CN108958478A - Action recognition and appraisal procedure are ridden in a kind of operation of Virtual assemble - Google Patents
Action recognition and appraisal procedure are ridden in a kind of operation of Virtual assemble Download PDFInfo
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- CN108958478A CN108958478A CN201810612622.8A CN201810612622A CN108958478A CN 108958478 A CN108958478 A CN 108958478A CN 201810612622 A CN201810612622 A CN 201810612622A CN 108958478 A CN108958478 A CN 108958478A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention belongs to body feeling interaction field, action recognition and appraisal procedure are ridden in specifically a kind of Virtual assemble operation.Method includes the following steps: Step 1: constructing foot-operated scene；Step 2: foot-operated action recognition；Step 3: foot-operated movement assessment；The present invention acquires skeleton data using Kinect V2 equipment, central point and ankle foothold are ridden by Kinect V2 coordinate reverse, foot-operated movement is judged according to foot's speed, the angle of the vector of ankle to foot and XOY plane and foot and foot-operated central point distance, it is assessed further according to ankle region, knee to ankle vector and knee to stern vector angle, has filled up the blank of existing market.
Description
Technical field
The invention belongs to body feeling interaction field, action recognition and assessment are ridden in specifically a kind of Virtual assemble operation
Method.
Background technique
MOD method is the standard method the predetermined motion times by the invention of Australian sea of faces's base of a fruit in 1966.MOD method
Following three points are concluded in experiment of the basic principle based on ergonomics:
1, movement when all manual operations includes some elemental motions.Pass through a large amount of experimental study, MOD method handle
It produces the movement operated in practice and is summarized as 21 kinds.
2, time value needed for different people does same movement (when condition is identical) is of substantially equal.
3, when being acted using body different parts, movement time value used is mutually proportional, and (in such as MOD method, hand is moved
Work is 2 times of finger movement, and the movement of forearm is 3 times of finger movement), therefore can be according to finger one-off chronomere
Magnitude, directly calculate the time value of other different physical feelings movements.
Foot-operated movement refers to that heel is stepped on floor, carries out sufficient neck movement, is indicated with F3, time 3MOD.Ankle arthrosis
One-off to tiptoe is expressed as F3, then lift the movement of backspace is F3 again.If heel leaves in foot-operated action process
Pedal is then defined as W5.And foot leaves ground steps on the movement of switch again and should similarly be determined as W5.
So far, nobody identify and assessment to movement is ridden in Virtual assemble operation.
Summary of the invention
The present invention acquires skeleton data using Kinect V2 equipment, rides center by Kinect V2 coordinate reverse
Point and ankle foothold, according to foot's speed, the angle of the vector of ankle to foot and XOY plane and foot and foot-operated central point distance
Judge foot-operated movement, is assessed, filled out to stern vector angle further according to ankle region, knee to ankle vector and knee
The blank of existing market is mended.
