CN106308810A - Human motion capture system - Google Patents
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- CN106308810A CN106308810A CN201610852718.2A CN201610852718A CN106308810A CN 106308810 A CN106308810 A CN 106308810A CN 201610852718 A CN201610852718 A CN 201610852718A CN 106308810 A CN106308810 A CN 106308810A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0004—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by the type of physiological signal transmitted
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
- A61B5/0245—Detecting, measuring or recording pulse rate or heart rate by using sensing means generating electric signals, i.e. ECG signals
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6814—Head
- A61B5/6815—Ear
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6823—Trunk, e.g., chest, back, abdomen, hip
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
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- A—HUMAN NECESSITIES
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- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6825—Hand
- A61B5/6826—Finger
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- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7225—Details of analog processing, e.g. isolation amplifier, gain or sensitivity adjustment, filtering, baseline or drift compensation
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/725—Details of waveform analysis using specific filters therefor, e.g. Kalman or adaptive filters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0658—Position or arrangement of display
- A63B2071/0661—Position or arrangement of display arranged on the user
- A63B2071/0666—Position or arrangement of display arranged on the user worn on the head or face, e.g. combined with goggles or glasses
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
Abstract
The invention provides a human motion capture system, which comprises a plurality of inertial motion sensors for collecting motion data, a temperature sensor for collecting temperature, a heart rate sensor for collecting heart rate, a data coordinator and a data fusion module. The plurality of inertial motion sensors, the temperature sensor, the heart rate sensor and the data fusion module are connected to the data coordinator. The data coordinator receives the data obtained from the plurality of inertial motion sensors, the temperature sensor and the heart rate sensor. After processed by data fusion module, the data is sent to a VR device through the data coordinator. The nodes of the human motion capture system are small, are easy to carry and can be arbitrarily changed, thus human motion capture system is convenient to use. The human motion capture system and the VR device can be used for rehabilitation training, and can remove the requiremet for sites and trainers, so that patients can experience the effect of immersion training. The training effect is easy to be guaranteed, and the cost is relatively low.
Description
Technical field
The present invention relates to medical treatment & health technical field, particularly relate to a kind of people that can be used for moving disorder VR rehabilitation training instrument
Body motion capture system.
Background technology
Body moving disorder refer to human body can not complete independently or smoothly complete the mobile activity of body, aged hemiplegic patient, in
Wind causes body moving disorder i.e. to belong to this type of body mobile model obstacle.Research shows, carries out body moving disorder patient early
Phase, positive treatment, can make the patient of more than 90% recover independent ambulation and the ability of life of taking care of oneself.
Traditional moving disorder rehabilitation training needs the guidance of professional treatment teacher, is aided with simple exercising device, and manpower becomes
This costliness, training method are single, and scene is limited, and training content dullness easily causes patient and feels dry as dust, it is difficult to hard for a long time
Hold.
Virtual reality (Visual Reality, VR) technology is a kind of by providing the sense organs such as user's vision, audition, sense of touch
Simulation so that user produces the computer technology of experience on the spot in person；Along with the gradually development of virtual reality technology and perfect, with
And the advantage of uniqueness makes it more and more be paid attention at medical health field, have for infantile autism, deformed limb simulation, health
Refreshment practice research.If applying it in the rehabilitation training of body moving disorder, it is possible to more accurately quantify training
Index, reasonably training plan is set, more preferable rehabilitation training effect can be obtained undoubtedly, and patient will not feel dry as dust.
But the realization of VR technology needs body motion information accurately in rehabilitation training, in real time, human motion accurately
Posture acquisition is the key of moving disorder VR rehabilitation training instrument.Therefore, a set of low cost, high-precision human body motion capture are designed
System is just particularly important.
At present, conventional motion capture scheme mainly has two kinds: optical motion capture and Motion Capture.
