CN106484121A - A kind of motion capture system and method - Google Patents
A kind of motion capture system and method Download PDFInfo
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- CN106484121A CN106484121A CN201611002109.4A CN201611002109A CN106484121A CN 106484121 A CN106484121 A CN 106484121A CN 201611002109 A CN201611002109 A CN 201611002109A CN 106484121 A CN106484121 A CN 106484121A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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Abstract
The present invention relates to a kind of motion capture system and method.Including：Locating base station and tracked equipment, locating base station includes the first RF transceiver and at least three ultrasonic transmitters；Tracked equipment includes the second RF transceiver and at least one ultrasonic sensor；Locating base station transmitted data signal and ultrasonic signal are to tracked equipment, obtain the locus that each ultrasonic sensor is with respect to locating base station after tracked equipment processing data, determine tracked equipment with respect to the locus of locating base station and attitude in conjunction with distributed intelligence on tracked equipment for all ultrasonic sensors.By implementing the present invention it is only necessary to a base station can complete space orientation it is not necessary to any image recognition algorithm, acquired is only time parameter；And there is the features such as calculating speed is fast, response time delay is low, low in energy consumption, high precision is followed the trail of in locus.
Description
Technical field
The present invention relates to field of human-computer interaction, more particularly, it relates to a kind of motion capture system and method.
Background technology
The technology such as virtual reality (VR) are in recent years because each side's surface technology ripe focus neck forming new product gradually later
Domain.Because these technology can give people to bring the sensory experience of more various dimensions, the therefore man-machine interaction in these fields is also to work as
The focus of front industry research and development.In this field, most important technology is exactly motion capture technology, is obtained by this technology
Head-mounted display and the locus of human-computer interaction device and spatial attitude is taken just to enable to experience close to real VR.
The technical scheme of prior art：
Scheme one：Refer to the attached drawing 1, the Lighthouse technology of HTC VIVE make use of the X of machinery rotation, and Y-axis line is swept sharp
Light is provided with the very many light-sensitive devices of quantity scanning the activity space of player, the helmet and controller, is scanned by measurement
Locus and attitude to rebuild the helmet and controller for the time difference.
Scheme two：Refer to the attached drawing 2, the active optical location technology of Oculus, set using in the structure of head-mounted display
The LED putting with specific Luminance Distribution and lights order, rebuilds the three-dimensional position of the helmet using image recognition, wears display simultaneously
It is additionally provided with Attitute detecting device in device to be tracked assisting.
Scheme three：Refer to the attached drawing 3, the PlayStation Move of Sony Corporation uses binocular camera and shoots different face
The photosphere of color is being controlled the tracking of device.
The shortcoming of prior art：Lighthouse needs the mechanical part of high-speed rotation, can produce larger mechanical vibration,
Location data can be led to shake, and can be problematic because of the mechanical wear life-span.On the other hand, in order to the positioning obtaining omnidirectional needs
Want two base stations united positioning, high cost, debugging trouble, installation environment is required.The active optics positioning of Oculus relies on
The frame per second of photographic head, needs to identify the state of infrared LED in different frames, the points that therefore can follow the trail of are very limited.SONY
Binocular photosphere system tracks scope little, low-response, Consumer's Experience is not good.
Content of the invention
For solving existing defects in above-mentioned prior art, the present invention provides a kind of motion capture system and method.
The technical solution adopted for the present invention to solve the technical problems is：Construct a kind of motion capture system, described system
Including：Locating base station and tracked equipment, wherein,
Described locating base station includes the first RF transceiver and at least three ultrasonic transmitters；
Described tracked equipment includes the second RF transceiver and at least one ultrasonic sensor；
, to described tracked equipment, described tracked equipment connects for described locating base station transmitted data signal and ultrasonic signal
Receive and process described data signal and ultrasonic signal, obtain each described ultrasonic sensor with respect to described locating base station
Locus, determine described tracked set in conjunction with distributed intelligence on described tracked equipment for all described ultrasonic sensors
The standby locus with respect to described locating base station and attitude.
Further, in motion capture system of the present invention, described locating base station also includes：Described fixed for controlling
In the base station of position, described first RF transceiver sends data signal and described ultrasonic transmitter launches the first of ultrasonic signal
Microprocessor；
The driving be connected with described first microprocessor, being used for driving described ultrasonic transmitter to launch ultrasonic signal is electric
Road；
Described first RF transceiver connects described first microprocessor；Described ultrasonic transmitter passes through described driving electricity
Road connects to described first microprocessor.
Further, in motion capture system of the present invention, described locating base station also includes：Locating base station satellite A,
Locating base station satellite B, locating base station satellite C, the first RF transceiver includes：RF transceiver A, RF transceiver B, radio frequency are received
Send out device C；
In described locating base station satellite A, ultrasonic transmitter A connects processor A by drive circuit A；Described radio frequency
Transceiver A connects described processor A；
In described locating base station satellite B, ultrasonic transmitter B connects processor B by drive circuit B；Described radio frequency
Transceiver B connects described processor B；
In described locating base station satellite C, ultrasonic transmitter C connects processor C by drive circuit C；Described radio frequency
Transceiver C connects described processor C.
Further, in motion capture system of the present invention, described tracked equipment also includes：Tracked with described
The main system of equipment connects, the second microprocessor for receiving and processing described data signal and ultrasonic signal；
Described second microprocessor has multiple external interrupt, and one of described external interrupt connects described second radio frequency and receives
Send out device, remaining described external interrupt is passed through to amplify the modulate circuit described ultrasonic sensor of connection respectively.