Technical solution of the present invention is described with reference to the drawings as follows:
Action recognition and appraisal procedure are ridden in a kind of operation of Virtual assemble, method includes the following steps:
Step 1: constructing foot-operated scene；
11), Kinect V2 equipment level is placed, and is kept at a distance from 1m in virtual scene with ground；It utilizes
Kinect V2 acquire 25 human body skeleton points include head, neck, shoulder center, left thumb, right thumb, left finger tip, right finger tip, left hand,
The right hand, left finesse, right finesse, left elbow, right elbow, left shoulder, right shoulder, backbone, hip joint center, left stern, left knee, left foot
Ankle, left foot, right stern, right knee, right ankle, right crus of diaphragm；Wherein, A1(x1,i,y1,i,z1,i) indicate the i-th frame left stern coordinate points,
25 frame per second, 1 frame 0.04 second；A2(x2,i,y2,i,z2,i) indicate the i-th frame left knee coordinate points, 25 frame per second, 1 frame 0.04
Second；A3(x3,i,y3,i,z3,i) indicate the i-th frame left ankle coordinate points, 25 frame per second, 1 frame 0.04 second；A4(x4,i,y4,i,z4,i)
Indicate the coordinate points of the left foot of the i-th frame, 25 frame per second, 1 frame 0.04 second；A5(x5,i,y5,i,z5,i) indicate the i-th frame right stern seat
Punctuate, 25 frame per second, 1 frame 0.04 second；A6(x6,i,y6,i,z6,i) indicate the i-th frame right knee coordinate points, 25 frame per second, 1 frame
0.04 second；A7(x7,i,y7,i,z7,i) indicate the i-th frame right ankle coordinate points, 25 frame per second, 1 frame 0.04 second；A8(x8,i,y8,i,
z8,i) indicate the i-th frame right crus of diaphragm coordinate points, 25 frame per second, 1 frame 0.04 second；
12) coordinate-system carried with Kinect V2 is constructed foot-operated scene by virtual scene；Centered on Kinect V2
Coordinate points, by foot-operated central point E1、E2The both sides coordinate origin O are respectively provided at, riding central point is 1 meter with a distance from XOY plane；
Distance of the left stern of calculating operation personnel to right stern firstLeft ankle arrives
The distance of left footDefine foot-operated center point coordinate E1(0.75l1,
0.5m, -1m), E2(-0.75l1,0.5m,-1m)；Ankle foothold coordinate E3(0.75l1,0.5m+l2, -1m), E4(-0.75l1,
0.5m+l2,-1m)；Region I respectively indicates distance E3And E4The range of length (0,0.05m), at the same Z axis distance range (-
1m, -0.97m) within；Region II respectively indicates distance E3And E4Length is less than the range of (0.05m, 0.1m), while Z axis distance
Range is within (- 1m, -0.97m)；
Step 2: foot-operated action recognition；
Foot-operated movement is firstly the need of determining whether left ankle or right ankle land, further according to the speed of left foot or right crus of diaphragm, a left side
The angle and left foot or right crus of diaphragm and foot-operated central point that ankle or right ankle are presented to the vector of left foot or right crus of diaphragm and XOY plane
E1Or E2To determine whether to complete foot-operated movement；
21) left foot identifies；
Identification prepares as follows:
(1) left foot identification process needs first to calculate the speed of left footThe vector of left ankle to left foot isVectorIt is with XOY plane angleLeft foot and foot-operated central point E1Distance
(2) when operator completes single foot-operated movement, backstage needs to record the region of left ankle, left knee arrives
Left ankle vector and left knee to left stern vector angle；
Region decision needs to calculate left ankle and ankle foothold E3DistanceWork as l4∈ (0,0.05m) and z3,i∈(-1m,-0.97m)
When, it is believed that in region I；Work as l4∈ (0.05m, 0.1m) and z3,iWhen ∈ (- 1m, -0.97m), it is believed that in region II；Other regions
It does not record；
Left knee is first obtained to left ankle vectorLeft knee to left stern to
AmountVector can be obtainedWith vectorAngle
Specific identification process is as follows:
Determine 1: if left ankle coordinate points z3,i∈ (- 1m, -0.97m), as left ankle landing, turn decision process 2；
Determine 2: working as l3< 0.05m and θ1∈ (20 °, 45 °), it is believed that prepare foot-operated movement, mark j=0, turn over journey 2.1；
Determine 2.1: working as V1> 0.3m/s, it is believed that start positive foot-operated movement, turn 2.2；
Determine 2.2: working as V1< 0.2m/s and l3< 0.05m and θ1When ∈ (0 °, 10 °), it is believed that complete primary positive foot-operated dynamic
Make, at this time z3,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Simultaneously to zone of action and folder
Angle is calculated, when zone of action is I, Nj=1；When zone of action is II, Nj=2；Other regions are Nj=0；Record this
