abdomen joint, left chest shoulder joint, right chest shoulder joint, left shoulder joint, right shoulder joint, left elbow joint, right elbow joint, left wrist joint, right wrist joint, the chest neck joint, the neck joint, left leg root joint, right leg root joint, left knee joint, right knee joint, left hot-tempered joint and right hot-tempered joint, therefore the human body of whole motion can be counted as the human skeleton model that is formed by connecting by 17 crucial articulation points, simultaneously with human body stern abdomen joint as manikin root joint, determine human body the world space position and towards.Here adopt conventional layering skeleton structure model (being tree structure) to carry out figure and describe, specifically referring to Fig. 3.
in the human synovial model, the division in each joint is the leaching process to the crucial articulation point of human body, the movable information at each crucial articulation point of human body place can react the athletic posture of whole human body after treatment effectively, movable information for 17 crucial articulation point places obtaining movement human, should all place a micro mechanical sensor at each crucial articulation point place based on the human action information capture system of micro mechanical sensor is sensor node, so altogether 17 micro mechanical sensors are placed on 17 crucial articulation point places of movement human, consist of thus the sensor network with 17 nodes.Each sensor obtains respectively the athletic posture data (Eulerian angle or hypercomplex number) at the particular joint point place of movement human, the Inverse kinematics that utilizes afterwards a kind of parsing in PC end motion attitude image reconstruction software resolves the athletic posture data (hypercomplex number) at 17 articulation point places, obtain the relative shift of each articulation point, thereby constructed the athletic posture model of whole human body by the athletic posture of each unique point.Can be determined the distribution of sensor senses unit by above human synovial hierarchical model, as shown in Figure 4, in Fig. 4, each black round dot represents the node of a sensor unit, and whole sensor network is made of 17 sensing units, and each Nodes is placed an axes of inertia sensor.
1. sensor node
Each sensing unit is exactly a micro mechanical sensor in the sensor network, micro mechanical sensor is to be made of 3-axis acceleration sensor, three axis angular rate sensors and three axle geomagnetic field sensors and MCU, therefore should also be referred to as nine axle sensors based on the human action information capture system of micro mechanical sensor, be mainly used in obtaining in real time the athletic posture data of each articulation point of human body.Multisensor Data Fusion Algorithm has been used in each nine axle sensor inside, should all use Kalman filter algorithm (optimization autoregression data processing algorithm) realization to measurement and the data fusion of human motion attitude based on nine axle sensors in the human action information capture system of micro mechanical sensor, this algorithm is also the most efficient Data Fusion of Sensor algorithm at present, Kalman filter algorithm is mainly the state-space model that adopts signal and noise, utilize the observed reading of the estimated value of previous moment and current time to upgrade estimation to state variable, thereby obtain the estimated value of current time.
Be the accuracy of guaranteeing to measure based on the human action information capture system athletic posture of micro mechanical sensor; provide different compensation methodes for three kinds of different sensors measurements in nine axle sensors; the size of the speed of human motion and motion amplitude does not all have very large difference in the same time, and the motion model of corresponding sensor is also different.therefore, based on the human action information capture system of micro mechanical sensor at a high speed fast and low speed slowly the sensor movement model set up corresponding mathematical model, Kalman filter has good adaptability and can automatically restrain according to practical operation situation these mathematical models, the regulatory function of Kalman filter parameter is provided in the human action information capture system based on micro mechanical sensor, large or when having the human action information capture system of using under the environment of ferromagnetic material based on micro mechanical sensor for magnetic field environment change, Magnetic Sensor sensitivity be can turn down as far as possible and angular-rate sensor and acceleration transducer sensitivity relatively increased, with the variation that conforms, thereby improve the accuracy of motion capture.The sensor node principle and based on the effect in the human action information capture system of micro mechanical sensor referring to Fig. 5.
For example, provide different compensation methodes for three kinds of different sensors measurements in nine axle sensors, the sensor movement model provides different mathematical models for reaching at a high speed slowly, Kalman filter has good adaptability and can automatically restrain according to practical operation situation these mathematical models, thereby improves the accuracy of motion capture.nine axle sensors are with inner three kinds of raw data (3-axis accelerations that sensor obtains, three axis angular rates, three-axle magnetic field intensity) gathering the rear Kalman filter algorithm that utilizes resolves the athletic posture result of three kinds of sensors, comprehensively draw at last human motion attitude data (being Eulerian angle or hypercomplex number), it being imported PC end graphics data processes and the motion model reconstruction software again, software inhouse adopts Inverse kinematics to calculate the displacement of each crucial articulation point, thereby with patterned way, human motion state is shown in real time in software, exporting simultaneously the BVH formatted file is convenient to storage and revises.
