CN103136912A - Moving posture capture system - Google Patents
Moving posture capture system Download PDFInfo
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- CN103136912A CN103136912A CN2013100685593A CN201310068559A CN103136912A CN 103136912 A CN103136912 A CN 103136912A CN 2013100685593 A CN2013100685593 A CN 2013100685593A CN 201310068559 A CN201310068559 A CN 201310068559A CN 103136912 A CN103136912 A CN 103136912A
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Abstract
The invention relates to a moving posture capture system, which comprises a plurality of sensors used for measuring moving posture and a host computer used for processing posture data, wherein, an inertia posture measure sensor module enables bidirectional connection with a master control module through a USART communication cable, the master control module and the host computer enable bidirectional connection in a wireless mode, and the power supply management module is respectively connected to the inertia posture measure sensor module and the master control module. The system integrates a triaxial magnetic field sensor and a six spindle acceleration and angular velocity sensor, the inertia strapdown posture is used for resolving, Kalman digital filtering and data fusion algorithm are combined to accurately measure three-dimensional stereo, the collected data can be automatically corrected without the influence of environmental factors, the moving postures of human, animal and objects can be captured, the data output by the system can be directly used by the users, and high quality animation with vivid effect can be produced. The moving posture capture system can be used for dynamic simulation of role models of cartoon, movie and television and game, as well as scientific research of motion state of human, animal and objects.
Description
Technical field
The present invention relates to the data acquisition of athletic posture, specifically the athletic posture capture system.
Background technology
Three-Dimensional Dynamic/static simulation emulation seems more and more important in digitized today, if the making of the actor model dynamic simulation of animation, video display and game re-uses modeling in kind or manual drawing obviously is not suitable with trend, and inefficiency, workload is large, and cost is high.Along with people are more and more higher to the requirement of actor model action emulation, the requirement of convenience, precision and the cost of the efficient of motion capture system, use is also more and more come higher, this just require this system to low-cost, be simple and easy to future developments such as, pinpoint accuracy and high-level efficiency.Motion capture system is applied to animation more and more, and in the middle of the Three Dimensional Dynamic Simulation simulation making of video display and game, and Three Dimensional Dynamic Simulation emulation has become the main force of three-dimensional manufacturing.
In the world, science and technology flourishing U.S. particularly, the actor model dynamic simulation grows up already, in animated film, science fiction movies and the game of the U.S., embodiment is arranged all, and has reached certain level.The action that can actor model that the very convenient deviser of realization requires to do by motion capture system, only need to establish actor model in computer, again motion capture system is arranged on performer's body, allow the performer do the desired action of deviser, the data that again motion capture system collected import in actor model by three-dimensional animation making software, and actor model just can be made the motion simulation animation the same with the performer.Thereby can realize quickly and easily Three Dimensional Dynamic Simulation emulation, reduce cost, save the time.
Present motion capture system mainly contains three classes: 1, realize by optical principle, but this system affected by the conditions and environment factor, and very responsive to the variation of light, and the operation of system is also more complicated.As previously described, easily affected by environment, use easily restricted; 2, by Principles of Acoustics, this method neither be very desirable, poor anti jamming capability, and system's complicated operation is realized badly; 3, realize by mechanical pick-up device, this kind method simple possible, algorithm is simple, implement also simple than the above two, and not affected by the environmental geography factor, system operates also more for convenience, but this mode haves much room for improvement at aspects such as 3-D effect, accuracy and real-time, fluency and verisimilitudes at present.
Summary of the invention
The purpose of this invention is to provide a kind of athletic posture capture system, it can not be subjected to the impact of environmental factor, can accurately catch in real time the movement posture of people, animal and object, and computing machine can directly utilize the data of this system's output, promoted the quality of animation, made effect more true to nature.Can serve the dynamic simulations such as actor model of animation, video display and game, and the scientific research of people, animal and object moving state.
In order to achieve the above object, the present invention has adopted following technical scheme:
Described athletic posture capture system, comprise the sensor of a plurality of measurement athletic postures and for the treatment of the host computer of attitude data, wherein: the inertial posture measuring sensor assembly is connected with main control module is two-way by the USART telecommunication cable, main control module is connected with the host computer wireless two-way, and power management module connects respectively inertial posture measuring sensor assembly and main control module.
Further, the inertial posture measuring sensor assembly is by network node data set and node data processing module and human body attitude Data Integration module in USART telecommunication cable connection main control module.
in order to carry out better data acquisition and processing (DAP), in above-mentioned inertial posture measuring sensor assembly, the integrated inner FLASH parameter reading device of attitude measurement central processing unit, the inner parameter calibrating installation, host computer instruction reading device, timer, signals collecting and filter processing, data fusion and attitude algorithm device, the USART communication interface, inner FLASH parameter reading device is connecting the inner parameter calibrating installation successively, timer, signals collecting and filter processing, data fusion and attitude algorithm device, the USART communication interface, host computer instruction reading device access inner parameter calibrating installation after the USART communication interface, triaxial magnetic field sensor, six-axle acceleration and angular-rate sensor all access signals collecting and the filter processing of attitude measurement central processing unit.Wherein attitude algorithm preferably adopts inertia strapdown attitude algorithm, and filtering is processed and preferably adopted Kalman filtering algorithm.