Further, in motion capture system of the present invention, described tracked equipment also includes：Tracked with described
Equipment main system connects, the 3rd microprocessor for receiving and processing described data signal and ultrasonic signal；
Described 3rd microprocessor has multiple external interrupt, and one of described external interrupt connects described second radio frequency and receives
Send out device, remaining described external interrupt connects described ultrasonic sensor by frequency separator.
Further, in motion capture system of the present invention, described frequency separator includes：For receiving
Amplifying circuit that described ultrasonic signal is amplified, for choosing the band filter of predeterminated frequency sound wave, for will be ultrasonic
Ripple signal is converted into the comparator of digital signal；Described ultrasonic sensor passes through described amplifying circuit and connects described bandpass filtering
Device, the ultrasound signal transmission selecting to described comparator, described comparator are connected corresponding described by described band filter
External interrupt；
Or
Described frequency separator includes：For the described ultrasonic signal receiving is amplified amplifying circuit, use
In analog phase-locked look, the reference frequency source for providing reference frequency for described analog phase-locked look of choosing predeterminated frequency sound wave；
Described ultrasonic sensor connects described analog phase-locked look by described amplifying circuit, and described analog phase-locked look connects
Described reference frequency source, described analog phase-locked look connects corresponding described external interrupt.
Separately, invention additionally discloses a kind of motion capture method, including：
Step one：Locating base station is passed through the first RF transceiver and is sent data signal, and delays the sending data signal
After one Preset Time, ultrasonic signal is sent by ultrasonic transmitter；
Step 2：Tracked equipment passes through the second RF transceiver and receives described digital signal, and described tracked equipment leads to
Cross ultrasonic sensor and receive described ultrasonic signal；
Step 3：Described tracked equipment obtained according to the time that described ultrasonic signal reaches described ultrasonic sensor
The distance between each described ultrasonic transmitter and described ultrasonic sensor；
Step 4：According to the distance between each described ultrasonic transmitter and described ultrasonic sensor, calculate every
Individual described ultrasonic sensor is with respect to the locus of described locating base station；
Step 5：According to each described ultrasonic sensor with respect to the locus of described locating base station and described ultrasonic
Distributed intelligence on described tracked equipment for the wave sensor, obtains the sky that described tracked equipment is with respect to described locating base station
Between position and attitude.
Preferably, in motion capture system of the present invention,
Described step one includes：Described first RF transceiver is spaced apart interval to institute with the very first time within each cycle
State tracked equipment and repeatedly broadcast described data signal, in described data signal, comprise the preset order of described ultrasonic transmitter
Information；Described ultrasonic transmitter sends described successively every time according to described preset order information in described first RF transceiver
Data signal sends described ultrasonic signal after delaying the first Preset Time；
Described step 3 includes：Described tracked equipment receives described data signal with described second RF transceiver
Time zero, receives described ultrasonic signal as timing end point with described ultrasonic sensor, obtains after removing offset time
Each described ultrasonic signal reaches the time of described ultrasonic sensor.
Preferably, in motion capture system of the present invention,
Described step one includes：Described first RF transceiver broadcasts described data signal, institute when starting in each cycle
State ultrasonic transmitter and launch described ultrasonic signal according to preset order and with the second time interval successively for interval；
Described step 3 includes：Described tracked equipment receives described data signal with described second RF transceiver
Time zero, receives described ultrasonic signal as timing end point with described ultrasonic sensor, removes the described of corresponding multiple
Second time interval obtains the time that each described ultrasonic signal reaches described ultrasonic sensor.
Preferably, in motion capture system of the present invention,
Described step one includes：Described first RF transceiver broadcasts described data signal when starting in each cycle, often
The described ultrasonic signal of different frequency launched by individual described ultrasonic transmitter；
Described step 3 includes：Described tracked equipment receives described data signal with described second RF transceiver
Time zero, exports the described ultrasonic signal of different frequency as timing end point with frequency separator, obtains after removing offset time
Reach the time of described ultrasonic sensor to ultrasonic signal each described.
Implement a kind of motion capture system and the method for the present invention, have the advantages that：This system includes：Positioning base
Stand and tracked equipment, wherein, locating base station includes the first RF transceiver and at least three ultrasonic transmitters；Tracked set
Standby inclusion the second RF transceiver and at least one ultrasonic sensor；Locating base station transmitted data signal and ultrasonic signal are extremely
Tracked equipment, tracked equipment receives and processing data signal and ultrasonic signal, obtains each ultrasonic sensor relatively
In the locus of locating base station, determine tracked setting in conjunction with distributed intelligence on tracked equipment for all ultrasonic sensors
The standby locus with respect to locating base station and attitude.By implementing the present invention it is only necessary to a base station can complete space and determine
It is not necessary to any image recognition algorithm, acquired is only time parameter for position；In addition, the present invention has, calculating speed is fast, ring
Answer the features such as time delay is low, low in energy consumption, high precision is followed the trail of in locus.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of the Lighthouse motion capture of HTC VIVE；
Fig. 2 is the structural representation of the active optical location technology of Oculus；
The structural representation of the PlayStation Move motion capture of Tu3Shi Sony Corporation；
Fig. 4 is the structural representation of motion capture system of the present invention；
Fig. 5 is the structural representation of the locating base station of the first embodiment of motion capture system of the present invention；
Fig. 6 is the structural representation of the tracked equipment of the first embodiment of motion capture system of the present invention；
Fig. 7 is the working timing figure of the locating base station of the first embodiment of motion capture system of the present invention；
Fig. 8 is the working timing figure of the tracked equipment of the first embodiment of motion capture system of the present invention；
Fig. 9 is the working timing figure of the locating base station of the second embodiment of motion capture system of the present invention；
Figure 10 is the working timing figure of the tracked equipment of the second embodiment of motion capture system of the present invention；
Figure 11 is the structural representation of the locating base station of the 3rd embodiment of motion capture system of the present invention；
Figure 12 is the structural representation of the tracked equipment of the 3rd embodiment of motion capture system of the present invention；
Figure 13 is the structural representation of the frequency separator of the 3rd embodiment of motion capture system of the present invention；
Figure 14 is the structural representation of the frequency separator of the fourth embodiment of motion capture system of the present invention；
Figure 15 is the working timing figure of the locating base station of third and fourth embodiment of motion capture system of the present invention；
Figure 16 is the working timing figure of the tracked equipment of third and fourth embodiment of motion capture system of the present invention；
Figure 17 is the structural representation of the locating base station of the 5th embodiment of motion capture system of the present invention；
Figure 18 is the system structure diagram of the 5th embodiment of motion capture system of the present invention；
Figure 19-22 is the application scenarios schematic diagram of motion capture system of the present invention；
Figure 23 is the position relationship model between ultrasonic transmitter A-C and single ultrasonic sensor.