When angle Mj=θ2；J=j+1 turns 2.3；Work as l3> 0.05m turns 3.；Wherein, NjIndicate j foot-operated movement left ankle location
Domain, MjIndicate j foot-operated movement left knee to left ankle vector and left knee to left stern vector angle；
Determine 2.3: working as V1When > 0.3m/s, it is believed that start the foot-operated movement of back, turn 2.4；
Determine 2.4: working as V1< 0.2m/s and l3< 0.05m and θ1When ∈ (20 °, 45 °), it is believed that it is foot-operated to complete a back
It acts, at this time z3,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Zone of action is calculated simultaneously
And angle, when zone of action is I, Nj=1；When zone of action is II, Nj=2；Other regions are Nj=0；Record presss from both sides at this time
Angle Mj=θ2；J=j+1 turns 2.1.Work as l3> 0.05m turns to determine 3；
Determine 3: identification stops, j=j-1；
22) right crus of diaphragm identifies；
Identification prepares as follows:
(1) right crus of diaphragm identification process needs first to calculate the speed of right crus of diaphragmThe vector of right ankle to right crus of diaphragm isVectorIt is with XOY plane angleRight crus of diaphragm and foot-operated central point E2Distance
(2) when operator completes single foot-operated movement, backstage needs to record the region of right ankle, right knee arrives
Right ankle vector and right knee to right stern vector angle；
Region decision needs to calculate right ankle and ankle foothold E4DistanceWork as l6∈ (0,0.05m) and z7,i∈ (- 1m, -0.97m),
Think in region I；Work as l6∈ (0.05m, 0.1m) and z7,i∈ (- 1m, -0.97m), it is believed that in region II；Do not remember in other regions
Record.
Right knee is first obtained to right ankle vectorRight knee to right stern to
AmountVector can be obtainedWith vectorAngle
Specific identification process is as follows:
Determine 1: if right ankle coordinate points z7,i∈ (- 1m, -0.97m), as right ankle landing, turn decision process 2；
Determine 2: working as l5< 0.05m and θ3∈ (20 °, 45 °), it is believed that prepare foot-operated movement, mark l=0, turn over journey 2.1；
Determine 2.1: working as V2When > 0.3m/s, it is believed that start positive foot-operated movement, turn 2.2；
Determine 2.2: working as V2< 0.2m/s and l5< 0.05m and θ3When ∈ (0 °, 10 °), it is believed that complete primary positive foot-operated dynamic
Make, at this time z7,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Simultaneously to zone of action and folder
Angle is calculated, when zone of action is I, Ol=1；When zone of action is II, Ol=2；Other regions are Ol=0；Record this
When angle Pl=θ4；L=l+1 turns 2.3.Work as l5> 0.05m turns 3；Wherein, OlIndicate l foot-operated movement right ankle location
Domain, PlIndicate the l foot-operated right knee of movement to right ankle vector and right knee to right stern vector angle；
Determine 2.3: working as V2When > 0.3m/s, it is believed that start the foot-operated movement of back, turn 2.4；
Determine 2.4: working as V2< 0.2m/s and l5< 0.05m and θ3When ∈ (20 °, 45 °), it is believed that it is foot-operated to complete a back
It acts, at this time z7,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Zone of action is calculated simultaneously
And angle, when zone of action is I, Ol=1；When zone of action is II, Ol=2；Other regions are Ol=0；Record presss from both sides at this time
Angle Pl=θ4；L=l+1 turns 2.1.Work as l5> 0.05m turns to determine 3；
Determine 3: identification stops, l=l-1；
Step 3: foot-operated movement assessment；
End of identification scores to ankle region after the completion of foot-operated movement, and region I is 10 points, region II 6
Point, other is 0 point, acquires left foot and right crus of diaphragm total score g1、g2, grand averageWhen grand average G (8 points, 10
Point] when, it is believed that foot-operated motion action is normal；When grand average G (6 points, 8 points] when, it is believed that foot-operated operating space there are problem,
Ankle drop point needs to be improved；When grand average G (0 point, 6 points] when, it is believed that foot-operated remarkable action needs to stop immediately correcting；
Knee is calculated to ankle vector and knee to the standard deviation of stern vector angle, wherein the standard deviation of left kneeThe standard deviation of right kneeAverage is poor
When average difference H (0,5] when, it is believed that knee is normal in foot-operated movement；When average difference H (5,10] when, it is believed that foot
It is excessive to step knee amplitude of fluctuation in work, it should be noted that operational stability；When average difference H (10, ∞] when, it is believed that it is foot-operated
Knee is abnormal in movement, need to stop at once.
