CN1067518A - Moving-action developing method - Google Patents
Moving-action developing method Download PDFInfo
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- CN1067518A CN1067518A CN 91103809 CN91103809A CN1067518A CN 1067518 A CN1067518 A CN 1067518A CN 91103809 CN91103809 CN 91103809 CN 91103809 A CN91103809 A CN 91103809A CN 1067518 A CN1067518 A CN 1067518A
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Abstract
The present invention relates to maneuverable moving-action developing method, analyst's elemental motion in advance, the power and the moment input database that act on the joint, making body each several part and other parts separate applied dynamics calculates, the verification relation of mutually combining and each range of motion, using inverse dynamics calculates by the action of verification and power, make body each several part and other parts separately, employing dynamics calculates, verification comprises the constraint condition of the relation of mutually combining and each range of motion, the utilization inverse dynamics calculates by the action of verification and power, shows its result of calculation, and the processing ease of exploitation athletic performance is carried out.
Description
The present invention relates to moving-action developing method, relate to, analyze the action that these must be learned, learn course is compiled into the method for program about for the various athletic performances of association.
Be its action of association in the various motions, be necessary to analyze action, and the learn course compiled program.In the past, motion analysis person was by observing the competitor's who grasps this action action, weaving into the study course or the program of moving into association based on observations.Carry out this observation owing to rely on the people, make the result because of subjective unreliable.In addition, when developing new or creating new element, have to rely on the tentative mistake that produces because of observations is unreliable, make the exploitation new element be difficult to carry out.
In addition, development recently uses a computer and analyzes competitor's action, according to its result, learns its action, performs physical exercise or the exploitation of new element.Yet analysis of this utilization computing machine also is a subjectivity with the analyst, uses the analysis that the kinematics that only comprises position, speed and acceleration is carried out.Therefore, method is analyzed in view of the above, and what can show on image only is the line chart (ラ イ Application ピ Network チ ヤ) of the human body component part represented with line, and can not enrich three-dimensionally and show truly human body.Therefore, not only content displayed is beyonded one's depth, also often make movement content unreasonable, moreover make the exploitation of newly moving very difficult.
In addition, although also can be suitable for real-time answer method in carrying out the analysis of action and design using a computer according to wield dialogic operation, but do owing in classic method, be necessary to make its actual earthquake, movement content is confirmed and carried out inching based on its result, therefore make according to replying in real time of dialogic operation and can not realize.
And as the method for discussing object of which movement, except the kinematic method that use location, speed and acceleration are arranged, relation also useful and power is discussed the so-called dynamic method of object of which movement, if the method is used for computed motion analysis, can use the action of small number of operations Analysis of Complex.Yet, according in dynamic (dynamical) motion analysis, need have the moment of inertia of difficult metering, the data such as elasticity in friction in center of gravity, the joint and muscle or the ligament, as lacking these data, its analysis result and the kinematic motion analysis result of foundation are unreasonable equally.In addition, also need to separate relatively bothersome kinetics equation, analyze and design have joint freedom degrees up to 200 human action in, need separate 600 differential equations simultaneously.
Computed in the past dynamic (dynamical) motion analysis is by 1. establishment manikins, and 2. input people's actual act is 3. analyzed the action of input, 4. reproduces the quadravalence section of the action of having analyzed and forms.
In the stage that the action that makes this analysis is reproduced, as long as exact solution kinetics equation, yet, because outside the notion complexity of the method, also n is become common calculated amount O(f(n when moving part several of human body of least unit during as motion analysis)) be n
4Function O(n
4), thereby make calculated amount many and calculate time-consuming, so utilize the computational costs height of computing machine.
In addition, though also proposing a kind of use ignores around the joint revolution, and make calculated amount is the function O(n of n) the method for motion analysis of calculating, what yet method can show on image in view of the above only is the line chart of representing the human body component part with line, can not ignore rotating occasion around the joint, can not adopting said method.Therefore, human body can not be enriched three-dimensionally and show truly to method in view of the above.