Specific embodiment
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing describes in detail
The specific embodiment of the present invention.
As shown in figure 4, Fig. 4 is a kind of structural representation of motion capture system of the present invention.This system includes：Positioning base
Stand and tracked equipment, wherein,
Locating base station includes the first RF transceiver and at least three ultrasonic transmitters；
Tracked equipment includes the second RF transceiver and at least one ultrasonic sensor；
Tracked equipment accesses main system by wired or wireless communication interface；
, to tracked equipment, tracked equipment receives and processing data for locating base station transmitted data signal and ultrasonic signal
Signal and ultrasonic signal, obtain the locus that each ultrasonic sensor is with respect to locating base station, in conjunction with all ultrasound wave
Distributed intelligence on tracked equipment for the sensor determines tracked equipment with respect to the locus of locating base station and attitude.
As viewed in figures 5-8, it is a kind of first embodiment of motion capture system of the present invention.
With reference to Fig. 5, Fig. 5 is a kind of structural representation of the locating base station of the first embodiment of motion capture system of the present embodiment
Figure.This locating base station includes：First microprocessor, the first RF transceiver, multiple ultrasonic transmitter and corresponding driving
Circuit, wherein,
First microprocessor is used for controlling the first RF transceiver in locating base station to send data signal and ultrasonic emitting
Ultrasonic signal launched by device, and the first RF transceiver connects first microprocessor；Drive circuit is used for driving ultrasonic transmitter
Transmitting ultrasonic signal, the drive circuit of the present embodiment includes the first drive circuit, the second drive circuit, the 3rd drive circuit,
Ultrasonic wave radiation device includes the first ultrasonic transmitter, the second ultrasonic transmitter, the 3rd ultrasonic transmitter；First ultrasound wave
Emitter passes through the first drive circuit and connects first microprocessor, and the second ultrasonic transmitter passes through the second drive circuit and connects the
One microprocessor, the 3rd ultrasonic transmitter passes through the 3rd drive circuit and connects first microprocessor.
Preferably, the ultrasonic transmitter in this example is preferably column PVDF thin film ultrasonic transmitter, such as TE
Just there is this kind of ultrasonic transmitter of production in Connectivity company, and typical emission frequency is 40Khz or 80Khz, launch angle
For 360 degree of omnidirectional.
With reference to Fig. 6, Fig. 6 is that a kind of structure of the tracked equipment of the first embodiment of motion capture system of the present embodiment is shown
It is intended to.This tracked equipment includes：Second microprocessor, the second RF transceiver, multiple ultrasonic sensor and with ultrasonic
Wave sensor corresponding amplification modulate circuit, wherein,
Second microprocessor of tracked equipment accesses main system by wired or wireless communication interface, by the position having resolved
Confidence breath sends main system to and is processed, and wireless communication interface includes but is not limited to bluetooth/wifi/zigbee etc.；Second is micro-
Processor includes multiple external interrupt, and ultrasonic sensor includes：First ultrasonic sensor, the second ultrasonic sensor,
Three ultrasonic sensors.Second RF transceiver connects the external interrupt 0 of the second microprocessor, and the first ultrasonic sensor passes through
First amplifies the external interrupt 1 that modulate circuit connects the second microprocessor, and the second ultrasonic sensor passes through second and amplifies conditioning
Circuit connects the external interrupt 2 of the second microprocessor, and the 3rd ultrasonic sensor amplifies modulate circuit by the 3rd and connects second
The external interrupt 3 of microprocessor.It is appreciated that the quantity of ultrasonic sensor can be adjusted according to the demand of positioning precision,
Amplify modulate circuit and the external interrupt of the second microprocessor does corresponding adjustment.
Preferably, the second microprocessor including but not limited to have external interrupt or edging trigger function microprocessor,
FPGA or ASIC etc..First RF transceiver and the second RF transceiver should be mutually matched, such as common on market
2.4G RF transceiver, has the NRF24L01 series of NORDIC company, and Shanghai links the LT89xx series of electronics corporation.Wherein
The pin that two RF transceivers are connected with the second microprocessor external interrupt 0 should be packet interrupt output pin, above-mentioned
NRF24L01 series and LT89xx series all have this pin.Ultrasonic sensor is preferably MEMS silicon microphone, Knowles company
There is the silicon microphone producing the type, its volume is very little, is easily integrated on head-mounted display or hand held controller, its sound
Bore dia is less than 1mm, therefore it is more intensive to arrange.After ultrasonic sensor passes through the conditioning shaping relatively of amplification modulate circuit
The ultrasonic signal receiving is converted into the level saltus step that the second microprocessor can identify.
