CN106123896A - A kind of motion capture system - Google Patents
A kind of motion capture system Download PDFInfo
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- CN106123896A CN106123896A CN201610416055.XA CN201610416055A CN106123896A CN 106123896 A CN106123896 A CN 106123896A CN 201610416055 A CN201610416055 A CN 201610416055A CN 106123896 A CN106123896 A CN 106123896A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
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Abstract
The invention discloses a kind of dynamic capture system, including a trap setting, in order to the motion of the operator dressing trap setting to be carried out the collection of action data, trap setting includes: a plurality of bases are respectively arranged on a plurality of predeterminated positions of trap setting, the most corresponding unique station location marker of each base, each base includes the station location marker that a plurality of first contact is corresponding in order to represent base respectively, and the second contact is in order to transmit action data；A plurality of collecting units, the number of collecting unit is identical with the number of base, each collecting unit corresponding base respectively, and collecting unit is in order to the corresponding action data of Real-time Collection, and is exported by the second contact by the action data gathered；Transmitting element, in order to output action data；A plurality of action datas and corresponding station location marker, in order to receive a plurality of action datas of a plurality of collecting unit transmission and the station location marker that each action data is corresponding, are sent to transmitting element by processing unit.
Description
Technical field
The present invention relates to attitude detection field, particularly relate to a kind of motion capture system.
Background technology
Existing motion capture is mainly used in space flight, aviation and 3D film making etc., such as: the navigation system of unmanned plane is just
Have employed motion capture technology.In existing 3D film producing process, commonly used photoelectric sensor gathers the motion of personnel to be measured
Track, by the reflective spot of the photographic head pickup light electric transducer of multiple different angles, the requirement to environment is high, the shortcoming existed
Having: be easily subject to backlight impact during shooting, cost is high, has supported, but owing to image calculation is high to hardware requirement, and
There is also the shortcoming that time delay is big at present, narrow being difficult to of range of application is popularized.Traditional motion capture number of sensors is many and scattered, makes
Used time needs to be adhered on the body of personnel to be measured by motion capture sensor one by one, and the position that each motion capture sensor is corresponding
Put fixing, if the position patch mistake of motion capture sensor directly affects the data of collection, complex operation, and current motion capture
Commonly used three axles of sensor or six axles gather data, and precision is low.
Provide a kind of motion capture equipment easy to wear for the problems referred to above, post motion capture one by one avoiding
While the process of sensor, acquisition precision is high, but when user reinstalls after removal sensor node, it is necessary to remember every
Individual sensor represents the tram of limbs could be arranged on correct position, the data otherwise gathered one by one by sensor node
Can not play a role and serious distortion occur, the use for user brings inconvenience.
Summary of the invention
The problems referred to above existed for existing motion capture technology, now provide one to aim at and are readily disassembled installation nothing
Need to will record the motion capture system of position corresponding to each collecting unit.
Concrete technical scheme is as follows:
A kind of dynamic capture system, including a trap setting, in order to the described operator dressing described trap setting
Motion carry out the collection of action data, described trap setting includes:
A plurality of bases, a plurality of described bases are respectively arranged on a plurality of predeterminated positions of described trap setting, Mei Gesuo
Stating the most corresponding unique station location marker of base, each described base includes a plurality of first contact and a plurality of second respectively
Contact, the described station location marker that a plurality of described first contacts are corresponding in order to represent described base, described second contact is in order to pass
Defeated described action data；
A plurality of collecting units, the number of described collecting unit is identical with the number of described base, and each described collection is single
Base described in unit the most corresponding, described collecting unit is in order to the corresponding described action data of Real-time Collection, and the institute that will gather
State action data to be exported by described second contact；
Described collecting unit is positioned on described base, with described first contact of described base with described second contact even
Connect；
One transmitting element, in order to export described action data；
One processing unit, connects described second contact of described transmitting element and described base, respectively in order to receive plural number
A plurality of described action data that individual described collecting unit sends and described station location marker corresponding to each described action data, will
A plurality of described action datas and corresponding described station location marker send to described transmitting element.