The invention has the benefit that
The present invention can reduce the Industrial Engineer of profession by foot-operated movements design at the acceptable mathematical method of computer
Workload, reduce labour cost.Current area does not have relation technological researching temporarily, and this method, which provides a kind of technical solution and fills up, to be worked as
Preceding blank.
Detailed description of the invention
Fig. 1 is skeletal joint point distribution schematic diagram of the invention；
Fig. 2 is foot-operated scattergram of the invention；
Fig. 3 is foot-operated central point of the invention and ankle foothold specific location figure.
Specific embodiment
Action recognition and appraisal procedure are ridden in a kind of operation of Virtual assemble, detailed process is as follows:
Step 1: foot-operated scene is constructed
Refering to fig. 1, Kinect V2 equipment level is placed, and is kept at a distance from 1m in virtual scene with ground；It utilizes
Kinect V2 acquire 25 human body skeleton points include head, neck, shoulder center, left thumb, right thumb, left finger tip, right finger tip, left hand,
The right hand, left finesse, right finesse, left elbow, right elbow, left shoulder, right shoulder, backbone, hip joint center, left stern, left knee, left foot
Ankle, left foot, right stern, right knee, right ankle, right crus of diaphragm；Wherein, A1(x1,i,y1,i,z1,i) indicate the i-th frame left stern coordinate points,
25 frame per second, 1 frame 0.04 second；A2(x2,i,y2,i,z2,i) indicate the i-th frame left knee coordinate points, 25 frame per second, 1 frame 0.04
Second；A3(x3,i,y3,i,z3,i) indicate the i-th frame left ankle coordinate points, 25 frame per second, 1 frame 0.04 second；A4(x4,i,y4,i,z4,i)
Indicate the coordinate points of the left foot of the i-th frame, 25 frame per second, 1 frame 0.04 second；A5(x5,i,y5,i,z5,i) indicate the i-th frame right stern seat
Punctuate, 25 frame per second, 1 frame 0.04 second；A6(x6,i,y6,i,z6,i) indicate the i-th frame right knee coordinate points, 25 frame per second, 1 frame
0.04 second；A7(x7,i,y7,i,z7,i) indicate the i-th frame right ankle coordinate points, 25 frame per second, 1 frame 0.04 second；A8(x8,i,y8,i,
z8,i) indicate the i-th frame right crus of diaphragm coordinate points, 25 frame per second, 1 frame 0.04 second；
The coordinate-system carried with Kinect V2 is constructed foot-operated scene by virtual scene.As shown in Fig. 2, with Kinect V2
For center coordinate points, by foot-operated central point E1、E2The both sides coordinate origin O are respectively provided at, ride central point with a distance from XOY plane
It is 1 meter.Foot-operated Scenario Design is as shown in figure 3, distance of the left stern of calculating operation personnel to right stern firstDistance of the left ankle to left footFoot-operated center point coordinate E is defined herein1(0.75l1,0.5m,-
1m), E2(-0.75l1,0.5m,-1m)；Ankle foothold coordinate E3(0.75l1,0.5m+l2, -1m), E4(-0.75l1,0.5m+
l2,-1m)；Region I respectively indicates distance E3And E4The range of length (0,0.05m), at the same Z axis distance range (- 1m ,-
Within 0.97m)；Region II respectively indicates distance E3And E4Length is less than the range of (0.05m, 0.1m), while Z axis distance range
Within (- 1m, -0.97m).