With reference to Fig. 7, Fig. 7 is a kind of work schedule of the locating base station of the first embodiment of motion capture system of the present embodiment
Figure.Wherein, Tw is sterically defined interval time twice, and within the time of Tw, first microprocessor controls the first radio-frequency receiving-transmitting
Device broadcasts 3 packets containing ultrasonic transmitter label with Tsafe respectively for interval, and controls the in corresponding interval
One ultrasonic transmitter, the second ultrasonic transmitter, the 3rd ultrasonic transmitter successively time delay Td or immediately launch ultrasound wave, such as
This is reciprocal.Typically within 500us, in the case that packet is longer, Td can be 0 to Td.Tsafe refers to that ultrasound wave is setting
Tracking in the distance be capable of safety propagation time.
With reference to Fig. 8, when Fig. 8 is a kind of work of tracked equipment of first embodiment of motion capture system of the present embodiment
Sequence figure.On tracked equipment, the second RF transceiver of setting can receive 3 in sterically defined time Tw every time and carry and surpass
The packet of acoustic emission label, Tw is divided into 3 time slots, they be spaced apart Tsafe；Received with this 3 packets respectively
Time as timing starting point, the first ultrasonic sensor of setting on tracked equipment, the second ultrasonic sensor, the 3rd
The interruption that ultrasonic signal that ultrasonic sensor receives in 3 time slots causes terminates to obtain corresponding respectively as timing
Time.For example, that external interrupt 1 respectively obtains is Tt1A, Tt1B and Tt1C, remove time delay Td respectively obtain T1A, T1B and
T1C, T1A, T1B and T1C of obtaining are multiplied by the velocity of sound respectively then can obtain in locating base station the ultrasonic transmitter of setting and arrive
Reach the distance of the first ultrasonic sensor, other ultrasonic sensors are by that analogy.
As shown in figs. 9-10, it is a kind of second embodiment of motion capture system of the present invention.
Locating base station in second embodiment and the structural reference first embodiment of tracked equipment, here not superfluous
State, second embodiment and first embodiment are distinguished on localization method, and detailed process is with reference to Fig. 9 and Figure 10.
With reference to Fig. 9, Fig. 9 is a kind of work schedule of the locating base station of the second embodiment of motion capture system of the present embodiment
Figure.Wherein, Tw is sterically defined interval time twice, and in the initial time of Tw, first microprocessor controls the first radio frequency to receive
Send out device and broadcast 1 synchronization packets, control after time delay Td or immediately the first ultrasonic transmitter transmitting ultrasound wave.Td typically exists
Within 500us, in the case that packet is longer, Td can be 0.After ultrasound wave launched by the first ultrasonic transmitter, with
Tsafe is that interval controls the second ultrasonic transmitter and the 3rd ultrasonic transmitter transmitting ultrasound wave, and so on respectively.
With reference to Figure 10, Figure 10 is a kind of work of the tracked equipment of the second embodiment of motion capture system of the present embodiment
Sequential chart.The second RF transceiver arranging on tracked equipment can receive same in sterically defined time Tw initial time every time
Tw, to receive synchronization packets as timing starting point, after Td time delay, is divided into 3 using Tsafe as interval by step data bag
Individual time slot, on tracked node, the first ultrasonic sensor of setting, the second ultrasonic sensor, the 3rd ultrasonic sensor exist
The interruption that the trigger receiving in 3 time slots causes terminates to obtain the corresponding time respectively as timing, such as in outside
Disconnected 1 that respectively obtain is Tt1A, Tt1B and Tt1C, and Tt1A, Tt1B and Tt1C are individually subtracted Td, Td+Tsafe, Td+2*
Tsafe obtains T1A, T1B and T1C, T1A, T1B and T1C of obtaining is multiplied by the velocity of sound respectively and then can obtain setting in locating base station
3 ultrasonic transmitters put reach the distance of the first ultrasonic sensor, and other ultrasonic sensors are by that analogy.
As figs 11-13, it is a kind of 3rd embodiment of motion capture system of the present invention.
With reference to Figure 11, Figure 11 is that a kind of structure of the locating base station of the 3rd embodiment of motion capture system of the present embodiment is shown
It is intended to.Different from first embodiment and second embodiment, in the third embodiment, ultrasonic transmitter passes through to launch different frequency
Sound wave distinguishing, the first ultrasonic transmitter tranmitting frequency is the ultrasonic signal of FA, the second ultrasonic transmitter transmitting frequency
Rate is the ultrasonic signal of FB, and the 3rd ultrasonic transmitter tranmitting frequency is the ultrasonic signal of FC.First microprocessor is permissible
First ultrasonic transmitter, the second ultrasound wave are controlled respectively by the first drive circuit, the second drive circuit, the 3rd drive circuit
Emitter, the 3rd ultrasonic transmitter transmitting ultrasonic signal.Ultrasonic transmitter is preferably column PVDF thin film ultrasound wave and sends out
Emitter, such as TE Connectivity company just have production this kind of ultrasonic transmitter, typical emission frequency be 40Khz or
80Khz, launch angle is 360 degree of omnidirectional, and especially, column PVDF thin film ultrasonic transmitter has a characteristic, you can with logical
Cross the column radius of adjustment PVDF thin film and length changes its mid frequency and sends out so as to total power can be carried out over multiple frequencies
Penetrate.
