CN108874146A - A kind of movement human mass center displacement calculation method applied in virtual reality system - Google Patents
A kind of movement human mass center displacement calculation method applied in virtual reality system Download PDFInfo
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- CN108874146A CN108874146A CN201810747170.4A CN201810747170A CN108874146A CN 108874146 A CN108874146 A CN 108874146A CN 201810747170 A CN201810747170 A CN 201810747170A CN 108874146 A CN108874146 A CN 108874146A
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- G—PHYSICS
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- 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
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- 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
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Abstract
A kind of movement human mass center displacement calculation method applied in virtual reality system is claimed in the present invention, includes the following steps：It is respectively induced the movement at multiple positions on user's body using motion capture inductor, and mass center judgement is carried out to the movement, if judgement is the movement at mass center position, carries out the calculating step of mass center of human body displacement；By using the inertia device including EMS gyroscope and accelerometer, obtain body support's leg motion conditions, judge whether to be supporting leg, and in the case where supporting leg determines, the motion conditions of mass center of human body are sought, according to the inertial equipment being fixed on human body, seek joint angle when human motion, and according to human body X OY vector motion figure and human cinology's model, geometry motion, the position of mass center is sought, realizes the resolving of running period mass center of human body position.The measurement accuracy of the human motion of virtual reality system can be improved in the present invention.
Description
Technical field
The invention belongs to technical field of virtual reality, in particular to a kind of movement human applied in virtual reality system
Mass center is displaced calculation method.
Background technique
Virtual reality technology is a kind of computer simulation technique that can be created with the experiencing virtual world.Virtual reality technology
A kind of simulated environment is generated using computer technology, passes through the interactive Three-Dimensional Dynamic what comes into a driver's and entity row of Multi-source Information Fusion
For system emulation be immersed to user in the simulated environment.Virtual reality technology gradually comes into the public visual field, in amusement, life
The multiple fields such as living, technology and work start to show up prominently.
The rapid development of field of virtual reality has pushed 3D head-mounted display, Gesture Recognition, motion capture technology, room
The fast development of the relevant technologies such as interior location technology.And the implementation of the above the relevant technologies also shows diversified shape
State.As the realization technical solution of different piece, combination are different, user experience and effect are also widely different.It is big on the market
Portioned product is all based on a certain technology or the product for certain related a part of virtual reality.Such as individually wear display
Device, only using light identification technology motion capture equipment, be based only on inertial sensor motion capture equipment, based on the room of laser
Interior positioning system etc..On the one hand this decentralized virtual reality device compares occupied space, on the other hand again limit use
Scope of activities when family is experienced.Movement capture technique has started research boom both domestic and external, and wherein human body waist (mass center) is made
For the key position that can reflect human motion, the realization of movement capture, virtual reality etc. is played a crucial role.Through
It crosses and retrieves, only about the relevant measurement method of tractor mass center, there is no the detections about movement human in virtual reality
Method, and traditional way is the position of mass center of human body to be calculated according to human cinology's model, but be only applicable in for normal row
It walks and above goes downstairs in terms of, but the posture of people is mostly complicated, it is difficult to realize the capture of more complex movement.Another more widespread practice
It is that, using optical detection apparatus, to estimate the displacement of mass center, but optical measuring system is easily blocked by the external world.
Summary of the invention
Present invention seek to address that the above problem of the prior art.The accurate estimation human body of one kind is proposed to transport in virtual reality
The movement human mass center of kinoplaszm heart variation being applied in virtual reality system is displaced calculation method.
Technical scheme is as follows：
A kind of movement human mass center displacement calculation method applied in virtual reality system, the virtual reality system packet
It includes：Wearable virtual reality device, equipment include that headset equipment, motion capture equipment and integrated knapsack, wear-type are set
Standby includes head-mounted display, and for showing virtual scene, motion capture equipment includes multiple suitable for being arranged on user's body
Multiple position motion capture inductors and mass center are displaced computing module, which is characterized in that the calculation method includes the following steps：
It is respectively induced the movement at multiple positions on user's body using motion capture inductor, and mass center judgement is carried out to the movement,
If judgement is the movement at mass center position, the calculating step of mass center of human body displacement is carried out；By using EMS gyroscope and acceleration
Inertia device including degree meter, obtains body support's leg motion conditions, specifically includes：The data measured according to accelerometer, sentence
Disconnected measurand is in support phase or shaking peroid；If measurand is in the support phase, judge whether to be supporting leg, and is propping up
In the case that support leg determines, the motion conditions of mass center of human body are sought, including：Euclid's model of accelerometer data is sought first
It counts and then obtains the Euclid norm of unitary determination and the arithmetic square root of acceleration of gravity relative error, and through filtering
After processing, signed magnitude arithmetic(al) is finally carried out, obtains the value of two legs movement, two leg values are multiplied, is judged locating when pedestrian's running
Period；According to the inertial equipment being fixed on human body, joint angle when human motion is sought, and is transported according to human body X OY vector
Cardon and human cinology's model, geometry motion seek the position of mass center, realize the solution of running period mass center of human body position
It calculates；Specifically include following formula：The output valve of the three axis accelerometer of people leg is fixed in first acquisition, and finds out its Euclid
Norm Acc, as shown in formula (1).