Optical motion capture uses multiple stage camera reference object from different perspectives, and the image collected is sent into computer meter
Calculate the locus of each labelling point, and then obtain the anglec of rotation and the human motion letter in joint according to known bone information
Breath.Its advantage is that precision is high, possesses the ability catching joint, the finger even slight change of facial expression；Shortcoming is that scene is subject to
Limit, video camera must possess the highest capture rate, buy demarcation and the output software of specialty, expensive.
The data of the sensor acquisition such as Motion Capture Negotiation speed meter, gyroscope, geomagnetic sensor, after filtering and
Data fusion obtains continuous print three axle orientation angles output data, can complete picture target by angle and acceleration information
Movement locus；In order to realize the motion-captured of human body, need to arrange node in each joint of human body, the motion letter of multiple nodes
Breath collects the movable information forming whole human body.The advantage of Motion Capture scheme is data precision with low cost, that gather
Higher and scene is unrestricted, shortcoming is that data can be disturbed by magnetic field and electronic equipment, and can there is error accumulation.
Additionally, prior art still suffers from following defect:
1) rehabilitation training mode
Mechanical type rehabilitation training apparatus is limited to the direction of motion and degree of freedom, and equipment is by the shape of servomotor output torque
Formula drives, and when controlling organization is malfunctioning, patient can feel fear extremely, easily causes the psychological shade of patient, affects rehabilitation instruction
Practice.It addition, special rehabilitation training apparatus is expensive, need medical personnel's specialized guidance, cause manpower and economic costs to hold high
Expensive.The rehabilitation training system using VR technology is also little, and part thereof is just for finger, the rehabilitation training of deformed limb, and motion
Gather the motion information acquisition being only limitted to part of limb, it is impossible to be applicable to the rehabilitation training of body moving disorder patient.
2) display device
Major part rehabilitation training system gathers body motion information, through computer fusion treatment, and by special meter
Calculation machine simulating reality body motion information, patient can observe own bodies moving situation to a certain extent.But, compared to
The display mode of VR technology, does not possess the advantage that immersion is experienced.
3) transmission line of exercise data
In conventional data collecting system, from the computing of the data collecting rear end microcontroller of front-end sensor data
Treatment Analysis, uses wired direct-connected mode mostly.Under which, can conveniently utilize current high speed serialization or parallel bus association
View, but be because inertial measuring unit and be attached on human body, device is arranged substantial amounts of wire or cable, peace
Dress, dismounting are the most more complicated, very flexible, and affect the activity of human body.
4) various rehabilitation training apparatuses all do not gather body temperature and the heart rate information of human body, in carrying out rehabilitation training,
Real-time body temperature and heart rate collection can assist therapist and patient to understand the health of oneself, have important auxiliary meaning
Justice.
Summary of the invention
In view of this, in order to overcome defect and the problem of prior art, the present invention provides a kind of human movement capture system.
A kind of human movement capture system, it include gathering body temperature temperature sensor, gather heart rate heart rate sensor,
Data harmonization device, data fusion module and the inertia motion sensor of multiple collection exercise data, the plurality of inertia motion passes
Sensor, described temperature sensor, described heart rate sensor and described data fusion module are all connected to described data harmonization device, institute
State data harmonization device and receive the number that the plurality of inertia motion sensor, described temperature sensor and described heart rate sensor obtain
According to, described data fusion module it is sent to VR equipment through described data harmonization device after carrying out data process.
In the present invention one better embodiment, described inertia motion sensor includes the first main control singlechip and connects respectively
Motion sensor and communication module in described first main control singlechip.
In the present invention one better embodiment, described inertia motion sensor also include power supply, LED light, button and
Peripheral circuit, described LED light, described button and described peripheral circuit are all connected with described power supply.
In the present invention one better embodiment, described data harmonization device includes the second main control singlechip, data receipt unit
And VR data communication interface, described data receipt unit and described VR data communication interface are all connected to described second master control monolithic
Machine, described data receipt unit connects the plurality of inertia motion sensor, described temperature sensor and described heart rate sensor.