For the transmission of data, above-mentioned triaxial magnetic field sensor, six-axle acceleration and angular-rate sensor all are connected the A/D translation interface of attitude measurement central processing unit.
In above-mentioned main control module, connected node data fusion module after network node data set and node data processing module, human body attitude Data Integration module respectively with node data Fusion Module, the two-way connection of motion state Data Transport Protocol module, motion state Data Transport Protocol module is connected with wireless data transfer module 1 is two-way.
In the present invention, the two-way connection motion state of wireless data transfer module 2 data interpretation module that is connected with main control module wireless data transfer module 1 wireless two-way in host computer, the motion state data interpretation module is connected with Managing system of above position machine is two-way.
Further, work better in order to make athletic posture capture system of the present invention, obtain smoothness more true to nature 3-D effect accurately, Managing system of above position machine of the present invention arranges Managing system of above position machine master interface and respectively link with it:
Subsystem is set in the key position installation site;
The pick up calibration subsystem;
Transducer sensitivity arranges subsystem;
Athletic posture data recording subsystem;
Virtual portrait action demonstration subsystem.
In the present invention, the inertial posture measuring sensor assembly mainly is placed on the main key position of human body: at the left ankle of human body, right ankle, left knee, right knee, left finesse, right finesse, left elbow, right elbow, neck and waist joint place.The placement direction of inertia attitude sensor module (being mainly each sensor) can be according to the mode of connection of reality, can carry out different placements, but need to arrange in network node data set and node data are processed, otherwise the action of some mistakes will occur in motion process.
Network node data set and node data processing module receive the data of each inertial posture measuring sensor assembly, the installation direction of each sensor is arranged, whether the output of calibrating each sensor assembly is correct, and carry out node data and process, mark the data of each key position sensor assembly, so that node data merges.
Power management module is most important, the stability of power supply is directly connected to the correctness of sensing data, if the output Wen Botai of power supply is large, directly affected the steady operation of whole motion state capture system, this power management module adopts the 16V lithium battery power supply, the capacity of lithium battery is 4000 MAHs, is provided with the switching power circuit design, has guaranteed conversion accuracy and real-time.
Human body attitude Data Integration module is the data of each node, mode of motion according to human body, calculate main movement direction, speed and the mode in each joint, and set up solid space XYZ three-dimensional coordinate system, produce corresponding mode of motion and route along with the motion of human body.The raw data of the inertial posture measuring sensor assembly of also each main key position of human body being placed simultaneously and merge after data compare, determine the correctness of three axial data.
Node data Fusion Module: marked the sensing data of node owing to being inertia device, there are some noises, those are in node data merges, the mode that need to the data that collect be processed with software filtering, this process is exactly that the undesired signal and the noise that utilize Kalman filtering will collect in signal filter, and with the signal reduction of distortion, obtain meeting human body attitude and measure the signal that requires.
Motion state Data Transport Protocol module is that the data that the human motion attitude data is integrated are encoded, the form of coding is hexadecimal format, added the data command head before the motion state data transmission, mark command length, the centre is exactly the motion state data, and check sum DTD mark is arranged at last.Adopt this form can guarantee infallibility and the real-time of transmitting.
Wireless data transfer module 1 adopts an existing wireless data transfer module, has the sending and receiving function, this module adopts XBee-PRO 900HP, be provided with the base plate of an XBEE-PRO 900HP, base plate has also comprised power regulator module, in the data transmit-receive process, in order to prevent that processor (CPU) from producing data to this module and disturbing, be specially provided with an emitter follower, thereby isolated crosstalking of processor and wireless data transfer module.
Wireless data transfer module 2 is the same with wireless data transfer module 1.
The motion state data interpretation module is explained the concrete meaning of each field according to the protocol format of transmission, the correctness of checking data, if after verification accurately, the hexadecimal data in human body each main joint and change into ASCII character.
Managing system of above position machine is the main joint ASCII character data of human body, and on the virtual personage who is reconfigured to host computer, and real-time exhibition goes out the state of motion.Simultaneously, transducer sensitivity is set, sends the instruction of key position installation site setting and pick up calibration, and record the athletic posture data.