In formula (1), accx、accy、acczThe respectively output of accelerometer x-axis, y-axis, z-axis；
In formula (2), g represents acceleration of gravity, is generally taken as g ≈ 9.8m/s2
β=0.5* (1+ α-| 1- α |) (3)
ζ=βleft·βright (4)
In formula (4), βleftRepresent the value of left leg, βrightRepresent the value of right leg；
The state in running period, and the supporting leg of support phase can be differentiated according to formula (5), it is specific as follows：
Leap phase, support phase and the supporting leg for supporting the phase can be differentiated according to formula (5)；Leap phase both feet leave ground,
Only the position of mass center is sought by newtonian motion mechanics by gravity.
Step 2：Human motion joint angle resolves
If roll (roll angle), the difference joint pitch (pitch angle), yaw (course angle) and reference axis x axis, y-axis, z-axis
Angle, i.e. yaw is to be respectively around x, y, z-axis rotation gained angle.It carves at the beginning and obtains pitch angle using acceleration value
It is respectively with roll angle
Respectively indicate x under carrier coordinate system, y, the acceleration value of z-axis.
Yaw=0 ° of initial heading angle is set.By the roll of initial time, pitch, yaw information is it can be concluded that initial quaternary
Number is Q (t0)=[q0(t0),q1(t0),q2(t0),q3(t0)]T, formula (8) is the differential equation of quaternary number.
Wherein Q (ti)=[q0(ti),q1(ti),q2(ti),q3(ti)]TFor the quaternary number at sampled point i moment, using single order
Bi Kafa solves quaternion differential equation, obtains
Wherein Δ t is the time interval of two adjacent sampling instants.ωx, ωy, ωzFor be respectively carrier coordinate system relative to
The angular velocity information of inertial coodinate system considers the precision of inertia device, therefore to wherein rotational-angular velocity of the earth and the downloading of navigation system
Angular speed caused by body moves is negligible, ωx, ωy, ωzAs three axis angular rates measured by gyroscope.
After quaternary number updates, for the ease of the intuitivism apprehension to angle, quaternary number is converted into Eulerian angles, corresponding pass
System is：
Step 3：The calculating of support phase mass center of human body
When people is in stance, the thigh of human body, the length of shank and foot are first measured, and use L respectivelytight、
Lshin、LfootIt indicates.In order to facilitate description support during root node displacement, with xoy plan view come analyze be in support during
Unique estimation.
And by following formula it is found that in xoy plane, the x-axis coordinate of root nodeY-axis coordinateDifference can be by formula
(11), (12) indicate.
Similarly, xoz plane, root node z-axis coordinate can be acquired.
Within the Δ t time, the displacement knots modification of hip joint, knee joint, ankle-joint is
The L in formula (13)kThe bone length in the joint k is represented, which can directly measure；θi,tIt indicates in t moment, matter
Size of the heart in the angle of xoy Plane Rotation
Similarly, within the Δ t time, the displacement knots modification of root artis is
Step 4：The Displacement Estimation algorithm of leap phase
In running, leap phase experienced is different from the support phase, is only influenced by gravity in this period human motion, therefore
People be in the leap phase can be approximated to be a quality be m bead do upthrow movement under the influence of gravitational field.According to newton
Sport dynamics, in the t+ Δ t time, root nodeIt can be indicated by formula (15).
In formula (15), k can use any one in three values of x, y, z, respectively represent x-axis, y-axis, z-axis, υkIndicating should
The speed of axis can be obtained by the integral of gyroscope.
Further, the processor according at least four positioning beam receivers be respectively received positioning light beam when
Between, it is described strafe the period, the relative tertiary location relationship and position beam launcher predetermined position, determine the head
Wear the position of formula virtual reality device and/or the integrated knapsack.