In the present invention one better embodiment, described data receipt unit connects the plurality of by bluetooth communication view
Inertia motion sensor, described temperature sensor and described heart rate sensor.
In the present invention one better embodiment, described data harmonization device also includes LED light and peripheral circuit.
In the present invention one better embodiment, described data fusion module is to the fortune of inertia motion sensor each described
Dynamic data first carry out independent filtering, more filtered data are packaged in the position of health according to node, have been packaged into
Whole packet.
In the present invention one better embodiment, also include power supply voltage-stabilizing system and external USB interface.
In the present invention one better embodiment, described data fusion module is to the fortune of inertia motion sensor each described
Dynamic data first carry out independent filtering, then by filtered data according to inertia motion sensor each described in the position of health
Put and be packaged, be packaged into complete packet.
Compared to prior art, the present invention proposes the human body fortune of a kind of real time reaction human motion attitude and health
Dynamic seizure system, provides necessary attitude information and body parameter for body mobility obstacle VR instrument, by Node, number
According to coordinator, VR data communication interface composition.The original sensor data of the micro sensing node of data acquisition includes that three axles accelerate
Degree, three-axis gyroscope, the basic parameter such as three axle magnetometers, body temperature and heart rate, then by the radio-frequency module wireless transmission of node
To data harmonization device, data harmonization device is received each sensor node data bag packing and is transferred to by VR data communication interface
VR equipment, by resolving the data received and merging, at the moving situation of VR display screen real-time Simulation display limbs
With heart rate, body temperature information, and support storage and check.Have an advantage in that:
1) node is small and exquisite, it is simple to carries and can arbitrarily increase and decrease, easy to use, as long as this system and a VR equipment can enter
Row rehabilitation training, relieves the requirement to place and trainer；And patient experiences can be made to arrive immersion training effect, training effect
Fruit is readily obtained guarantee.
2) by arranging micro sensing node at each position of human body, it is possible to the various motion ginsengs of Real-time Collection movement human
Number and body temperature heart rate etc., enable a person to understand in time the situation of body kinematics, it is simple to patient understand oneself body kinematics situation and
Formulating follow-up training plan, the training data of storage can be supplied to therapist, to assess the effect of rehabilitation training.
3) use communication between node and data coordinator, through early stage hardware configuration repeatedly, electronic circuit,
The optimization of software and site test, wireless mode well played wired mode at a high speed, stable, advantage accurately, the most also
Overcome it and the shortcoming that unloading trouble cost is high is installed.
Accompanying drawing explanation
The composition schematic diagram of the human movement capture system that Fig. 1 provides for the present invention；
Fig. 2 is module frame structure and the connection diagram of sensor acquisition node I；
Fig. 3 is module frame structure and the connection diagram of sensor acquisition node II；
Fig. 4 is the flow chart of data processing schematic diagram of inertia motion sensor；
Fig. 5 is module frame structure and the connection diagram of data harmonization device；
Fig. 6 is the flow chart of data processing figure of data harmonization device；
Fig. 7 is Kalman filtering schematic diagram；
Fig. 8 a and Fig. 8 b is data wrapper form schematic diagrams.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give the better embodiment of the present invention.These are only the preferred embodiments of the present invention, not thereby limit the special of the present invention
Profit scope, every equivalent structure utilizing description of the invention and accompanying drawing content to be made or equivalence flow process conversion, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term used the most in the description of the invention is intended merely to describe tool
The purpose of the embodiment of body, it is not intended that in limiting the present invention.Term as used herein " and/or " include one or more
Arbitrary and all of combination of relevant Listed Items.
Referring to Fig. 1, the present invention provides a kind of human movement capture system, and it includes the inertia of multiple collection exercise data
Motion sensor 11, the temperature sensor 13 of collection body temperature, the collection heart rate sensor 15 of heart rate, data harmonization device 17 and data
Fusion Module 19, the plurality of inertia motion sensor 11, described temperature sensor 13, described heart rate sensor 15 and described number
Being all connected to described data harmonization device 17 according to Fusion Module 19, described data harmonization device 17 receives the plurality of inertia motion sensing
The data that device 11, described temperature sensor 13 and described heart rate sensor 15 obtain, are counted by described data fusion module 19
It is sent to VR equipment 21 through described data harmonization device 17 according to after processing.