The course of work of system of the present invention is:
1, start, operation Managing system of above position machine and relative program;
2, respectively the inertial posture measuring sensor assembly is placed in each key position on actor body, as
At the left ankle of human body, right ankle, left knee, right knee, left finesse, right finesse, left elbow, right elbow, neck and waist joint place, then main control module is arranged on the center, back of performer's health;
3, with USART two-way communication cable, each inertial posture measuring sensor assembly is connected with main control module respectively, then opens the wireless connections of main control module and host computer;
4, actor body is attentioned, all open the power supply of athletic posture capture system, the athletic posture capture system begins initialization, the pilot lamp of system begins flicker, host computer can receive continuously the data of performing artist's movement posture and preserve, simultaneously, the motion that virtual portrait action demonstration subsystem will display simulation.
Good effect of the present invention is:
1, the present invention has adopted the arm processor technology to realize data acquisition, has guaranteed data acquisition, data fusion accuracy and real-time;
2, the sensor of this system integration triaxial magnetic field sensor and six-axle acceleration and angular velocity uses inertia strapdown attitude algorithm, in conjunction with Kalman's numeral filtering and data anastomosing algorithm, can realize that 3 D stereo is measured accurately, and high-precision attitude is provided;
3, this system adopts the refresh rate of 60Hz data, has improved significantly fluency and the verisimilitude of animation;
4, this system can revise the data that gather automatically, has stronger error correcting capability, guarantees that the long-play measurement result is accurate, has guaranteed accuracy and the real-time of movement posture data.
Description of drawings
Fig. 1 is motion state capture system hardware configuration schematic diagram of the present invention;
Fig. 2 is inertial posture measuring sensor module structure schematic diagram;
Fig. 3 is the Managing system of above position machine block diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
As shown in Figure 1, the inertial posture measuring sensor assembly is connected with main control module is two-way by the USART telecommunication cable, and main control module is connected with the host computer wireless two-way, and power management module connects respectively inertial posture measuring sensor assembly and main control module.
The inertial posture measuring sensor assembly is by network node data set and node data processing module and human body attitude Data Integration module in USART telecommunication cable connection main control module.
See Fig. 2.in the inertial posture measuring sensor assembly, the integrated inner FLASH parameter reading device of attitude measurement central processing unit, the inner parameter calibrating installation, host computer instruction reading device, timer, signals collecting and filter processing, data fusion and attitude algorithm device, USART communication interface (two-way), inner FLASH parameter reading device is connecting the inner parameter calibrating installation successively, timer, signals collecting and filter processing, data fusion and attitude algorithm device, the USART communication interface, host computer instruction reading device access inner parameter calibrating installation after the USART communication interface, triaxial magnetic field sensor, six-axle acceleration and angular-rate sensor all access signals collecting and the filter processing of attitude measurement central processing unit.Wherein attitude algorithm adopts inertia strapdown attitude algorithm, and filtering is processed and adopted Kalman filtering algorithm.
Triaxial magnetic field sensor, six-axle acceleration and angular-rate sensor all are connected the A/D translation interface of attitude measurement central processing unit.
Connected node data fusion module after network node data set and node data processing module, human body attitude Data Integration module respectively with node data Fusion Module, the two-way connection of motion state Data Transport Protocol module, motion state Data Transport Protocol module is connected with wireless data transfer module 1 is two-way.
The two-way connection motion state of wireless data transfer module 2 data interpretation module that is connected with main control module wireless data transfer module 1 wireless two-way in host computer, the motion state data interpretation module is connected with Managing system of above position machine is two-way.
See Fig. 3.Following five sub-systems that Managing system of above position machine arranges Managing system of above position machine master interface and links with it respectively:
Subsystem is set in the key position installation site---set installation site and the direction of setting sensor;
The pick up calibration subsystem---comprise three-axle magnetic field calibration and six-axle acceleration and angular-rate sensor (3-axis acceleration meter calibrating, three-axis gyroscope calibration);
Transducer sensitivity arranges subsystem---comprise three-axle magnetic field sensitivity setting and six-axle acceleration and angular-rate sensor (three axis accelerometer sensitivity setting, three-axis gyroscope sensitivity arrange);
Athletic posture data recording subsystem---deposit hard disk in;
Virtual portrait action demonstration subsystem.
In the present invention, the workflow of inertial posture measuring sensor assembly comprises the steps:
1) beginning, the attitude measurement central processing unit powers on and starts working, and starts the watchdog reset system;
2) system is prepared, and the inner parameter calibration parameter reads;
3) read the gyro initialization that host computer sends, the instruction of magnetic field calibration, so that each sensor is calibrated;
4) read inner FLASH calibration parameter, when employing is dispatched from the factory, default parameter value is carried out Attitude Calculation;
5) the opening timing device interrupts, and starts the system break of arm processor inside, carries out internal data and merges, the work such as Attitude Calculation;
6) signals collecting and filtering algorithm according to the output characteristics of each sensing data, adopt Kalman Filter Technology to carry out filtering;
7) data fusion and attitude algorithm, to the sensor of six-axle acceleration and angular velocity, triaxial magnetic field sensor adopts Quaternion method to find the solution attitude angle;
8) the attitude angle data are sent to main control module by the USART communication interface.