Beneficial effects of the present invention
The present invention uses the MEMS inertial sensor of low cost, low-power consumption, lightweight, layouts without the external world, is easy to universal
It promotes.Algorithm flow is easy to operate, without expending the too many resource of processor.In verification experimental verification, accuracy rate up to 98.88%,
To the research significance of human motion, there is broad sense in virtual reality applications.By setting using EMS gyroscope and
Inertia device including accelerometer, obtains body support's leg motion conditions, the data measured according to accelerometer, and judgement is tested
Object is in support phase or shaking peroid；If measurand is in the support phase, judge whether to be supporting leg, and true in supporting leg
In the case where fixed, the motion conditions of mass center of human body are sought, including：Seek first accelerometer data Euclid norm and,
Then the Euclid norm of unitary determination and the arithmetic square root of acceleration of gravity relative error are obtained, and through being filtered
Afterwards, signed magnitude arithmetic(al) is finally carried out, the value of two legs movement is obtained, two leg values are multiplied, judges period locating when pedestrian's running；
According to the inertial equipment being fixed on human body, seek joint angle when human motion, and according to human body X OY vector motion figure with
And human cinology's model, geometry motion, the position of mass center is sought, realizes the resolving of running period mass center of human body position；It is real
The accurate calculating of mass center of human body position is showed, then accurate feedback can have been carried out for the body state in virtual reality.
Detailed description of the invention
Fig. 1 is the movement human mass center displacement calculating side that the present invention provides that preferred embodiment is applied in virtual reality system
Method block diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiments of the present invention.
The present invention solve above-mentioned technical problem technical solution be：
Calculation method, the void are displaced as shown in Figure 1 for a kind of movement human mass center applied in virtual reality system
Quasi- reality system includes：Wearable virtual reality device, equipment include headset equipment, motion capture equipment and integration back
Packet, headset equipment includes head-mounted display, and for showing virtual scene, motion capture equipment includes multiple suitable for being arranged in
Multiple position motion capture inductors and mass center are displaced computing module on user's body, which is characterized in that the calculation method packet
Include following steps：Be respectively induced the movement at multiple positions on user's body using motion capture inductor, and to it is described act into
The judgement of row mass center carries out the calculating step of mass center of human body displacement if judgement is the movement at mass center position；By using EMS
Inertia device including gyroscope and accelerometer obtains body support's leg motion conditions, specifically includes：According to acceleration measuring
The data obtained, judge that measurand is in support phase or shaking peroid；If measurand is in the support phase, judge whether to be branch
Support leg, and in the case where supporting leg determines, the motion conditions of mass center of human body are sought, including：Accelerometer data is sought first
Euclid norm and, the arithmetic of the Euclid norm and acceleration of gravity relative error that then obtain unitary determination is flat
Root, and after being filtered, signed magnitude arithmetic(al) is finally carried out, the value of two legs movement is obtained, two leg values are multiplied, judge pedestrian
Locating period when running；According to the inertial equipment being fixed on human body, joint angle when human motion is sought, and according to people
Body XOY vector motion figure and human cinology's model, geometry motion seek the position of mass center, realize running period human body
The resolving of centroid position；Specifically include following formula：The output valve of the three axis accelerometer of people leg is fixed in first acquisition, and is asked
Its Euclid norm Acc out, as shown in formula (1).
In formula (1), accx、accy、acczThe respectively output of accelerometer x-axis, y-axis, z-axis；
In formula (2), g represents acceleration of gravity, is generally taken as g ≈ 9.8m/s2
β=0.5* (1+ α-| 1- α |) (3)
ζ=βleft·βright (4)
In formula (4), βleftRepresent the value of left leg, βrightRepresent the value of right leg；
The state in running period, and the supporting leg of support phase can be differentiated according to formula (5), it is specific as follows：
Leap phase, support phase and the supporting leg for supporting the phase can be differentiated according to formula (5)；Leap phase both feet leave ground,
Only the position of mass center is sought by newtonian motion mechanics by gravity.
Step 2：Human motion joint angle resolves
If roll (roll angle), the difference joint pitch (pitch angle), yaw (course angle) and reference axis x axis, y-axis, z-axis
Angle, i.e. yaw is to be respectively around x, y, z-axis rotation gained angle.It carves at the beginning and obtains pitch angle using acceleration value
It is respectively with roll angle
Respectively indicate x under carrier coordinate system, y, the acceleration value of z-axis.