In the present embodiment, the plurality of inertia motion sensor 11, described temperature sensor 13, described heart rate sensor 15
Form first sensor node (sensor node I as shown in Figure 2) and the second sensor node (sensor node as shown in Figure 3
II), the difference of first sensor node and the second sensor node is that the second sensor includes described temperature sensor 13, institute
Stating heart rate sensor 15, first sensor node only includes inertia motion sensor 11.Further, the second sensor node bag
Include the inertia motion sensor 11 being worn on arm (left and right arms all can) and the inertia motion sensor 11 being worn on chest, its
In, the inertia motion sensor 11 being worn on arm (left and right arms all can) is furnished with temperature sensor 13 (not shown), is worn on breast
The inertia motion sensor 11 in portion is then furnished with heart rate sensor 15 (as shown in Figure 3).
See also Fig. 2 and Fig. 3, in the present embodiment, when gathering human body attitude, have employed three axis accelerometer, three axle tops
Spiral shell instrument, nine axle data anastomosing algorithms of three axle magnetometers, thus, the judgement of human body attitude can be more accurate, gathers body temperature and adopts
With temperature sensor, gather heart rate and use heart rate sensor.
In the present embodiment, the plurality of inertia motion sensor 11, described temperature sensor 13, described heart rate sensor 15
Riding position on health is as shown in table 1, certainly, it is not limited to this, it is also possible to it is designed as the case may be laying
Position.
Table 1 health each node riding position is numbered
| Numbering | Position | Node type | Remarks |
| 01 | Head | I | |
| 02 | Left arm | II | The II type node of body temperature detection |
| 03 | Right arm | I | |
| 04 | Left wrist | I | |
| 05 | Right wrist | I | |
| 06 | Shirtfront | II | II type node with heart rate detection |
| 07 | Left lower limb | I | |
| 08 | Right lower limb | I | |
| 09 | Left ankle | I | |
| 10 | Right ankle | I |
In the present embodiment, the plurality of inertia motion sensor 11, described temperature sensor 13, described heart rate sensor 15
By radio communication (such as bluetooth) be connected to as described in data harmonization device 17.Described data fusion module 19 is then integrated in described data
Coordinator 17.Described data harmonization device 17 can be connected to described VR equipment 21 by communication interface.Certainly, connected mode is not
It is confined to this, it is also possible to be designed according to actual needs.
The plurality of inertia motion sensor 11 is Node, is arranged at human body different parts, for Real-time Collection
The various kinematic parameters of movement human, and it is delivered to described data harmonization device 17；Described temperature sensor 13 is microsensor,
For the temperature data of Real-time Collection movement human, and it is delivered to described data harmonization device 17；Described heart rate sensor 15 is micro-
Type sensor, for the heart rate data of Real-time Collection movement human, and is delivered to described data harmonization device 17；Described data fusion
Module 19 is to the various kinematic parameters of movement human of the plurality of inertia motion sensor 11 Real-time Collection, described temperature sensing
The temperature data of the movement human of device 13 Real-time Collection and the heart rate number of the movement human of described heart rate sensor 15 Real-time Collection
According to carrying out data process, the data after then being processed by described data harmonization device 17 are sent to described VR equipment 21；Described VR
The data received are resolved and merge by equipment 21, at moving situation and the heart of VR display screen real-time Simulation display limbs
Rate, body temperature information.It is understood that described VR equipment 21 is supported storage and checks, the most described data harmonization device 17 also may be used
To be connected to PC.