Preferably, described first contact uses the mode of low and high level to represent the described station location marker that described base is corresponding；
Described base also includes: a plurality of 3rd contacts, and each described 3rd contact connects power supply respectively, described with thinking
Base and described collecting unit are powered.
A plurality of preferably, also include:
One receives unit, is connected with described transmitting element, in order to receive a plurality of described action data；
One control unit, connects described reception unit, in order to the human body preset according to a plurality of described action datas foundation
Motion model sets up the 3D attitude of human body, and generates real-time imaging according to described 3D attitude.
Preferably, described modelling of human body motion is multi-rigid model.
Preferably, the number of described rigid body is corresponding with the number of described collecting unit, and described rigid body gathers list with described
Unit's one_to_one corresponding.
Preferably, the center of each described rigid body is formed at the described predeterminated position of trap setting, described collection list
Unit is in order to gather the described action data of the described center of described rigid body.
Preferably, a carrier coordinate system, the central point of described carrier coordinate system are formed respectively in each described collecting unit
Center for described collecting unit；
Described collecting unit includes:
One three axis accelerometer, in order to the Real-time Collection described rigid body corresponding with described collecting unit at described carrier coordinate
Rotation 3-axis acceleration under Xi；
One three-axis gyroscope, in order to the Real-time Collection described rigid body corresponding with described collecting unit in described carrier coordinate system
Under rotation three axis angular rate；
One or three axle magnetometers, in order to the Real-time Collection described rigid body corresponding with described collecting unit in described carrier coordinate system
Under three axle magnetic force component；
One control module, connects described three axis accelerometer, described three-axis gyroscope and described three axle magnetometers respectively, uses
To generate the quaternary under world coordinate system according to described 3-axis acceleration, described three axis angular rates and described three axle magnetic force component
Number.
Preferably, described transmitting element uses wireless module.
Preferably, described reception unit uses wireless module.
Preferably, described control unit includes:
One MBM, depends in order to the described quaternary number according to each described collecting unit and corresponding described station location marker
The described 3D attitude of human body is set up according to described multi-rigid model；
One synthesis module, connects described MBM, in order to real-time described 3D attitude is synthesized described real-time imaging；
One display module, connects described synthesis module, in order to show described real-time imaging.
The beneficial effect of technique scheme:
The unique station location marker of in the trap setting of motion capture system each corresponding one, when collecting unit dismounting refitting
The position that each collecting unit of Shi Wuxu user record is corresponding, random installation, it is convenient to provide for the use of user.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of embodiment of base of the present invention；
Fig. 2 is the module map of a kind of embodiment of motion capture system of the present invention；
Fig. 3 is the internal module figure of a kind of embodiment of collecting unit of the present invention；
Fig. 4 is the internal module figure of a kind of embodiment of control unit of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of not making creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Combination mutually.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
As shown in Figure 1-2, a kind of dynamic capture system, including a trap setting 7, in order to the behaviour dressing trap setting 7
The motion making personnel carries out the collection of action data, and trap setting 7 includes:
A plurality of bases 6, a plurality of bases 6 are respectively arranged on a plurality of predeterminated positions of trap setting 7, each base 6 points
Not corresponding unique station location marker, each base 6 includes a plurality of first contact 61 and a plurality of second contact 62 respectively, multiple
Several first contacts 61 are in order to represent the station location marker of base 6 correspondence, and the second contact 62 is in order to transmit action data；
A plurality of collecting units 1, the number of collecting unit 1 is identical with the number of base 6, each collecting unit 1 correspondence one
Base 6, collecting unit 1 is in order to the corresponding action data of Real-time Collection, and it is defeated that the action data gathered is passed through the second contact 62
Go out；
Collecting unit 1 is positioned on base 6, is connected with the second contact 62 with the first contact 61 of base 6；
One transmitting element 3, in order to output action data；
One processing unit 2, connects transmitting element 3 and the second contact 62 of base 6 respectively, single in order to receive a plurality of collection
A plurality of action datas that unit 1 sends and station location marker corresponding to each action data, by a plurality of action datas and corresponding
Station location marker sends to transmitting element 3.
In the present embodiment, the unique station location marker of each corresponding in trap setting 7, when collecting unit 1 dismounting weight
Without the position of user record each collecting unit 1 correspondence during dress, random installation, it is convenient to provide for the use of user.