With reference to Figure 12, Figure 12 is a kind of structure of the tracked equipment of the 3rd embodiment of motion capture system of the present embodiment
Schematic diagram.This tracked equipment includes：The second RF transceiver that second microprocessor is connected with the second microprocessor, amplification
The ultrasonic sensor 1-n that modulate circuit 1-n is connected with amplification modulate circuit 1-n, n is the natural number more than 1；Amplify conditioning
Circuit 1-n is connected to the frequency separator 1-n that can isolate FA, FB and FC.Second microprocessor includes but is not limited to
There is microprocessor, FPGA or ASIC of external interrupt or edging trigger function.The external interrupt 0 of the second microprocessor is connected with
Second RF transceiver, the annexation of remaining external interrupt is specially：FA, FB and FC output of frequency separator 1-n is each
From being connected with external interrupt 1A-nA, 1B-nB, 1C-nC.
Preferably, the second microprocessor is by wireless communication interfaces such as wired or bluetooth/wifi/zigbee with main system even
Connect, the positional information having resolved is sent to main system and is processed.First RF transceiver and the second RF transceiver should
It is mutually matched, such as 2.4G RF transceiver common on market, have the NRF24L01 series of NORDIC company, Shanghai chain
Connect the LT89xx series of electronics corporation.Wherein, the pin that the second RF transceiver is connected with the second microprocessor external interrupt 0 should
When being packet interrupt output pin, above-mentioned NRF24L01 series and LT89xx series all have this pin.Ultrasonic sensor
1-n is preferably MEMS silicon microphone, and there is the silicon microphone producing the type in Knowles company, and its volume is very little, can detect
Frequency range big, be easily integrated on head-mounted display or hand held controller, its acoustic aperture diameter is less than 1mm, therefore can arrange more
Intensive.
With reference to Figure 13, Figure 13 is a kind of structure of the frequency separator of the 3rd embodiment of motion capture system of the present embodiment
Schematic diagram.This frequency separator includes：For the ultrasonic signal receiving is amplified amplifying circuit, be used for choosing pre-
If the band filter of frequency sound waves, the comparator for ultrasonic signal being converted into digital signal；Ultrasonic sensor leads to
Cross amplifying circuit and connect band filter, the ultrasound signal transmission selecting to comparator, comparator are connected by band filter
Corresponding external interrupt.
Specifically, ultrasonic sensor be exaggerated circuit amplify expand stream after be concurrently accessed center frequency designations be FA, FB and
3 band filters of FC, now only frequency meet the ultrasonic signal of FA, FB and FC and can pass through corresponding bandpass filtering
Device, band filter rear class connect comparator by frequency the ultrasonic signal for FA, FB and FC be converted into digital circuit can
Level saltus step with identification.Slight Doppler effect can be led to due to mobile in tracing process of tracked node so that
The signal that receives it may happen that certain frequency deviation, the therefore bandwidth of band filter should at least 2-3khz, and FA, FB
Frequency difference and FC between should at least just can be avoided confusion false triggering in more than 10Khz.
As shown in figure 14, it is a kind of fourth embodiment of motion capture system of the present invention.
With reference to Figure 14, Figure 14 is that a kind of structure of the frequency separator of the fourth embodiment of motion capture system of the present invention is shown
It is intended to.Fourth embodiment be that the selection of frequency separator is different from the difference of 3rd embodiment, identical with 3rd embodiment
Part will not be described here, and only frequency separator is elaborated.This frequency separator includes：For ultrasonic by receive
Amplifying circuit that ripple signal is amplified, for choosing the analog phase-locked look of predeterminated frequency sound wave, for carrying for analog phase-locked look
The reference frequency source of frequency for reference；Ultrasonic sensor connects analog phase-locked look by amplifying circuit, and analog phase-locked look connects
Reference frequency source, analog phase-locked look connects corresponding external interrupt.
Specifically, ultrasonic sensor be exaggerated circuit amplify expand stream after be concurrently accessed analog phase-locked look A-C, when receiving
Ultrasonic signal meet analog phase-locked look reference frequency when, the output of analog phase-locked look can occur level saltus step.Simulation lock
Phase ring A-C reference frequency source input be respectively FA, FB and FC, therefore when input ultrasonic signal in comprise frequency be FA,
During the signal of FB and FC, analog phase-locked look A-C can respectively enter the level saltus step that frequency locking state causes output, permissible with this
Correspondence isolates the ultrasonic signal that frequency is FA, FB and FC.
Figure 15 is a kind of working timing figure of the locating base station of third and fourth embodiment of motion capture system of the present invention.Its
In, Tw is sterically defined interval time twice, and in the initial time of Tw, first microprocessor controls the first RF transceiver wide
Broadcast 1 synchronization packets, or control ultrasonic transmitter A-C to launch with frequency FA, FB and FC respectively immediately after time delay Td super
Sound wave, and so on.Preferably, typically within 500us, in the case that packet is longer, Td can be 0 to Td.
Figure 16 is a kind of working timing figure of the tracked equipment of third and fourth embodiment of motion capture system of the present invention.
On tracked equipment, the second RF transceiver of setting can receive synchrodata in sterically defined time Tw initial time every time
Bag, to receive synchronization packets as timing starting point, the external interrupt interface that each frequency separator is connected is respectively with frequency
The interruption that the ultrasound wave by FA, FB and FC for the rate is caused terminates to obtain the corresponding time as timing, such as external interrupt 1A, outer
That portion interrupts that 1B and external interrupt 1C respectively obtain is Tt1A, Tt1B and Tt1C, Tt1A, Tt1B and Tt1C is individually subtracted Td and obtains
To T1A, T1B and T1C, T1A, T1B and T1C of obtaining are multiplied by the velocity of sound respectively and then can obtain the ultrasonic of setting in locating base station
Wave launcher A-C reaches the distance of the first ultrasonic sensor, and other ultrasonic sensors are by that analogy.