Yaw=0 ° of initial heading angle is set.By the roll of initial time, pitch, yaw information is it can be concluded that initial quaternary
Number is Q (t0)=[q0(t0),q1(t0),q2(t0),q3(t0)]T, formula (8) is the differential equation of quaternary number.
Wherein Q (ti)=[q0(ti),q1(ti),q2(ti),q3(ti)]TFor the quaternary number at sampled point i moment, using single order
Bi Kafa solves quaternion differential equation, obtains
Wherein Δ t is the time interval of two adjacent sampling instants.ωx, ωy, ωzFor be respectively carrier coordinate system relative to
The angular velocity information of inertial coodinate system considers the precision of inertia device, therefore to wherein rotational-angular velocity of the earth and the downloading of navigation system
Angular speed caused by body moves is negligible, ωx, ωy, ωzAs three axis angular rates measured by gyroscope.
After quaternary number updates, for the ease of the intuitivism apprehension to angle, quaternary number is converted into Eulerian angles, corresponding pass
System is：
Step 3：The calculating of support phase mass center of human body
When people is in stance, the thigh of human body, the length of shank and foot are first measured, and use L respectivelytight、
Lshin、LfootIt indicates.In order to facilitate description support during root node displacement, with xoy plan view come analyze be in support during
Unique estimation.
And by following formula it is found that in xoy plane, the x-axis coordinate of root nodeY-axis coordinateDifference can be by formula
(11), (12) indicate.
Similarly, xoz plane, root node z-axis coordinate can be acquired.
Within the Δ t time, the displacement knots modification of hip joint, knee joint, ankle-joint is
The L in formula (13)kThe bone length in the joint k is represented, which can directly measure；θi,tIt indicates in t moment, matter
Size of the heart in the angle of xoy Plane Rotation
Similarly, within the Δ t time, the displacement knots modification of root artis is
Step 4：The Displacement Estimation algorithm of leap phase
In running, leap phase experienced is different from the support phase, is only influenced by gravity in this period human motion, therefore
People be in the leap phase can be approximated to be a quality be m bead do upthrow movement under the influence of gravitational field.According to newton
Sport dynamics, in the t+ Δ t time, root nodeIt can be indicated by formula (15).
In formula (15), k can use any one in three values of x, y, z, respectively represent x-axis, y-axis, z-axis, υkIndicating should
The speed of axis can be obtained by the integral of gyroscope.
Preferably, the processor according at least four positioning beam receivers be respectively received positioning light beam time,
It is described to strafe period, the relative tertiary location relationship and the predetermined position for positioning beam launcher, it is worn described in determination
The position of formula virtual reality device and/or the integrated knapsack.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (2)
1. a kind of movement human mass center applied in virtual reality system is displaced calculation method, the virtual reality system packet
It includes：Wearable virtual reality device, equipment include that headset equipment, motion capture equipment and integrated knapsack, wear-type are set
Standby includes head-mounted display, and for showing virtual scene, motion capture equipment includes multiple suitable for being arranged on user's body
Multiple position motion capture inductors and mass center are displaced computing module, which is characterized in that the calculation method includes the following steps：
It is respectively induced the movement at multiple positions on user's body using motion capture inductor, and mass center judgement is carried out to the movement,
If judgement is the movement at mass center position, the calculating step of mass center of human body displacement is carried out；By using EMS gyroscope and acceleration
Inertia device including degree meter, obtains body support's leg motion conditions, specifically includes：The data measured according to accelerometer, sentence
Disconnected measurand is in support phase or shaking peroid；If measurand is in the support phase, judge whether to be supporting leg, and is propping up
In the case that support leg determines, the motion conditions of mass center of human body are sought, including：Euclid's model of accelerometer data is sought first
It counts and then obtains the Euclid norm of unitary determination and the arithmetic square root of acceleration of gravity relative error, and through filtering
After processing, signed magnitude arithmetic(al) is finally carried out, obtains the value of two legs movement, two leg values are multiplied, is judged locating when pedestrian's running
Period；According to the inertial equipment being fixed on human body, joint angle when human motion is sought, and is transported according to human body X OY vector
Cardon and human cinology's model, geometry motion seek the position of mass center, realize the solution of running period mass center of human body position
It calculates；Specifically include following formula：The output valve of the three axis accelerometer of people leg is fixed in first acquisition, and finds out its Euclid
Norm Acc, as shown in formula (1).