The present embodiment represents the station location marker (ID address) of base 6 present position by a plurality of first contacts 61 of employing,
Thus represent the predeterminated position on base 6 place trap setting 7, the action data that this station location marker collects with collecting unit 1
Send in the lump to processing unit 2.
In a preferred embodiment, the first contact 61 uses the mode of low and high level to represent the station location marker of base 6 correspondence；
Base 6 also includes: a plurality of 3rd contacts 63, and each 3rd contact 63 connects power supply respectively, with think base 6 and
Corresponding collecting unit 1 is powered.
In the present embodiment, the 61, second contact, the first contact 62 and the 3rd contact 63 are hard contact, and a plurality of first
Contact 61 can use high level or low level to represent 1 or 0, or uses its one's complement representation, i.e. high level to represent 0, low level
Represent 1.After collecting unit 1 is installed on base 6, the hard contact below collecting unit 1 can be mutual with the hard contact of base 6
Touching, reads the station location marker of base 6 therewith, and as the ID address of self, action data is sent along to processing unit 2.
As in figure 2 it is shown, in a preferred embodiment, motion capture system in order to the action of acquisition operations personnel to form phase
The show image answered, also includes:
One receives unit 5, is connected with transmitting element 3, in order to receive a plurality of action data；
One control unit 4, connects and receives unit 5, in order to the human motion mould preset according to a plurality of action datas foundation
The 3D attitude of human body set up by type, and generates real-time imaging according to 3D attitude.
Further, receiving between unit 5 and control unit 4 to use usb communication mode to carry out data transmission.
In the present embodiment, use trap setting 7 to be prone to dress to gather the precision of data high, it is to avoid posts action one by one
Catch the process of sensor, time-consuming, and without using picture pick-up device recording image, the requirement of environment is low to external world, application
Extensively；Utilizing the data modeling that trap setting 7 is gathered by control unit 4 to generate 3D image in real time, efficiency is high, and low cost.
In a preferred embodiment, modelling of human body motion is multi-rigid model.Multi-rigid model includes multiple rigid body.With many
As a example by rigid model includes 16 rigid bodies, 16 rigid bodies include: head rigid body, upper trunk rigid body, lower trunk rigid body, pelvis are firm
Body, left upper arm rigid body, left forearm rigid body, left hand rigid body, left thigh rigid body, left leg rigid body, left foot rigid body, right upper arm rigid body,
Right forearm rigid body, right hand rigid body, right thigh rigid body, right leg rigid body and right crus of diaphragm rigid body.
In the present embodiment, multi-rigid model is that every section of limbs of human body are seen as a rigid body, i.e. internal any position
Put the object not producing relative deformation.Rigid body is at the volley or after stress effect, shapes and sizes are constant, and interior point
The object of invariant position relatively.Definitely rigid body is the most non-existent, and a kind of ideal model, because any object is being subject to
After power effect, deform the most more or less, if the degree of deformation is the most small for the physical dimension of object own,
During research object of which movement, deformation is just negligible.
In a preferred embodiment, the number of rigid body is corresponding with the number of collecting unit 1, rigid body and collecting unit 1 one
One is corresponding.
Further, the center of each rigid body is formed at the corresponding predeterminated position of trap setting 7, and collecting unit 1 is used
To gather the action data of the center of rigid body.
In the present embodiment, collecting unit 1 is utilized to detect the action data of corresponding rigid body in real time, then that action data is real
Time be sent to the processing unit 2 that is arranged on trap setting 7, the data collection that all collecting units 1 are gathered by processing unit 2,
Sending data to control unit 4 by transmitting element 3 and reception unit 5, control unit 4 can use mobile terminal, such as Android
The client of system.According to the construction features of multi-rigid model, the connection node of rigid body can be divided into child node, father node and root
Node, as a example by trap setting 7 is as clothes, root node is positioned at waist, and the absolute location information of child node is by the rotation of father node
Transdetermination is fixed.