As shown in figs. 17-18, be a kind of motion capture system of the present invention the 5th embodiment.
Figure 17 is the structural representation of the locating base station of the 5th embodiment of motion capture system of the present invention；Figure 18 is this
The system structure diagram of the 5th embodiment of bright motion capture system.This locating base station includes：Locating base station satellite A, positioning
Base station satellite B, locating base station satellite C, the first RF transceiver includes：RF transceiver A, RF transceiver B, RF transceiver
C；
In locating base station satellite A, ultrasonic transmitter A connects processor A by drive circuit A；RF transceiver A is even
Meet processor A；
In locating base station satellite B, ultrasonic transmitter B connects processor B by drive circuit B；RF transceiver B is even
Meet processor B；
In locating base station satellite C, ultrasonic transmitter C connects processor C by drive circuit C；RF transceiver C is even
Meet processor C.
When carrying out the tracking of larger space, ultrasonic transmitter A, ultrasonic transmitter B, ultrasonic transmitter C setting
It is obtained in that preferable resolution at trackable area edge, now ultrasonic transmitter A, B, C in locating base station are acceptable
It is split as the distribution form of 3 independent " satellite base stations ".Refer to Figure 17, wherein ultrasonic transmitter A, B, C can also be
Single-frequency or aforementioned be divided into 3 frequencies to be respectively FA, the situation of FB and FC, the difference of control sequential is：
In above-described embodiment, the launching time of ultrasonic transmitter B and C is with Base Transmitter data in each tracking cycle
On the basis of the time of bag, transmitting actual act is directly controlled by the microprocessor of base station；And in the layout shown in Figure 17, fixed
The packet of position base station satellite A broadcast is launched and consistent, the locating base station in aforesaid 3 methods with ultrasonic transmitter A's
The RF transceiver of satellite B and C is in reception state all the time, and the launching time of ultrasonic transmitter B and C is then fixed to receive
The time of the packet of position base station satellite A broadcast as benchmark, by locating base station satellite B and C processor each with aforementioned side
The actual act of the sequencing contro ultrasonic emitting in method, due to RF transceiver transmitting and receive speed, therefore by
Follow the trail of and only need to be individually subtracted radio-frequency receiving-transmitting on the time of advent of ultrasonic transmitter B and C that preceding method records at node
The time delay of period can complete location tracking.
This implementation is advantageous in that, each satellite only needs in setting battery or power taking nearby with oneself, no
Wired connection need to be set up between them, the convenience of the layout of base station can be greatly improved, those skilled in the relevant art can
This implementation is relatively easily understood with the sequential chart being described by aforesaid method and provide, also belongs to the present invention's
Protection category, here is not tired to state its sequential chart.
Figure 19-22 is the application scenarios schematic diagram of motion capture system of the present invention.
Refer to Figure 19, shown in Figure 19 is the displaying directly perceived that the present invention is used for VR (virtual reality) interaction.In figure is shown
Relation between locating base station and tracked node.Locating base station is arranged on arranging for preferable of ceiling, tracked node
For head mounted display and hand held controller, head-mounted display and hand held controller all can receive ultrasound wave with each angle
Layout arranges each ultrasonic sensor, can be obtained most of on head-mounted display and hand held controller by above-mentioned method
The locus of ultrasonic sensor, due to concrete position on head-mounted display and hand held controller for the known ultrasonic sensor
Put, as long as the locus therefore obtaining any two ultrasonic sensor on head-mounted display and hand held controller in theory are
The attitude of head-mounted display and hand held controller can be obtained, therefore such setting be ensure that and carried out using VR system in user
During interaction, head-mounted display and hand held controller can remain head-mounted display and hand-held control under various postures as much as possible
The motion capture of device processed.
Refer to Figure 20, shown in Figure 20 is that the present invention applies the implementation catching in unmanned vehicle indoor location.
Locating base station is arranged on arranging for preferable of ceiling, and unmanned plane arranges multiple ultrasonic sensors in horizontal plane, by catching
The locus catching at least 2 ultrasonic sensors would know that locus and the attitude of unmanned vehicle.
Refer to Figure 21, shown in Figure 21 be method 1 and method 2 locating base station seizure radius Rc, catch frame per second with
The relation of the setting of Tsafe, Rc is the radius of the hemisphere with the geometric center of locating base station as the centre of sphere as shown in the figure.According to sound
Speed, when Rc is for 5m, Tsafe should be set at least 15ms, and the motion capture now theory frame per second upper limit is in 20fps；
When Rc is set to 3m, Tsafe should be set at least 10ms, and the motion capture now theory frame per second upper limit is in 30fps.
Refer to Figure 22, shown in Figure 22 is the setting of the seizure radius Rc, seizure frame per second and Tw of method 3 locating base station
Relation, Rc is the radius of the hemisphere with the geometric center of locating base station as the centre of sphere as shown in the figure.According to the velocity of sound, when Rc is for 5m,
Tw should be set at least 15ms, and the motion capture frame per second upper limit now is in 66fps；When Rc is set to 3m, Tw should
It is set at least 10ms, the motion capture now theory frame per second upper limit is in 100fps.Method 1 and method 2 hardware configuration are
Unanimously, for relative manner 3, the requirement to processor and analog circuit of the tracked node of method 1 and method 2 and cost are obvious
Lower, but motion capture frame per second is relatively low；In the motion capture scene needing high-speed response, preferable body can be obtained using method 3
Test effect, be more than all the parameter that engineering practice draws it is intended to absolutely prove that the implementation of the present invention is through engineering verification
's.