The present invention is the intuition that can not rely on tentative mistake or analyst to provide, and uses a computer and according to dialogic operation analyst body action with develop the method for motion analysis of new element as problem.
For solving above-mentioned problem, method of motion analysis of the present invention is by first analyst's elemental motion, the knowledge input database of the data of the moving parameter of power that is included in each joint generation of human body and moment as relevant elemental motion.
Then, carry out access by the analyst to database, the data that processing obtains, computing machine is with the action form of the constraint that is tied, with form the inverse dynamics result is fed back to the analyst in real time with power, and by carrying out this process repeatedly, till obtaining satisfactory result, thereby with the dialogic operation design action.
Because the calculated amount of this method of motion analysis is the function O(n of n), thus make computing machine the high problem of computational costs be resolved.Can provide in addition, can realize not relying on tentative mistake or analyst's intuition, successfully be compiled into according to dialogic operation and be not coil form but three-dimensional enriching and the method for motion analysis of real human action.
Embodiment.
Below, with reference to accompanying drawing the embodiment of the invention is described.
Fig. 1 is the process flow diagram of moving-action developing method of the present invention, and Fig. 2 is for representing to act on the control coil of the example of power on the joint, and Fig. 3 is inverse dynamics computation schema figure for using dynamics calculation mode chart, Fig. 4.
Referring to Fig. 1, this process flow diagram is that 2. input people's actual act is 3. analyzed the action of input by 1. establishment manikins, 4. design action, and 5. applied dynamics, 6. the application constraint condition is 7. used inverse dynamics, and 8. each stage of display result is formed.
In the phase one of " establishment manikin ", human body is resolved into the part that forms the action least unit, based on the intrinsic property of these each several parts, constraint conditions such as its mutual relationship and range of motion establishment manikin is then as database input computing machine.
Subordinate phase in " input people's actual act ", the action that becomes analytic target is imported to the frame unit of television image or the aberration unit of film image, in this occasion,, can more specifically carry out the analysis of next stage if use from the multi-direction image of photography simultaneously.
In the phase III of " analyzing the action of input ", use inverse dynamics the action of importing in subordinate phase is calculated, analyze the center of gravity of each several part, act on power and moment on each joint, all centers of gravity act on power and moment on this center of gravity.
Only carrying out the motion analysis occasion, make the center of gravity of the each several part that in the phase III, obtains with arrow etc., act on power and moment on each joint, all centers of gravity, the manikin that acts on power on all centers of gravity and moment and database is overlapping, and is presented on the image.
Carry out motion analysis like this.
Next, the occasion that the new element of utilizing above-mentioned analysis result is designed describes.
For designing new action, in advance the human body model data of phase one, the data of the people's that subordinate phase obtains actual act and the data input base of the analysis result that the phase III obtained.
In the quadravalence section of " action design ", the deviser selects elemental motion from database at first.What Fig. 2 represented is the control line chart of working out according to database as the known Gao Erfu ball left side elbow action of general sports, and in this control coil, the transverse axis express time is illustrated in X to the power that occurs on each joint respectively, on three longitudinal axis of Y and Z.In addition, occur in two power on the same joint yes that equal and opposite in direction is opposite with direction.
In addition, available a plurality of control coil is represented compound action.For example represent that the people erects the control line chart of the action of walking then from being sitting in chair, form that in addition, each line chart of other parts is with designing with the identical method of above-mentioned left elbow example by continuous action is synthesized.
Then, to all parts of the generation power of human body carry out the promptly blanket physical descriptor that comprises the expansion of the transverse axis of control line chart and the longitudinal axis and dwindle of following two kinds of changes change all changes and the part that change takes place for the physical descriptor of power that certain part at body takes place etc. is changed.