As it is shown on figure 3, in a preferred embodiment, forming a carrier coordinate system respectively in each collecting unit 1, carrier is sat
The center that central point is collecting unit 1 of mark system；
Collecting unit 1 includes:
One three axis accelerometer 11, in order to the rotation under carrier coordinate system of the Real-time Collection rigid body corresponding with collecting unit 1
Turn 3-axis acceleration；
One three-axis gyroscope 12, in order to the rotation under carrier coordinate system of the Real-time Collection rigid body corresponding with collecting unit 1
Three axis angular rates；
One or three axle magnetometers 13, in order to the Real-time Collection rigid body corresponding with collecting unit 1 three axles under carrier coordinate system
Magnetic force component；
One control module 14, connects three axis accelerometer 11, three-axis gyroscope 12 and three axle magnetometers 13, respectively in order to root
The quaternary number under world coordinate system is generated according to 3-axis acceleration, three axis angular rates and three axle magnetic force component.
Carrier coordinate system is the coordinate system of collecting unit 1 self.
In the present embodiment, collecting unit 1 is adopted by three axis accelerometer 11, three-axis gyroscope 12 and three axle magnetometers 13
Collect nine number of axle evidences and provide the precision of collection action, each collecting unit 1 is each equipped with a control module 14, by controlling mould
Nine number of axle that three axis accelerometer 11, three-axis gyroscope 12 and three axle magnetometers 13 are gathered by block 14, according to being converted to quaternary number, subtract
Lack the computing of control unit 4 and run burden, having improve control unit 4 and generate the speed of real-time imaging.
In a preferred embodiment, transmitting element 3 uses wireless module, receives unit 5 and uses wireless module, transmitting element
Wireless communication mode is used between 3 and reception unit 5.
Further, wireless module can use 2.4G module, and its frequency range is between 2.400GHz～2.4835GHz,
2.4G module has low cost, the advantages such as efficiency high-low voltage, volume are little.
In the present embodiment, processing unit 2 and transmitting element 3 may be contained within trap setting 7, to realize passing through data
Wirelessly send to receiving unit 5.
As shown in Figure 4, in a preferred embodiment, control unit 4 includes:
One MBM 42, in order to the quaternary number according to each collecting unit 1 and corresponding station location marker foundation multi-rigid body
The 3D attitude of human body set up by model；
One synthesis module 41, connects MBM 42, in order to real-time 3D attitude is synthesized real-time imaging.
In the present embodiment, owing to control unit 4 is to be modeled action data under world coordinate system, utilize modeling
Module 42 sets up the 3D appearance of human body according to the station location marker of each collecting unit 1 according to multi-rigid model and corresponding quaternary number
State, the 3D attitude generated by synthesis module 41 synthesizes real-time imaging.
In a preferred embodiment, control unit 4 also includes:
One display module 43, connects synthesis module 41, in order to show real-time imaging.
In the present embodiment, by display module 43, real-time imaging is shown in real time.
In a preferred embodiment, trap setting 7 includes: headgear, jacket, trousers, glove and footwear.
Further, trap setting 7 comprises the steps that medicated cap, integrated clothes, footwear and glove.
The foregoing is only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art, it should can appreciate that done by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent and obvious change, all should be included in protection scope of the present invention.
Claims (10)
1. a dynamic capture system, it is characterised in that include a trap setting, in order to dressing described in described trap setting
The motion of operator carries out the collection of action data, and described trap setting includes:
A plurality of bases, a plurality of described bases are respectively arranged on a plurality of predeterminated positions of described trap setting, each described end
The most corresponding unique station location marker of seat, each described base includes that a plurality of first contact and a plurality of second is touched respectively
Point, the described station location marker that a plurality of described first contacts are corresponding in order to represent described base, described second contact is in order to transmit
Described action data；
A plurality of collecting units, the number of described collecting unit is identical with the number of described base, and each described collecting unit divides
Not base described in corresponding, described collecting unit is in order to the corresponding described action data of Real-time Collection and described dynamic by gather
Make data to be exported by described second contact；
Described collecting unit is positioned on described base, is connected with described second contact with described first contact of described base；
One transmitting element, in order to export described action data；
One processing unit, connects described second contact of described transmitting element and described base respectively, in order to receive a plurality of institute
State a plurality of described action data of collecting unit transmission and the described station location marker that each described action data is corresponding, by plural number
Individual described action data and corresponding described station location marker send to described transmitting element.