Separately, invention additionally discloses a kind of motion capture method, including：
Step one：Locating base station is passed through the first RF transceiver and is sent data signal, and delays the sending data signal
After one Preset Time, ultrasonic signal is sent by ultrasonic transmitter；
Step 2：Tracked equipment passes through the second RF transceiver and receives digital signal, and tracked equipment passes through ultrasound wave
Sensor received ultrasonic signal；
Step 3：Tracked equipment obtains each ultrasound wave according to the time that ultrasonic signal reaches ultrasonic sensor and sends out
The distance between emitter and ultrasonic sensor；
With reference to Figure 23, Figure 23 is the position relationship model between ultrasonic transmitter A-C and single ultrasonic sensor.If
Ultrasonic transmitter A-C is respectively A, B and C point, because they are disposed on the same plane, initial point on the basis of A, and A, B and C point
Coordinate be respectively (0,0,0), (x1, y1,0) and (x2, y2,0)；If ultrasonic transmitter is R point, its coordinate is (x, y, z),
And R point is all the time in the positive axis regional activity of z-axis；If the distance of R to A, B and C point is respectively D0, D1, D2.Now have with ShiShimonoseki
System：
The solution equation obtains：
By x, y brings full scale equation into, take in evolution z on the occasion of z can be obtained.
By can learn above the position of A, B and C point determine in the case of, by measure D0, D1, D2 can obtain R
The locus (x, y, z) of point.According to the method describing before it may be possible to obtain each ultrasonic sensor apart from A, B and C
The distance of point.
It is appreciated that multiple ultrasonic transmitters can be arranged on locating base station, the distance meter of multiple ultrasonic transmitters
Calculation method refers to three ultrasonic transmitters of the present embodiment, and principle is similar, will not be described here.
Step 4：According to the distance between each ultrasonic transmitter and ultrasonic sensor, calculate each ultrasound wave
Sensor is with respect to the locus of locating base station；
Step 5：According to each ultrasonic sensor with respect to the locus of locating base station and ultrasonic sensor in quilt
Distributed intelligence on tracing equipment, obtains tracked equipment with respect to the locus of locating base station and attitude.
Preferably, in the motion capture system of the present invention,
Step one includes：First RF transceiver is spaced apart interval to tracked equipment with the very first time within each cycle
Repeatedly broadcasting data signal, comprises the preset order information of ultrasonic transmitter in data signal；Ultrasonic transmitter is according to pre-
If order information sends every time in the first RF transceiver successively and sends ultrasound wave letter after data signal delays the first Preset Time
Number；
Step 3 includes：Tracked equipment receives data signal as time zero with the second RF transceiver, with ultrasonic
It is timing end point that wave sensor receives ultrasonic signal, obtains each ultrasonic signal and reach ultrasound wave after removing offset time
The time of sensor.
Preferably, in the motion capture system of the present invention,
Step one includes：First RF transceiver broadcasting data signal when starting in each cycle, ultrasonic transmitter is pressed
Launch ultrasonic signal according to preset order and with the second time interval for interval successively；
Step 3 includes：Tracked equipment receives data signal as time zero with the second RF transceiver, with ultrasonic
It is timing end point that wave sensor receives ultrasonic signal, and the second time interval removing corresponding multiple obtains each ultrasound wave letter
The time of number arrival ultrasonic sensor.
Preferably, in the motion capture system of the present invention,
Step one includes：First RF transceiver broadcasting data signal when starting in each cycle, each ultrasonic emitting
The ultrasonic signal of different frequency launched by device；
Step 3 includes：Tracked equipment receives data signal as time zero with the second RF transceiver, with frequency
The ultrasonic signal that separator exports different frequency is timing end point, obtains each ultrasonic signal and reach after removing offset time
The time of ultrasonic sensor.
Above example only technology design to illustrate the invention and feature, its object is to allow person skilled in the art
Scholar will appreciate that present disclosure and implements accordingly, can not limit the scope of the invention.All with right of the present invention will
Ask the impartial change that scope done and modification, the covering scope of the claims in the present invention all should be belonged to.
Claims (10)
1. a kind of motion capture system is it is characterised in that described system includes：Locating base station and tracked equipment, wherein,
Described locating base station includes the first RF transceiver and at least three ultrasonic transmitters；
Described tracked equipment includes the second RF transceiver and at least one ultrasonic sensor；
, to described tracked equipment, described tracked equipment receives simultaneously for described locating base station transmitted data signal and ultrasonic signal
Process described data signal and ultrasonic signal, obtain the space that each described ultrasonic sensor is with respect to described locating base station
Position, determines described tracked equipment phase in conjunction with distributed intelligence on described tracked equipment for all described ultrasonic sensors
Locus for described locating base station and attitude.
2. motion capture system according to claim 1 is it is characterised in that described locating base station also includes：For controlling
In described locating base station, described first RF transceiver sends data signal and described ultrasonic transmitter transmitting ultrasonic signal
First microprocessor；
It is connected with described first microprocessor, be used for driving the drive circuit of described ultrasonic transmitter transmitting ultrasonic signal；
Described first RF transceiver connects described first microprocessor；Described ultrasonic transmitter passes through described drive circuit even
It is connected to described first microprocessor.