The human action information capture system based on micro mechanical sensor of the present embodiment is abstracted into 17 crucial articulation points with modelling of human body motion, by three-dimensional motion attitude measurement equipment VM-i is bundled on the unique point of human body, gathers in real time human body movement data.3 d pose measuring equipment VM-i(is the VM-i sensor), be that little Meisen inertial technology exploitation (Beijing) company limited researches and develops design.
Data-interface is exactly to export the interface of data when carrying out data transmission to data connecting line, and the RS-485 interface is the combination of adopting balance driver and differential receiver, and anti-common mode interference ability is strong, and namely noise proof feature is good.The maximum transmission rate of this interface can reach 10Mbps, and the maximum transmission distance standard is 4000 feet, but actual effective propagation path also can reach 3000 meters, but in native system, the requirement for transmission range is lower, and this point can well be satisfied.The RS-485 interface is to allow to connect nearly 128 receivers on bus simultaneously, namely has stronger multistation ability, is conducive to apparatus for establishing network easily.
Therefore, connect and data are sent to main controller system by the RS-485 bus between each node in sensor network, whole sensor network has 17 sensor nodes, and by the exercise data of two main controller systems (respectively there is a main controller system left and right) acquisition node, 8 sensor nodes are arranged in the human body left side, 8 nodes are connected to the left side main controller system after the RS-485 bus connects, integral body is bus type topological structure; Equally, the human body right side is arranged 9 sensor nodes and is connected by the RS-485 bus, be connected to again afterwards the right side main controller system, integrated with Bluetooth sending module in main controller system, the data that are used for each sensor node that will collect are sent to workstation (PC end).
⑵ main controller system
1. micro-control unit (MCU)
Main controller system, the main singlechip control panel STM32F103RET7 that adopts based on ARM 32-bit CortexTM-M3 kernel, this chip has 32 digit flash memory microcontrollers, memory span up to 512 KB, and have USB, CAN, I2C bus, 11 timers, 3 ADC, USB2.0 is interface at full speed, SDIO interface, CRC computing unit.Processing speed reaches 72MHz and the fast flash memory bank of 256KB to 512KB is arranged, SRAM up to 64KB, the static memory controller has 4 chip selections, supports LCD parallel interface and 8080/6800 pattern, 2.0-3.6 volt supply voltage and I/O port and 4 to 16MHz crystal oscillators.Also be included as in addition and pass on the Thumb-2 instruction that improves performance and arrange, be with better density of encoding, to interrupting reaction faster, all combine with leading industrial power consumption.
Therefore can satisfy this based on the requirement for real time data acquisition and transmission of the human action information capture system of micro mechanical sensor, realize that by programming master controller CPU constantly obtains the exercise data of each sensor unit Nodes, simultaneously adopt the RS-485 bus to be connected between sensor unit node and main controller system, the RS-485 bus has higher message transmission rate (10Mbps), and bus interface has good noise immunity and than the characteristics of longer transmission distance.Athletic posture data by RS-485 bus master controller system each node of Real-time Obtaining sensor unit, main controller system integrated with Bluetooth transport module, the exercise data that the Bluetooth transmission module is used for each crucial articulation point of wireless transmission human body place is held to PC, main controller system can guarantee the exercise data at each articulation point of Real-time Obtaining human body place, and be sent in real time in PC end human motion attitude image reconstruction software, Fig. 8 is STM32F103RET7 pin schematic diagram.
2. Bluetooth transmission module
Bluetooth technology is the open global specifications of a kind of wireless data and voice communication, and it is take the wireless connections of low cost low-power consumption as the basis, sets up one with the mobile device communication environment and is connected especially for fixing, and procedure stores is in a microchip.should be exactly to utilize Bluetooth technology to realize the wireless transmission of human body movement data based on one of innovative point of the human action information capture system of micro mechanical sensor, most mechanical type motion capture system is all to adopt the data transmission of wired, the constraint that not only makes the performing artist be defeated by cable can't freely be performed, and can't reach move distance and the motion amplitude of expectation under the pressure of the restriction of cable, therefore should adopt based on the human action information capture system of micro mechanical sensor the wireless blue tooth technology to complete the valid data transmission of main controller system and PC end, the Bluetooth transmission module integration is in main controller system, the exercise data of each sensor unit node of main controller system Real-time Collection, by the Bluetooth transmission module, the athletic posture data wireless that collects is sent to workstation (PC namely) afterwards.The PC end has corresponding bluetooth receiver module, is responsible for receiving the data that the Bluetooth transmission module in main controller system is sent, thereby catches between equipment and PC end moving, has realized efficient Wireless Data Transmission.