Step 2: foot-operated action recognition
Whether foot-operated movement lands firstly the need of judgement left ankle (right ankle), the speed, a left side further according to left foot (right crus of diaphragm)
The angle and left foot (right crus of diaphragm) and foot-operated central point that the vector and XOY plane of ankle (right ankle) to left foot (right crus of diaphragm) are presented
E1(E2) determine whether to complete foot-operated movement.
1. left foot identifies
Identification prepares as follows.
(1) left foot identification process needs first to calculate the speed of left footThe vector of left ankle to left foot isVector is with XOY plane angleLeft foot and foot-operated central point E1Distance
(2) when operator completes single foot-operated movement, backstage needs to record the region of left ankle, left knee arrives
Left ankle vector and left knee to left stern vector angle.
Region decision needs to calculate left ankle and ankle foothold E3DistanceWork as l4∈ (0,0.05m) and z3,i∈ (- 1m, -0.97m),
Think in region I；Work as l4∈ (0.05m, 0.1m) and z3,i∈ (- 1m, -0.97m), it is believed that in region II；Do not remember in other regions
Record.
Left knee is first obtained to left ankle vectorLeft knee to left stern to
AmountAngle can be obtained
Specific identification process is as follows.
Determine 1: if left ankle coordinate points z3,i∈ (- 1m, -0.97m), as left ankle landing, turn decision process 2；
Determine 2: working as l3< 0.05m and θ1∈ (20 °, 45 °), it is believed that prepare foot-operated movement, mark j=0, turn over journey 2.1；
Determine 2.1: working as V1> 0.3m/s, it is believed that start positive foot-operated movement, turn 2.2；
Determine 2.2: working as V1< 0.2m/s and l3< 0.05m and θ1∈ (0 °, 10 °), it is believed that complete primary positive foot-operated dynamic
Make, at this time z3,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5.Simultaneously to zone of action and folder
Angle is calculated, when zone of action is I, Nj=1；When zone of action is II, Nj=2；Other regions are Nj=0；Record presss from both sides at this time
Angle Mj=θ2.J=j+1 turns 2.3.Work as l3> 0.05m turns 3.(NjIndicate j foot-operated movement left ankle region, MjIndicate j
Secondary foot-operated movement left knee is to left ankle vector and left knee to left stern vector angle)
Determine 2.3: working as V1> 0.3m/s, it is believed that start the foot-operated movement of back, turn 2.4；
Determine 2.4: working as V1< 0.2m/s and l3< 0.05m and θ1∈ (20 °, 45 °), it is believed that it is foot-operated dynamic to complete a back
Make, at this time z3,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5.Simultaneously calculate zone of action and
Angle, when zone of action is I, Nj=1；When zone of action is II, Nj=2；Other regions are Nj=0；Record angle M at this timej=
θ2.J=j+1 turns 2.1.Work as l3> 0.05m turns to determine 3.
Determine 3: identification stops, j=j-1.
2. right crus of diaphragm identifies
Identification prepares as follows.
(1) right crus of diaphragm identification process needs first to calculate the speed of right crus of diaphragmThe vector of right ankle to right crus of diaphragm isVector is with XOY plane angleRight crus of diaphragm and foot-operated central point E2Distance
(2) when operator completes single foot-operated movement, backstage needs to record the region of right ankle, right knee arrives
Right ankle vector and right knee to right stern vector angle.
Region decision needs to calculate right ankle and ankle foothold E4DistanceWork as l6∈ (0,0.05m) and z7,i∈ (- 1m, -0.97m),
Think in region I；Work as l6∈ (0.05m, 0.1m) and z7,i∈ (- 1m, -0.97m), it is believed that in region II；Do not remember in other regions
Record.
Right knee is first obtained to right ankle vectorRight knee to right stern to
AmountVector can be obtainedWith vectorAngle
Specific identification process is as follows.