3. motion capture system according to claim 1 is it is characterised in that described locating base station also includes：Locating base station
Satellite A, locating base station satellite B, locating base station satellite C, the first RF transceiver includes：RF transceiver A, RF transceiver B,
RF transceiver C；
In described locating base station satellite A, ultrasonic transmitter A connects processor A by drive circuit A；Described radio-frequency receiving-transmitting
Device A connects described processor A；
In described locating base station satellite B, ultrasonic transmitter B connects processor B by drive circuit B；Described radio-frequency receiving-transmitting
Device B connects described processor B；
In described locating base station satellite C, ultrasonic transmitter C connects processor C by drive circuit C；Described radio-frequency receiving-transmitting
Device C connects described processor C.
4. according to the arbitrary described motion capture system of claim 1-3 it is characterised in that described tracked equipment also includes：
It is connected with the main system of described tracked equipment, be used for receiving and process second micro- place of described data signal and ultrasonic signal
Reason device；
Described second microprocessor has multiple external interrupt, and one of described external interrupt connects described second radio-frequency receiving-transmitting
Device, remaining described external interrupt is passed through to amplify the modulate circuit described ultrasonic sensor of connection respectively.
5. according to the arbitrary described motion capture system of claim 1-3 it is characterised in that described tracked equipment also includes：
It is connected with described tracked equipment main system, be used for receiving and process described data signal and the 3rd microprocessor of ultrasonic signal
Device；
Described 3rd microprocessor has multiple external interrupt, and one of described external interrupt connects described second radio-frequency receiving-transmitting
Device, remaining described external interrupt connects described ultrasonic sensor by frequency separator.
6. motion capture system according to claim 5 is it is characterised in that described frequency separator includes：For connecing
Amplifying circuit that the described ultrasonic signal receiving is amplified, for choosing the band filter of predeterminated frequency sound wave, being used for
Ultrasonic signal is converted into the comparator of digital signal；Described ultrasonic sensor passes through described amplifying circuit and connects described band
Bandpass filter, the ultrasound signal transmission selecting to described comparator, described comparator are connected correspondence by described band filter
Described external interrupt；
Or
Described frequency separator includes：For the described ultrasonic signal receiving is amplified amplifying circuit, be used for selecting
Take analog phase-locked look, the reference frequency source for providing reference frequency for described analog phase-locked look of predeterminated frequency sound wave；
Described ultrasonic sensor connects described analog phase-locked look by described amplifying circuit, and described analog phase-locked look connects described
Reference frequency source, described analog phase-locked look connects corresponding described external interrupt.
7. a kind of motion capture method is it is characterised in that include：
Step one：Locating base station is passed through the first RF transceiver and is sent data signal, and it is pre- to delay first in transmission data signal
If ultrasonic signal is sent by ultrasonic transmitter after the time；
Step 2：Tracked equipment passes through the second RF transceiver and receives described digital signal, and described tracked equipment passes through super
Sonic sensor receives described ultrasonic signal；
Step 3：Described tracked equipment obtains each according to the time that described ultrasonic signal reaches described ultrasonic sensor
The distance between described ultrasonic transmitter and described ultrasonic sensor；
Step 4：According to the distance between each described ultrasonic transmitter and described ultrasonic sensor, calculate each institute
State the locus that ultrasonic sensor is with respect to described locating base station；
Step 5：Passed with respect to the locus of described locating base station and described ultrasound wave according to each described ultrasonic sensor
Distributed intelligence on described tracked equipment for the sensor, obtains the space bit that described tracked equipment is with respect to described locating base station
Put and attitude.
8. motion capture method according to claim 7 it is characterised in that
Described step one includes：Described first RF transceiver is spaced apart interval to described quilt with the very first time within each cycle
Tracing equipment repeatedly broadcasts described data signal, comprises the preset order letter of described ultrasonic transmitter in described data signal
Breath；Described ultrasonic transmitter sends described number in described first RF transceiver successively every time according to described preset order information
It is believed that sending described ultrasonic signal after number delaying the first Preset Time；
Described step 3 includes：Described tracked equipment receives described data signal as timing with described second RF transceiver
Starting point, receives described ultrasonic signal as timing end point with described ultrasonic sensor, obtains each after removing offset time
Described ultrasonic signal reaches the time of described ultrasonic sensor.
9. motion capture method according to claim 7 it is characterised in that
Described step one includes：Described first RF transceiver broadcasts described data signal when starting in each cycle, described super
Pinger launches described ultrasonic signal according to preset order and with the second time interval successively for interval；
Described step 3 includes：Described tracked equipment receives described data signal as timing with described second RF transceiver
Starting point, receives described ultrasonic signal as timing end point with described ultrasonic sensor, removes described the second of corresponding multiple
Time interval obtains the time that each described ultrasonic signal reaches described ultrasonic sensor.
10. motion capture method according to claim 7 it is characterised in that
Described step one includes：Described first RF transceiver broadcasts described data signal when starting in each cycle, each institute
State the described ultrasonic signal that different frequency launched by ultrasonic transmitter；
Described step 3 includes：Described tracked equipment receives described data signal as timing with described second RF transceiver
Starting point, exports the described ultrasonic signal of different frequency as timing end point with frequency separator, obtains every after removing offset time
Individual described ultrasonic signal reaches the time of described ultrasonic sensor.
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| CN111610544A (en) * | 2020-05-29 | 2020-09-01 | 上海美纳德建筑设计事务所有限公司 | Auxiliary method for following positioning of blind guiding unmanned aerial vehicle system |
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