Therefore, the Bluetooth transmission module of main controller system mainly can adopt the SMD bluetooth module of GC-01 CLASS1 of Nanjing state spring Electric Appliance Equipment Co., Ltd.It has mainly adopted the AUDIO-FLASH Bluetooth chip of CRS company, and additional Atmel company's T 7024 bluetooth specific front-end chips are extended to 1 grade of bluetooth module of standard (Class1), and communication distance reaches 100m.Peripheral main components selection adopts the technical grade standard, and module board is 0.8mm four laminates, adopts the laser blind hole processing technology, and pin adopts technology for processing semi-hole, SMD design, and volume size is compact.Circuit interface is mainly USB mouth, RS232 serial port (Transistor-Transistor Logic level), Audio analog voice interface (SPK, MIC), SPI programming port, 2 road AIO analog quantity interfaces, 12 railway digital PIO interface, GC-01 plate hardware block diagram is seen Fig. 9, operating voltage is 2.7V ~ 3.3V, working temperature :-40 ℃ to+105 ℃, send sensitivity and reach-85dBm.
3. power module design
Human action information capture system based on micro mechanical sensor has two main controller systems, each main controller system needs a power supply, power acquisition consists of with 4 joint 1.2V 3000mAh nickel-hydrogen chargeable cell series connection, and adopt power management chip LP2951 to carry out power management, for system provides stable 5V operating voltage, has simultaneously the function that electric weight detects.
⑶ data are processed and the image reconstruction system
1. bluetooth receiver module
Be positioned at the image reconstruction software inhouse of micro mechanical sensor, the main exercise data that uses each node in sensor network, through drawing the athletic posture data of whole manikin after resolving, and these data are all to obtain from the bluetooth receiver module that PC holds, image reconstruction software reads exercise data from the port of corresponding bluetooth receiver module, is used at last the reconstruction of modelling of human body motion.
The bluetooth receiver module of PC end is used for the exercise data of each sensor node that the Real-time Obtaining main controller system sends, after the bluetooth receiver module receives the exercise data of each node, PC end manikin reconstruction software just can extract data from the corresponding port of bluetooth module, and software inhouse is realized real-time reconstruction and the demonstration of modelling of human body motion.The BlueSoleil6 bluetooth PC software of the IVT of driver employing accordingly company exploitation.BlueSoleil6 has remarkable radio function, equipment that can the miscellaneous support Bluetooth function of accessing wirelessly, as mobile phone, computer, PDA etc., the BlueSoleil6 interface is simple and easy to can be rapidly connecting with various bluetooth equipments (as mobile phone, notebook etc.), and major function comprises: pairing, search service, data transmission, connect, message exchange with synchronize, bluetooth fax etc.
What the bluetooth receiving equipment used is the support CLASS1/2/3 standard bluetooth equipment of usb type.Operational frequency bands adopts FHSS (Frequency Hopping Spread Spectrum/FHSS) technology between 2.4GHz to 2.483GHz, be applicable to Windows 98SE/ME/2000/XP/2003/VISTA or the above operating system of Mac OS X 10.2.6.Data transmission rate reaches as high as 3Mbps, sensitivity＜-85 dBM.Bluetooth drive software IVT BlueSoleil v6.4.249.0, can realize the function that Bluetooth Receiver is abundant, realize that the wireless connections of computer and other Bluetooth protocol equipment fast and stables carry out the transmission of audio frequency, data, image, p.s. 3M the exchanges data amount, can let us see in real time smooth human motion attitude.