Determine 1: if right ankle coordinate points z7,i∈ (- 1m, -0.97m), as right ankle landing, turn decision process 2；
Determine 2: working as l5< 0.05m and θ3∈ (20 °, 45 °), it is believed that prepare foot-operated movement, mark l=0, turn over journey 2.1；
Determine 2.1: working as V2> 0.3m/s, it is believed that start positive foot-operated movement, turn 2.2；
Determine 2.2: working as V2< 0.2m/s and l5< 0.05m and θ3∈ (0 °, 10 °), it is believed that complete primary positive foot-operated dynamic
Make, at this time z7,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5.Simultaneously to zone of action and folder
Angle is calculated, when zone of action is I, Ol=1；When zone of action is II, Ol=2；Other regions are Ol=0；Record presss from both sides at this time
Angle Pl=θ4.L=l+1 turns 2.3.Work as l5> 0.05m turns 3.(OlIndicate l foot-operated movement right ankle region, PlIndicate l
The right knee of secondary foot-operated movement is to right ankle vector and right knee to right stern vector angle)
Determine 2.3: working as V2> 0.3m/s, it is believed that start the foot-operated movement of back, turn 2.4；
Determine 2.4: working as V2< 0.2m/s and l5< 0.05m and θ3∈ (20 °, 45 °), it is believed that it is foot-operated dynamic to complete a back
Make, at this time z7,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5.Simultaneously calculate zone of action and
Angle, when zone of action is I, Ol=1；When zone of action is II, Ol=2；Other regions are Ol=0；Record angle P at this timel=
θ4.L=l+1 turns 2.1.Work as l5> 0.05m turns to determine 3.
Determine 3: identification stops, l=l-1.
Step 3: foot-operated movement assessment
End of identification scores to ankle region after the completion of foot-operated movement, and region I is 10 points, region II 6
Point, other is 0 point, acquires left foot and right crus of diaphragm total score g1、g2, grand averageGrand average (8 points, 10
Point], it is believed that foot-operated motion action is normal；(6 points, 8 points], it is believed that there are problem, ankle drop point needs to change for foot-operated operating space
It is kind；(0 point, 6 points], it is believed that foot-operated remarkable action needs to stop immediately correcting.
Knee is calculated to ankle vector and knee to the standard deviation of stern vector angle, wherein the standard deviation of left kneeThe standard deviation of right kneeAverage is poor
H (0,5], it is believed that knee is normal in foot-operated movement；H (5,10], it is believed that knee amplitude of fluctuation is excessive in foot-operated movement, needs
Pay attention to operational stability；H (10, ∞], it is believed that knee is abnormal in foot-operated movement, preferably stops at once.
Claims (1)
1. riding action recognition and appraisal procedure in a kind of Virtual assemble operation, which is characterized in that method includes the following steps:
Step 1: constructing foot-operated scene；
11), Kinect V2 equipment level is placed, and is kept at a distance from 1m in virtual scene with ground；Utilize Kinect
It includes head, neck, shoulder center, left thumb, right thumb, left finger tip, right finger tip, left hand, the right hand, a left side that V2, which acquires 25 human body skeleton points,
Wrist, right finesse, left elbow, right elbow, left shoulder, right shoulder, backbone, hip joint center, left stern, left knee, left ankle, left foot,
Right stern, right knee, right ankle, right crus of diaphragm；Wherein, A1(x1,i,y1,i,z1,i) indicate the i-th frame left stern coordinate points, 25 frame per second,
1 frame 0.04 second；A2(x2,i,y2,i,z2,i) indicate the i-th frame left knee coordinate points, 25 frame per second, 1 frame 0.04 second；A3(x3,i,
y3,i,z3,i) indicate the i-th frame left ankle coordinate points, 25 frame per second, 1 frame 0.04 second；A4(x4,i,y4,i,z4,i) indicate the i-th frame
Left foot coordinate points, 25 frame per second, 1 frame 0.04 second；A5(x5,i,y5,i,z5,i) indicate the i-th frame right stern coordinate points, it is per second
25 frames, 1 frame 0.04 second；A6(x6,i,y6,i,z6,i) indicate the i-th frame right knee coordinate points, 25 frame per second, 1 frame 0.04 second；A7
(x7,i,y7,i,z7,i) indicate the i-th frame right ankle coordinate points, 25 frame per second, 1 frame 0.04 second；A8(x8,i,y8,i,z8,i) indicate
The coordinate points of the right crus of diaphragm of i-th frame, 25 frame per second, 1 frame 0.04 second；
12) coordinate-system carried with Kinect V2 is constructed foot-operated scene by virtual scene；Using Kinect V2 as center coordinate