Power management module of the present invention adopts the 16V lithium battery power supply, and the capacity of lithium battery is 4000 MAHs, is provided with switching power circuit.
The data that motion state Data Transport Protocol module is integrated the human motion attitude data are encoded, the form of coding is hexadecimal format, added the data command head before the motion state data transmission, mark command length, the centre is exactly the motion state data, and check sum DTD mark is arranged at last.Adopt this form can guarantee infallibility and the real-time of transmitting.
Wireless data transfer module 1 adopts an existing wireless data transfer module, has the sending and receiving function, this module adopts XBee-PRO 900HP, be provided with the base plate of an XBEE-PRO 900HP, base plate has also comprised power regulator module, in the data transmit-receive process, in order to prevent that processor (CPU) from producing data to this module and disturbing, be specially provided with an emitter follower, thereby isolated crosstalking of processor and wireless data transfer module.
Wireless data transfer module 2 is the same with wireless data transfer module 1.
The motion state data interpretation module is explained the concrete meaning of each field according to the protocol format of transmission, and the correctness of checking data is after verification accurately, the hexadecimal data in human body each main joint and change into ASCII character.
Managing system of above position machine is the main joint ASCII character data of human body, and on the virtual personage who is reconfigured to host computer, and real-time exhibition goes out the state of motion.
This system adopts the refresh rate of 60Hz data.
Research experiment result of the present invention shows: simultaneously under identical simulation step length condition, use the calculation accuracy of above method under high dynamic angular movement environment high, the angle of pitch algorithm drift error that is caused by conical motion has also obtained effective inhibition.Data processing method and Kalman filter with the optimal estimation theory merge velocity information, have guaranteed accuracy and the real-time of measuring accuracy.And adopt linear kalman filter to provide minimum variance estimate for the inertial navigation system error, then utilize the estimated value of these errors to go to revise attitude control system.
Claims (8)
1. athletic posture capture system, comprise the sensor of a plurality of measurement athletic postures and for the treatment of the host computer of attitude data, it is characterized in that: the inertial posture measuring sensor assembly is connected with main control module is two-way by the USART telecommunication cable, main control module is connected with the host computer wireless two-way, and power management module connects respectively inertial posture measuring sensor assembly and main control module.
2. motion capture system described according to right 1 is characterized in that: the inertial posture measuring sensor assembly connects network node data set and node data processing module and human body attitude Data Integration module in main control module by the USART telecommunication cable.
3. motion capture system described according to right 1, it is characterized in that: in the inertial posture measuring sensor assembly, the integrated inner FLASH parameter reading device of attitude measurement central processing unit, the inner parameter calibrating installation, host computer instruction reading device, timer, signals collecting and filter processing, data fusion and attitude algorithm device, the USART bi-directional communication interface, inner FLASH parameter reading device is connecting the inner parameter calibrating installation successively, timer, signals collecting and filter processing, data fusion and attitude algorithm device, the USART bi-directional communication interface, host computer instruction reading device access inner parameter calibrating installation after the USART bi-directional communication interface, triaxial magnetic field sensor, six-axle acceleration and angular-rate sensor all access signals collecting and the filter processing of attitude measurement central processing unit.
4. motion capture system described according to right 3 is characterized in that: triaxial magnetic field sensor, six-axle acceleration and angular-rate sensor all are connected the A/D translation interface of attitude measurement central processing unit.
5. motion capture system described according to right 3, is characterized in that: described attitude algorithm employing inertia strapdown attitude algorithm, described filtering processing employing Kalman filtering algorithm.
6. motion capture system described according to right 1, it is characterized in that: in main control module, connected node data fusion module after network node data set and node data processing module, human body attitude Data Integration module respectively with node data Fusion Module, the two-way connection of motion state Data Transport Protocol module, motion state Data Transport Protocol module is connected with wireless data transfer module 1 is two-way.
7. motion capture system described according to right 1, it is characterized in that: the two-way connection motion state of wireless data transfer module 2 data interpretation module that is connected with main control module wireless data transfer module 1 wireless two-way in host computer, the motion state data interpretation module is connected with Managing system of above position machine is two-way.
8. motion capture system described according to right 7 is characterized in that: Managing system of above position machine arranges Managing system of above position machine master interface and link with it respectively:
Subsystem is set in the key position installation site;
The pick up calibration subsystem;
Transducer sensitivity arranges subsystem;
Athletic posture data recording subsystem;
Virtual portrait action demonstration subsystem.
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