Referring to Fig. 2, in the present embodiment, described inertia motion sensor 11 includes that the first main control singlechip 111, motion pass
Sensor 112, communication module 113, power supply 114, LED light 115, button 116 and peripheral circuit 117；First main control singlechip
111, motion sensor 112, communication module 113, LED light 115, button 116 and peripheral circuit 117 (such as charging circuit) are equal
It is connected to power supply 114, power supply 114 provides running voltage；Motion sensor 112, communication module 113, LED light 115, press
Key 116 and peripheral circuit 117 are all connected to the first main control singlechip 111, the first main control singlechip 111 be controlled, described
The flow chart of data processing of inertia motion sensor 11 is as shown in Figure 4.
Preferably, the first main control singlechip 111 uses that performance is high, the microcontroller of characteristic low in energy consumption, quickly to process number
According to, run complicated algorithm, make the judgement to human body attitude more accurate, when can use longer after meeting charging every time simultaneously
Between, bring convenience to user.
Preferably, motion sensor 112 can provide exercise data acquisition real-time, accurate, its built-in DMP
(Digital Motion Processor) module can complete independently data fusion and attitude algorithm, first can be substantially reduced
The computation burden of main control singlechip 111.
Communication module 113 is for realizing the communication between each inertia motion sensor 11 and data harmonization device 17.Can
To be understood by, communication module 113 can carry up-to-date bluetooth 4.0 agreement, and the information such as transfer rate, node serial number all can be passed through
Program configures, and the mode that its antenna traces directly uses high frequency to connect up connects as one with chip, the size of antenna, shape
Shape, the performance parameter of match circuit and the configuration of software carrier frequency range match, to ensure transfer rate and the basis of reliability
On, reduce package size so that whole inertia motion sensor 11 compact conformation, small and exquisite attractive in appearance.
Power supply 114 uses onboard 3.3V lithium battery power supply, each inertia motion sensor 11 to be independent current source.Meanwhile,
Clock uses the outside passive crystal oscillator of 8MHz to provide the reference clock signal of single-chip microcomputer.
Button 116 mainly realizes the power on/off function of inertia motion sensor 11.LED light 115 mainly shows electricity
The state in source 114, the on-off state of property motion sensor node 11, system running state, it is to be understood that different shapes
State can take the LED of different colours to represent.As power supply 113 normally works employing green LED lamp, irregular working then uses red
Color LED.
In the present embodiment, the inertia motion sensor 11 being worn on arm (left and right arms all can) adds temperature sensor
13, range and precision programmable control, and volume is little, easy to use；The inertia motion sensor 11 being worn on chest is furnished with heart rate
Sensor 15, this heart rate sensor 15 is the photo-electric reflection type analog sensor for pulse heart rate measurement, can be worn on hands
Multiple body parts such as finger, ear-lobe, flexible and convenient to use.
In order to realize versatility and functions of modules multiplexing, it is preferable that be worn on the inertia motion of arm (left and right arms all can)
Sensor 11 and the inertia motion sensor 11 being worn on chest all use same circuit layout, in actual installation uses,
It is installed on 11 mounting temperature sensors 13 of inertia motion sensor at arm, and is worn on the inertia motion sensor of front
11 heart rate sensor 15 is installed.
Referring to Fig. 5, described data harmonization device 17 includes the second main control singlechip 171, data receipt unit 172 and VR number
It is all connected to described second master control according to communication interface 173, described data receipt unit 172 and described VR data communication interface 173
Single-chip microcomputer 171, described data receipt unit 172 connect the plurality of inertia motion sensor 11, described temperature sensor 13 and
Described heart rate sensor 15.
Described data harmonization device 17 receives attitude angle and acceleration information, the fusion that each inertia motion sensor 11 is uploaded
Data and pack, packing data is uploaded to described VR equipment 21；Flow chart of data processing such as Fig. 6 institute of described data harmonization device 17
Show.