2. data are processed and image reconstruction software
Data are processed the data that are mainly used in extract real-time PC end bluetooth receiver module with image reconstruction software, and these athletic posture data are resolved, the attitude mode of real-time reconstruction human motion afterwards, athletic posture image reconstruction software should have the function that the human motion attitude data that captures (being generally the BVH file) is stored and upgraded.Also should possess simultaneously intelligent exercise data and process and show in real time the function of human motion attitude, the movement posture information of record before all right edit-modify.Develop this athletic posture Model Reconstruction software and can based on Visual C++ 6.0 Integrated Development Environment, utilize the programming idea of C++ programming language and MSComm communication control, MFC class libraries (microsoft foundation class storehouse), com component and GRAPHICAL PROGRAMMING.
modelling of human body motion reconstruction software based on the human action information capture system of micro mechanical sensor can be divided into two parts: based on human action information capture system configuration nucleus module and the athletic posture display module of micro mechanical sensor, human action information capture system configuration nucleus module based on micro mechanical sensor adopts ICP/IP protocol to send the human motion attitude data to third party software, and main being responsible for communicates with the bluetooth receiving equipment of the bluetooth port of appointment, thereby obtain the athletic posture data (Eulerian angle or hypercomplex number) of 17 articulation points of human body, the athletic posture data of last each articulation point that will obtain from bluetooth port are again submitted to the athletic posture display module of software.
The athletic posture display module is mainly used in showing in real time the attitude of performing artist's human motion in going three-dimensionally.software inhouse is with the motion synchronised of performing artist in skeleton motion virtual in three dimensions and reality, the consistent degree of both athletic postures that can realize at last depends primarily on the implementation algorithm that obtains the human motion attitude data, namely how to obtain human motion attitude data (being the displacement of crucial articulation point) by the known three-dimensional space position data (hypercomplex number) of obtaining from bluetooth port, should use a kind of Inverse kinematics that the human motion attitude data is resolved based on the human action information capture system of micro mechanical sensor, the final athletic posture data that obtain each articulation point of human body.Inverse kinematics can be divided into analytic approach and process of iteration two classes, based on the counter motion algorithm of analytic approach and be not suitable for hierarchy structure model, and when the efficient of movable body joint quantity algorithm of more times lower, the inverse kinematics method of iteration mainly contains the Inverse kinematics based on Jacobi matrix, nonlinear optimization algorithm and cyclic coordinate descent algorithm (CCD algorithm).
Cyclic coordinate descent algorithm (CCD algorithm) is mainly adopted in this exploitation based on the human action information capture system of micro mechanical sensor, this algorithm is a kind of inverse kinematics method that very classical relevant human motion is controlled, utilize CCD Algorithm for Solving human motion attitude data, in manikin, the position of end-effector is known, mainly that iteration is tried to achieve the anglec of rotation in each joint on kinematic chain successively along with the human body end-effector approaches in the process of target location gradually.Root joint in the CCD algorithm is exactly not necessarily the root joint in human skeleton model, and it can carry out free selection according to corresponding movable joint chain.
The forms of motion of human body can be summarized as two kinds of situations: a kind of be the target location within the physiological movement limit range of human synovial, a kind of is exactly the physiological movement limit range that the target location has exceeded human synovial.The first situation only need just can realize by the rotation in sub-joint, the second situation by sub-joint rotation and the translation in root joint can realize.Therefore, all motions of human skeleton model all can ascribe rotation and two kinds of forms of motion of translation to, i.e. all motions of kinematic chain are all by the rotation realization in the translation in root joint and other sub-joint.
The CCD algorithm begins progressively to change the anglec of rotation in each joint from the sub-joint of least significant end, end-effector reaches the process of target location, it is also the process that each articulation point is progressively adjusted the own anglec of rotation, if the target location is endways within the coverage pattern of effector, only need to change successively by the iteration step by step of CCD algorithm the anglec of rotation in each sub-joint, just can obtain last human motion attitude figure.If (need regulation maximum number of repetitions N for avoiding affecting system real time through limited number of time, N is natural number) loop iteration change the rotation angle in joint, end-effector does not still arrive the target location, illustrate that the target location is not endways within the coverage pattern of effector, therefore need to carry out the translation of root node, again begin afterwards the anglec of rotation in the sub-joint of varying cyclically from end joint.