In formula (1), accx、accy、acczThe respectively output of accelerometer x-axis, y-axis, z-axis；
In formula (2), g represents acceleration of gravity, is generally taken as g ≈ 9.8m/s2
β=0.5* (1+ α-| 1- α |) (3)
ζ=βleft·βright (4)
In formula (4), βleftRepresent the value of left leg, βrightRepresent the value of right leg；
The state in running period, and the supporting leg of support phase can be differentiated according to formula (5), it is specific as follows：
Leap phase, support phase and the supporting leg for supporting the phase can be differentiated according to formula (5)；Leap phase both feet leave ground, only by
Gravity seeks the position of mass center by newtonian motion mechanics.
Step 2：Human motion joint angle resolves
If roll (roll angle), the difference joint pitch (pitch angle), yaw (course angle) and reference axis x-axis, y-axis, the folder of z-axis
Angle, i.e. yaw are to be respectively around x, y, z-axis rotation gained angle.It carves at the beginning and obtains pitch angle and cross using acceleration value
Roll angle is respectively
Respectively indicate x under carrier coordinate system, y, the acceleration value of z-axis.
Yaw=0 ° of initial heading angle is set.By the roll of initial time, pitch, yaw information is it can be concluded that initial quaternary number is Q
(t0)=[q0(t0),q1(t0),q2(t0),q3(t0)]T, formula (8) is the differential equation of quaternary number.
Wherein Q (ti)=[q0(ti),q1(ti),q2(ti),q3(ti)]TFor the quaternary number at sampled point i moment, block-regulations is finished using single order
Quaternion differential equation is solved, is obtained
Wherein Δ t is the time interval of two adjacent sampling instants.ωx, ωy, ωzTo be respectively carrier coordinate system relative to inertia
The angular velocity information of coordinate system considers the precision of inertia device, therefore is lower carrier fortune to wherein rotational-angular velocity of the earth and navigation
Angular speed caused by dynamic is negligible, ωx, ωy, ωzAs three axis angular rates measured by gyroscope.
After quaternary number updates, for the ease of the intuitivism apprehension to angle, quaternary number is converted into Eulerian angles, corresponding relationship
For：
Step 3：The calculating of support phase mass center of human body
When people is in stance, the thigh of human body, the length of shank and foot are first measured, and use L respectivelytight、Lshin、
LfootIt indicates.It is unique during being in support to analyze with xoy plan view in order to facilitate the displacement of root node during description support
Estimation.
And by the following figure (4) it is found that in xoy plane, the x-axis coordinate of root nodeY-axis coordinateRespectively can by formula (11),
(12) it indicates.
Similarly, xoz plane, root node z-axis coordinate can be acquired.
Within the Δ t time, the displacement knots modification of hip joint, knee joint, ankle-joint is
The L in formula (13)kThe bone length in the joint k is represented, which can directly measure；θi,tIndicate that mass center exists in t moment
The size of the angle of xoy Plane Rotation
Similarly, within the Δ t time, the displacement knots modification of root artis is
Step 4：The Displacement Estimation algorithm of leap phase
In running, leap phase experienced is different from the support phase, is only influenced by gravity in this period human motion, at old friend
It can be approximated to be the bead that a quality is m in the leap phase and do upthrow movement under the influence of gravitational field.According to newtonian motion
Mechanics, in the t+ Δ t time, root nodeIt can be indicated by formula (15).
In formula (15), k can use any one in three values of x, y, z, respectively represent x-axis, y-axis, z-axis, υkIndicate the speed of the axis
Degree, can be obtained by the integral of gyroscope.
2. the movement human mass center according to claim 1 applied in virtual reality system is displaced calculation method, special
Sign is, the processor is respectively received the time of positioning light beam according at least four positioning beam receivers, described strafes
Period, the relative tertiary location relationship and the predetermined position for positioning beam launcher determine that the wear-type is virtually existing
The position of real equipment and/or the integrated knapsack.
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| CN111637959A (en) * | 2020-06-11 | 2020-09-08 | 中汽研汽车检验中心（天津）有限公司 | Method for testing position and quality of mass center of each part of human body |
| CN111637959B (en) * | 2020-06-11 | 2021-12-03 | 中汽研汽车检验中心（天津）有限公司 | Method for testing position and quality of mass center of each part of human body |
| WO2024124638A1 (en) * | 2022-12-16 | 2024-06-20 | 东南大学 | Wearable single-node device for leg posture estimation and measurement method |
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