In the present embodiment, described data receipt unit 172 connects the plurality of inertia motion by bluetooth 4.0 agreement and senses
Device 11, described temperature sensor 13 and described heart rate sensor 15, use the mode of poll scanning to realize each inertia motion and pass
Uploading of the data that sensor 11 and temperature sensor 13, heart rate sensor 15 gather, its rate of scanning senses higher than inertia motion
The data transmission rate of device 11.
It is understood that the data received contain acceleration, attitude angle, temperature and heart rate information, but inertia
Sensor is easily generated error by electronic equipment interference, also can add up if eliminating error not in time.Therefore, described data harmonization device
17 have also needed to the filtering of data, smooth and encapsulation packing process, the Kalman filtering algorithm that the present embodiment uses, and refer to number
Data anastomosing algorithm according to Fusion Module 19.
VR equipment 21 is connected with data harmonization device 17 by VR data communication interface 173, and data harmonization device 17 can directly be consolidated
Surface due to VR equipment 21；In the present embodiment, VR data communication interface 173 comprises power line, ground wire and two groups of SPI data
Line, next group of normal condition is standby.
Additionally, also addition of power supply voltage-stabilizing system, assorted display lamp and external USB interface, wherein, power supply voltage-stabilizing system is used
In ensureing that each chip operation is used for indicating the duty of data coordinator 17, external USB at stable state, assorted display lamp
Interface is for facilitating the lithium cell charging of data harmonization device 17.
Described data fusion module 19 is for solving the measurement error accumulation problem using inertia motion sensor to bring, originally
Embodiment uses Kalman filtering algorithm, the exercise data of inertia motion sensor each described is first carried out independent filter
Ripple, more filtered data are packaged in the position of health according to described inertia motion sensor, it is packaged into complete number
According to bag.
Kalman filtering algorithm to sensor acquisition to data be filtered time, the discrete state side of linear time varying system
Journey and observational equation be:
X (k)=F (k, k-1) X (k-1)+T (k, k-1) U (k-1)
Y (k)=H (k) X (k)+N (k)
X (k) and Y (k) is state vector and the measurement vector in k moment respectively, and F (k, k-1) is state-transition matrix, U (k)
For k moment dynamic noise, T (k, k-1) is that system controls matrix, and H (k) is k moment observing matrix, and N (k) is the observation in k moment
Noise.
Concrete filtering flow process is divided into two large divisions:
1. time more new module (prediction module)
Estimate according to initial inputPrediction is estimated with covarianceCalculate state estimation and the error of subsequent time
Covariance is estimated:
State estimation:
Error covariance is estimated:
2. measurement updaue module (correcting module)
Update observation according to actual measured value to estimate and covariance estimation, specific as follows:
Calculate Kalman gain: K (k)=P (k) HT(k)(H(k)P(k)HT(k)+R(k))T, wherein, R (k) is discrete system
The variance matrix of system measurement noise sequence.
According to observed quantity more new estimation:Wherein, Z (k) is real
The M that border is measured ties up observation vector, K (k)=P (k) HT(k)(H(k)P(k)HT(k)+R(k))-1。
Renewal error of covariance is estimated: P (k+1)=(I-K (k) H (k)) P (k).
Accompanying drawing 7 is shown in by Kalman filtering schematic diagram, it addition, filtering is that the Dynamic data exchange for each sensor node is carried out,
Filtered data also need according to node in position of human body encapsulation packing, and VR equipment 21 can obtain according to corresponding data structure
Take correct human body attitude information.Filtered attitude angle and data structure such as Fig. 8 a and Fig. 8 b of acceleration information encapsulation packing
Shown in, wherein in the packet header MPUXX of Fig. 8 a, XX represents two bit numbers of node, and as 01 represents left arm node, data harmonization device is sentenced
Not " MPU01 " then can determine that packet is left arm node data；Other are in like manner.In Fig. 8 b, " MOTION " packet header is represented as data association
Adjust the packet header of the packet of device transmission, differentiate for host computer and VR equipment and receive data.