in conjunction with the human action information capture system of being somebody's turn to do based on micro mechanical sensor, the CCD algorithm is provided one realize example, realize that the visual human stands still just and go to take the process of the water tumbler on desk with the right hand, only consider the motion of right arm this moment, there is right wrist joint J0 in joint in this movable joint chain, right elbow joint J1, right shoulder joint J2, right chest joint J3, and get stern abdomen joint for joint Jroot, the CCD algorithm is (the end-effector here is exactly palm) from end-effector, progressively change the anglec of rotation in each joint, first change the joint J0 of least significant end, be vectorial V1 from joint J0 to end-effector E, be vectorial V2 from joint J0 to impact point O, the dot product of obtaining two vectors is rotation angle α, the cross product VT1 that obtains two vectors is turning axle, make the subchain of J0 around turning axle rotation alpha angle, the end-effector E this moment new position of having arrived.calculate E to the distance of target location O this moment, if E does not arrive target location O(length〉value of predesignating value), namely this people does not touch water tumbler after hand is stretched out a segment distance, with the father node J1 of J0 as new root node, be vectorial V1 from joint J1 to end-effector E, be vectorial V2 from joint J1 to impact point O, the dot product that continues to try to achieve two vectors is rotation angle β, the cross product VT2 that obtains two vectors is turning axle, subchain under J1 is rotated the β angle around turning axle VT2, end-effector arrives again a new position, as shown in Figure 6, if E this moment does not still arrive this people of target location O(and does not still touch water tumbler on desk), continue to get the father node J2 of J1 as new root node, change step by step the anglec of rotation of each articulation point on kinematic chain.If iteration is not until during root node Jroot, this moment, end-effector still arrived target location O, began new iterative loop from end joint J0 more successively.Here must limit cycle index, suppose that maximum cycle is N, if when cycle index has reached the maximal value N that stipulates, E does not also arrive target location O, represent that target location O is not endways within the coverage pattern of effector, be that water tumbler on desk is not within the palp scope of this people's palm, need to carry out translation motion this moment to root node, as this people nearly desk one segment distance of going further, namely realized the translation motion of root node, carry out again above-mentioned circulation after mobile root node, specifically can be referring to Figure 10 a-Figure 10 d.
The present embodiment has been set forth design concept and the implementation method based on the human action information capture system of micro mechanical sensor, should be based on the human action information capture system of micro mechanical sensor, obtain the movable information at human body feature point place by setting up sensor network, the human skeleton model is abstracted into 17 crucial joints (unique point), the athletic posture of each unique point of human body is merged to simulate the athletic posture of whole manikin; Realized the wireless transmission of human action data by Bluetooth technology, do not have the constraint of cable effectively to improve the flexibility ratio of performing artist's action, owing to having higher relative independentability between the motion capture module, therefore, easily carry out degree of depth patulous research based on this action message capture system, the research and development of action message capturing technology as synchronous in many people.In addition, the application of movement capturing technology can solve the bottleneck problem of definition role movement in three-dimensional animation production, is the important breakthrough of cartoon production technology, especially the trend of animation design technique development from now on.
It should be noted that at last: the above only is the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment, the present invention is had been described in detail, for a person skilled in the art, it still can be modified to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. human action information capture system based on micro mechanical sensor, it is characterized in that, comprise a plurality of sensor units be used to the athletic posture data of obtaining each unique point of human body place, be used for processing and logical bluetooth module wireless transparent transmission mode is carried out the main controller system of data transmission based on the human motion attitude data that the respective sensor unit obtains, and have PC software and a BVH file, and can process gained athletic posture data according to described main controller system and calculate also the data processing and image reconstruction system of real-time reconstruction human motion attitude mode, each sensor unit in described a plurality of sensor unit, main controller system and data are processed and the image reconstruction system, connect successively.
2. the human action information capture system based on micro mechanical sensor according to claim 1, it is characterized in that, each sensor unit, comprise a plurality of sensing units that are complementary and arrange with human joint points, with the data-interface of each sensing unit coupling setting, and coupling is arranged on the data bus between a plurality of sensing units; Be connected to main controller system by data bus between a plurality of sensing units in each sensor unit, and transfer to the PC end by bluetooth module in the wireless transparent transmission mode.
3. the human action information capture system based on micro mechanical sensor according to claim 2, is characterized in that, described data bus comprises the RS-485 bus.
4. the human action information capture system based on micro mechanical sensor according to claim 1, it is characterized in that, described main controller system comprises left side and the right side that is separately positioned on human body and mates with a plurality of sensor units two master controller subsystems that arrange.
5. the human action information capture system based on micro mechanical sensor according to claim 4, it is characterized in that, each master controller subsystem comprises the MCU that is connected with the respective sensor unit, and the Bluetooth transmission module and the power module that are connected with described MCU respectively; Described Bluetooth transmission module is connected to data and processes and the image reconstruction system.
6. the human action information capture system based on micro mechanical sensor according to claim 1, it is characterized in that, described data are processed and the image reconstruction system, comprise the bluetooth receiver module that is connected with described main controller system, and the PC that is connected and has data processing and image reconstruction software with described bluetooth receiver module.
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