Five-stage in that " application power " is learned calculates according to each several part being moved with the kinetics equation of arranging the each several part action by the power of deviser's appointment.In this occasion, such shown in Fig. 3 (a), originally the each several part of body is in the relation of mutually combining, yet for calculated amount is reduced, such shown in Fig. 3 (b), make body each several part and other parts separately, temporarily also can ignore the constraint condition of the relevant each several part of human body relation of mutually combining and joint action scope.
Calculate for each several part is moved, in motion analysis of the present invention, ask the center of gravity line acceleration with the Newton's equation formula, ask the angular acceleration of center of gravity with Euler formula, after drawing linear acceleration and angular acceleration, it is carried out integration obtain speed, carry out integration again and obtain the position.
In the 6th stage of " application constraint condition ",, the relation of mutually combining of partes corporis humani's branch and two physical constraint conditions of range of motion are subjected to verification with regard to the result of calculation of each several part action.This processing is from essential part, makes the position of its next each several part be subjected to verification successively by being discharged to direction.Herein, whether frequent and last bit position is connected to subcomponent, and whether each joint action carries out verification above two conditions of decision scope.
Its result, shown in Fig. 4 (a), the occasion that bit position connects on the subcomponent discord, for being connected with last bit position, subcomponent make subcomponent parallel mobile, and the action in each joint is when exceeding certain limit, for its joint action is dropped in the scope, adjust by making its revolution; Thereby be modified to such natural posture shown in Fig. 4 (b).
In the 7th stage of " application inverse dynamics ", the Lagrange equation of using expression power and action relationships calculates the power that produces in each joint.
Carrying out the occasion of new element design, do not obtaining gratifyingly as a result the time as yet, carrying out the process of ending repeatedly, carrying out the new element design with dialogic operation from five-stage the 7th stage of playing.
In the 8th stage of " action is presented on the image ", being presented on the image in the new element that designs midway or design ends.Can be the gravity center of human body's who is expressed this moment position, the direction of generation power and human body are synthetic to be shown, like this, just can more specifically show the action that has shown.
In addition, this shows the result of " the analysis input action " also may be used for representing the phase III.
The present invention is owing to the simple line regression algorithm that adopts as shown in Figure 1, and therefore making to the calculated amount of carrying out inverse dynamics is the function O(n of n).
Because of the foundation inverse dynamics, can obtain rationally and the combination of power completely.In addition, as not according to inverse dynamics, the deviser can not find the design of power completely.Among the present invention, when the joint is beyond the mark, each orientation of body each several part is changed, and each position of body each several part and the physical constraint condition of body are coincide.
Because the human action that obtains like this is that the frequent with upper part of the next part is connected, and the action in each joint is no more than the action of the nature of decision scope, thereby can represent to move directly substantial like this and truly three-dimensionally.
In addition, the present invention can not rely on tentative mistake or deviser's intuition, with computing machine with dialogic operation designer body action.
In sum, method of motion analysis of the present invention is made up of the elemental motion of analyst's reality and two processes of establishment new element.
And, carry out the analysis of people's elemental motion according to establishment manikin, input actual act and three stages of analyzing the action imported, work out new element according to dynamics, constraint condition and three stages of inverse dynamics.At kinetics phase, human body is divided into 50 difference independent parts of separating by the joint, with Newton's equation formula and Euler formula each several part is moved, it is moved with other parts separately calculate mutually.The constraint condition stage to body portion mutually combine the relation and range of motion carry out verification.In the inverse dynamics stage, the power that produces the new element that is corrected according to constraint condition is calculated.All calculated amount in this occasion are O(n).
Therefore, according to method of motion analysis of the present invention, make to use a computer up to now and be resolved, dynamics can be used well in the motion analysis operation of reality, make and utilize dynamic (dynamical) real-time feedback to be achieved according to the computational problem that exists in dynamic (dynamical) method of motion analysis.
And, for the action that the partes corporis humani is divided is calculated, ask the center of gravity line acceleration with the Newton's equation formula, ask the center of gravity angular acceleration with Euler formula, thereby can obtain with each centre of gravity place of display body each several part and be added in power on these centers of gravity, equally also can obtain and show all centre of gravity places and be added in power on this center of gravity.Just, can learn technical ability easily owing to can represent to can be described as and move the direction of the centre of gravity place of skeleton and power and size etc.