Compared to prior art, the present invention proposes a kind of real time reaction human motion attitude and the inertia people of health
Body motion capture system, provides necessary attitude information and body parameter for body mobility obstacle VR instrument, by miniature joint
Point, data harmonization device, VR data communication interface form.The original sensor data of the micro sensing node of data acquisition includes three axles
Acceleration, three-axis gyroscope, the basic parameter such as three axle magnetometers, body temperature and heart rate, then wireless by the radio-frequency module of node
Being sent to data harmonization device, data harmonization device is received each sensor node data bag packing and is passed by VR data communication interface
It is passed to VR equipment, by the data received being resolved and merging, in the motion of VR display screen real-time Simulation display limbs
Situation and heart rate, body temperature information, and support storage and check.Have an advantage in that:
1) node is small and exquisite, it is simple to carries and can arbitrarily increase and decrease, easy to use, as long as this system and a VR equipment can enter
Row rehabilitation training, relieves the requirement to place and trainer；And patient experiences can be made to arrive immersion training effect, training effect
Fruit is readily obtained guarantee.
2) by arranging micro sensing node at each position of human body, it is possible to the various motion ginsengs of Real-time Collection movement human
Number and body temperature heart rate etc., enable a person to understand in time the situation of body kinematics, it is simple to patient understand oneself body kinematics situation and
Formulating follow-up training plan, the training data of storage can be supplied to therapist, to assess the effect of rehabilitation training.
3) use communication between node and data coordinator, through early stage hardware configuration repeatedly, electronic circuit,
The optimization of software and site test, wireless mode well played wired mode at a high speed, stable, advantage accurately, the most also
Overcome it and the shortcoming that unloading trouble cost is high is installed.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that, for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a human movement capture system, it is characterised in that include gathering the temperature sensor of body temperature, gathering the heart rate of heart rate
Sensor, data harmonization device, data fusion module and the inertia motion sensor of multiple collection exercise data, the plurality of inertia
Motion sensor, described temperature sensor, described heart rate sensor and described data fusion module are all connected to described data association
Adjusting device, described data harmonization device receives the plurality of inertia motion sensor, described temperature sensor and described heart rate sensor
The data obtained, described data fusion module be sent to VR equipment through described data harmonization device after carrying out data process.
2. human movement capture system as claimed in claim 1, it is characterised in that described inertia motion sensor includes first
Main control singlechip and be connected to motion sensor and the communication module of described first main control singlechip.
3. human movement capture system as claimed in claim 2, it is characterised in that described inertia motion sensor also includes electricity
Source, LED light, button and peripheral circuit, described LED light, described button and described peripheral circuit all with described power supply
Connect.
4. human movement capture system as claimed in claim 1, it is characterised in that described data harmonization device includes the second master control
Single-chip microcomputer, data receipt unit and VR data communication interface, described data receipt unit and described VR data communication interface all connect
Being connected to described second main control singlechip, described data receipt unit connects the plurality of inertia motion sensor, described temperature passes
Sensor and described heart rate sensor.
5. human movement capture system as claimed in claim 4, it is characterised in that described data receipt unit is led to by bluetooth
Letter module connects the plurality of inertia motion sensor, described temperature sensor and described heart rate sensor.
6. human movement capture system as claimed in claim 4, it is characterised in that described data harmonization device also includes that LED refers to
Show lamp and peripheral circuit.
7. human movement capture system as claimed in claim 1, it is characterised in that described data fusion module is to each institute
State the exercise data of inertia motion sensor and first carry out independent filtering, then by filtered data according to node in the position of health
Put and be packaged, be packaged into complete packet.
8. human movement capture system as claimed in claim 1, it is characterised in that also include power supply voltage-stabilizing system and external
USB interface.
9. human movement capture system as claimed in claim 1, it is characterised in that described data fusion module is to each institute
The exercise data stating inertia motion sensor first carries out independent filtering, then by filtered data according to inertia each described
Motion sensor is packaged in the position of health, is packaged into complete packet.
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