2. dynamic capture system as claimed in claim 1, it is characterised in that described first contact uses the mode of low and high level
Represent the described station location marker that described base is corresponding；
Described base also includes: a plurality of 3rd contacts, and each described 3rd contact connects power supply respectively, with thinking described base
And described collecting unit powers.
3. dynamic capture system as claimed in claim 1, it is characterised in that also include:
One receives unit, is connected with described transmitting element, in order to receive a plurality of described action data；
One control unit, connects described reception unit, in order to the human motion preset according to a plurality of described action datas foundation
The 3D attitude of human body set up by model, and generates real-time imaging according to described 3D attitude.
4. motion capture system as claimed in claim 3, it is characterised in that described modelling of human body motion is multi-rigid model.
5. motion capture system as claimed in claim 4, it is characterised in that the number of described rigid body and described collecting unit
Number is corresponding, described rigid body and described collecting unit one_to_one corresponding.
6. motion capture system as claimed in claim 5, it is characterised in that the center of each described rigid body is formed at institute
Stating the described predeterminated position of trap setting, described collecting unit is in order to gather the described action of the described center of described rigid body
Data.
7. motion capture system as claimed in claim 6, it is characterised in that form a load respectively in each described collecting unit
Body coordinate system, the central point of described carrier coordinate system is the center of described collecting unit；
Described collecting unit includes:
One three axis accelerometer, in order to the Real-time Collection described rigid body corresponding with described collecting unit under described carrier coordinate system
Rotation 3-axis acceleration；
One three-axis gyroscope, in order to the Real-time Collection described rigid body corresponding with described collecting unit under described carrier coordinate system
Rotate three axis angular rates；
One or three axle magnetometers, in order to the Real-time Collection described rigid body corresponding with described collecting unit under described carrier coordinate system
Three axle magnetic force component；
One control module, connects described three axis accelerometer, described three-axis gyroscope and described three axle magnetometers, respectively in order to root
The quaternary number under world coordinate system is generated according to described 3-axis acceleration, described three axis angular rates and described three axle magnetic force component.
8. motion capture system as claimed in claim 3, it is characterised in that described transmitting element uses wireless module.
9. motion capture system as claimed in claim 3, it is characterised in that described reception unit uses wireless module.
10. motion capture system as claimed in claim 7, it is characterised in that described control unit includes:
One MBM, in order to the described quaternary number according to each described collecting unit and corresponding described station location marker according to institute
State multi-rigid model and set up the described 3D attitude of human body；
One synthesis module, connects described MBM, in order to real-time described 3D attitude is synthesized described real-time imaging；
One display module, connects described synthesis module, in order to show described real-time imaging.
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| CN201610416055.XA CN106123896B (en) | 2016-06-14 | 2016-06-14 | A kind of motion capture system |
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| CN201610416055.XA CN106123896B (en) | 2016-06-14 | 2016-06-14 | A kind of motion capture system |
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| CN104771175A (en) * | 2015-03-04 | 2015-07-15 | 上海交通大学 | Wearable smart ring capable of capturing three-dimensional postures of four limbs of human body |
| CN104964686A (en) * | 2015-05-15 | 2015-10-07 | 浙江大学 | Indoor positioning device and method based on motion capture and method |
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|---|---|---|---|---|
| EP2141632A2 (en) * | 2008-06-30 | 2010-01-06 | Samsung Electronics Co., Ltd. | Motion capture apparatus and method |
| US20120122574A1 (en) * | 2010-08-26 | 2012-05-17 | Michael Fitzpatrick | System and method for utilizing motion capture data |
| CN102323854A (en) * | 2011-03-11 | 2012-01-18 | 中国科学院研究生院 | Human motion capture device |
| CN202908708U (en) * | 2012-08-08 | 2013-05-01 | 国家体育总局体育科学研究所 | Sensor fixing device of inertial navigation type human body motion capture system |
| CN104771175A (en) * | 2015-03-04 | 2015-07-15 | 上海交通大学 | Wearable smart ring capable of capturing three-dimensional postures of four limbs of human body |
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