In addition, can realize weaving into the substantial and true of non-line chart smoothly, be rich in relief moving
In addition, the analyst can observe manikin on displayed image from each viewpoint, can or make the body portion revolution with the part of the parallel moving body of dialogic operation.Therefore the analyst can correctly hold the corresponding relation between image and manikin.
Comprise human action master data and the constraint condition of stipulating each range of motion for the knowledge in the conventional motion analytical approach, but this knowledge is dependency analysis person's intuition obtains, and the knowledge in the method for motion analysis of the present invention refers to the moving parameter of the reality that the actual act by the analyst obtains.Therefore, the action of knowledge establishment can be used for establishment and has science, reliable real action thus.
In addition, at each field application target direction model, according to target directing method, user interface becomes the direct control model recently.Because this direct control model is to make the image reaction object that shows on picture, therefore if adopt method of motion analysis of the present invention, can directly handle or the operand thing in the object space.
Claims (2)
1, the athletic performance creative method, relevant creator or developer use a computer and develop the method for athletic performance, comprise human body is resolved into the part that forms the action least unit, intrinsic property according to these each several parts, the stage of constraint conditions such as its mutual relationship and range of motion establishment manikin and input database, input people's the actual act stage, it is characterized in that also comprising that using inverse dynamics calculates the action of importing, calculate the each several part center of gravity then, act on power and moment on each joint, all centers of gravity, act on the power on this center of gravity and the stage of moment, select elemental motion from above-mentioned database, change its physical descriptor stage, make body each several part and other parts separately, ignore about the relation of mutually combining of above-mentioned actual act and the constraint condition of range of motion, only power and the kinetics equation based on appointment calculates the new element stage, to the stage that this result of calculation is revised by the physical constraint condition of verification relation of mutually combining and range of motion, on image, show people's action phase with above-mentioned result of calculation.
2, the athletic performance creative method, relevant creator or developer use a computer and develop the method for new athletic performance, comprise human body is resolved into the part that forms the action least unit, intrinsic property according to these each several parts, constraint conditions such as its mutual relationship and range of motion establishment manikin, and to stage of database input, input people's the actual act stage, it is characterized in that also comprising that using inverse dynamics calculates the action of importing, calculate the each several part center of gravity then, act on power and moment on each joint, all centers of gravity, act on the power on this center of gravity and the stage of moment, select elemental motion from above-mentioned database, change its physical descriptor stage, body each several part and other parts are opened, ignore about the relation of mutually combining of above-mentioned actual act and the constraint condition of range of motion, only power and the kinetics equation according to appointment calculates the new element stage, the stage of this result of calculation being revised by the verification relation of mutually combining and the physical constraint condition of range of motion, use the stage of inverse dynamics computing power and action relationships, synthesize the stage that then on picture, shows by making according to the action of above-mentioned dynamics calculation with according to power and center of gravity that inverse dynamics calculates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 91103809 CN1067518A (en) | 1991-06-01 | 1991-06-01 | Moving-action developing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 91103809 CN1067518A (en) | 1991-06-01 | 1991-06-01 | Moving-action developing method |
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| CN1067518A true CN1067518A (en) | 1992-12-30 |
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| CN 91103809 Pending CN1067518A (en) | 1991-06-01 | 1991-06-01 | Moving-action developing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105246655A (en) * | 2013-05-29 | 2016-01-13 | 株式会社神户制钢所 | Inverse kinematic solution for multi-joint link mechanism, and device for creating instructional data by using inverse kinematic solution |
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1991
- 1991-06-01 CN CN 91103809 patent/CN1067518A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105246655A (en) * | 2013-05-29 | 2016-01-13 | 株式会社神户制钢所 | Inverse kinematic solution for multi-joint link mechanism, and device for creating instructional data by using inverse kinematic solution |
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