Point, by foot-operated central point E1、E2The both sides coordinate origin O are respectively provided at, riding central point is 1 meter with a distance from XOY plane；First
Distance of the left stern of calculating operation personnel to right sternLeft ankle is to left foot
DistanceDefine foot-operated center point coordinate E1(0.75l1,0.5m,-
1m), E2(-0.75l1,0.5m,-1m)；Ankle foothold coordinate E3(0.75l1,0.5m+l2, -1m), E4(-0.75l1,0.5m+
l2,-1m)；Region I respectively indicates distance E3And E4The range of length (0,0.05m), at the same Z axis distance range (- 1m ,-
Within 0.97m)；Region II respectively indicates distance E3And E4Length is less than the range of (0.05m, 0.1m), while Z axis distance range
Within (- 1m, -0.97m)；
Step 2: foot-operated action recognition；
Foot-operated movement is firstly the need of determining whether left ankle or right ankle land, further according to the speed of left foot or right crus of diaphragm, left ankle
Or the angle that is presented to the vector of left foot or right crus of diaphragm and XOY plane of right ankle and left foot or right crus of diaphragm and foot-operated central point E1Or
E2To determine whether to complete foot-operated movement；
21) left foot identifies；
Identification prepares as follows:
(1) left foot identification process needs first to calculate the speed of left footThe vector of left ankle to left foot isVectorIt is with XOY plane angleLeft foot and foot-operated central point E1Distance
(2) need to record region, the left knee to left foot of left ankle from the background when operator completes single foot-operated movement
Ankle vector and left knee to left stern vector angle；
Region decision needs to calculate left ankle and ankle foothold E3DistanceWork as l4∈ (0,0.05m) and z3,i∈(-1m,-0.97m)
When, it is believed that in region I；Work as l4∈ (0.05m, 0.1m) and z3,iWhen ∈ (- 1m, -0.97m), it is believed that in region II；Other regions
It does not record；
Left knee is first obtained to left ankle vectorLeft knee is to left stern vectorVector can be obtainedWith vectorAngle
Specific identification process is as follows:
Determine 1: if left ankle coordinate points z3,i∈ (- 1m, -0.97m), as left ankle landing, turn decision process 2；
Determine 2: working as l3< 0.05m and θ1∈ (20 °, 45 °), it is believed that prepare foot-operated movement, mark j=0, turn over journey 2.1；
Determine 2.1: working as V1> 0.3m/s, it is believed that start positive foot-operated movement, turn 2.2；
Determine 2.2: working as V1< 0.2m/s and l3< 0.05m and θ1When ∈ (0 °, 10 °), it is believed that primary positive foot-operated movement is completed,
Z at this time3,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Simultaneously to zone of action and angle
It is calculated, when zone of action is I, Nj=1；When zone of action is II, Nj=2；Other regions are Nj=0；Record is at this time
Angle Mj=θ2；J=j+1 turns 2.3；Work as l3> 0.05m turns 3.；Wherein, NjIndicate j foot-operated movement left ankle region,
MjIndicate j foot-operated movement left knee to left ankle vector and left knee to left stern vector angle；
Determine 2.3: working as V1When > 0.3m/s, it is believed that start the foot-operated movement of back, turn 2.4；
Determine 2.4: working as V1< 0.2m/s and l3< 0.05m and θ1When ∈ (20 °, 45 °), it is believed that the foot-operated movement of a back is completed,
Z at this time3,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Zone of action and folder are calculated simultaneously
Angle, when zone of action is I, Nj=1；When zone of action is II, Nj=2；Other regions are Nj=0；Record angle M at this timej
=θ2；J=j+1 turns 2.1.Work as l3> 0.05m turns to determine 3；
Determine 3: identification stops, j=j-1；
22) right crus of diaphragm identifies；
Identification prepares as follows:
(1) right crus of diaphragm identification process needs first to calculate the speed of right crus of diaphragmThe vector of right ankle to right crus of diaphragm isVectorIt is with XOY plane angleRight crus of diaphragm and foot-operated central point E2Distance
(2) need to record region, the right knee to right crus of diaphragm of right ankle from the background when operator completes single foot-operated movement
Ankle vector and right knee to right stern vector angle；
Region decision needs to calculate right ankle and ankle foothold E4DistanceWork as l6∈ (0,0.05m) and z7,i∈(-1m,-
0.97m), it is believed that in region I；Work as l6∈ (0.05m, 0.1m) and z7,i∈ (- 1m, -0.97m), it is believed that in region II；Other areas
Domain does not record.
Right knee is first obtained to right ankle vectorRight knee is to right stern vectorVector can be obtainedWith vectorAngle
Specific identification process is as follows:
Determine 1: if right ankle coordinate points z7,i∈ (- 1m, -0.97m), as right ankle landing, turn decision process 2；
Determine 2: working as l5< 0.05m and θ3∈ (20 °, 45 °), it is believed that prepare foot-operated movement, mark l=0, turn over journey 2.1；
Determine 2.1: working as V2When > 0.3m/s, it is believed that start positive foot-operated movement, turn 2.2；
Determine 2.2: working as V2< 0.2m/s and l5< 0.05m and θ3When ∈ (0 °, 10 °), it is believed that primary positive foot-operated movement is completed,
Z at this time7,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Simultaneously to zone of action and angle
It is calculated, when zone of action is I, Ol=1；When zone of action is II, Ol=2；Other regions are Ol=0；Record is at this time
Angle Pl=θ4；L=l+1 turns 2.3.Work as l5> 0.05m turns 3；Wherein, OlIndicate l foot-operated movement right ankle region, Pl
Indicate the l foot-operated right knee of movement to right ankle vector and right knee to right stern vector angle；
Determine 2.3: working as V2When > 0.3m/s, it is believed that start the foot-operated movement of back, turn 2.4；
Determine 2.4: working as V2< 0.2m/s and l5< 0.05m and θ3∈(20°,45°)When, it is believed that the foot-operated movement of a back is completed,
Z at this time7,i∈ (- 1m, -0.97m), then it is assumed that foot-operated movement model's value is F3, otherwise is W5；Zone of action and folder are calculated simultaneously
Angle, when zone of action is I, Ol=1；When zone of action is II, Ol=2；Other regions are Ol=0；Record angle P at this timel
=θ4；L=l+1 turns 2.1.Work as l5> 0.05m turns to determine 3；
Determine 3: identification stops, l=l-1；
Step 3: foot-operated movement assessment；
End of identification scores to ankle region after the completion of foot-operated movement, and region I is 10 points, and region II is 6 points,
It is 0 point, acquires left foot and right crus of diaphragm total score g1、g2, grand averageWhen grand average G (8 points, 10 points]
When, it is believed that foot-operated motion action is normal；When grand average G (6 points, 8 points] when, it is believed that there are problem, feet for foot-operated operating space
Ankle drop point needs to be improved；When grand average G (0 point, 6 points] when, it is believed that foot-operated remarkable action needs to stop immediately correcting；
Knee is calculated to ankle vector and knee to the standard deviation of stern vector angle, wherein the standard deviation of left kneeThe standard deviation of right kneeAverage is poor
When average difference H (0,5] when, it is believed that knee is normal in foot-operated movement；When average difference H (5,10] when, it is believed that foot
It is excessive to step knee amplitude of fluctuation in work, it should be noted that operational stability；When average difference H (10, ∞] when, it is believed that it is foot-operated
Knee is abnormal in movement, need to stop at once.
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