CN109003300B - Virtual reality system based on human body centroid displacement calculation algorithm - Google Patents
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Abstract
The invention requests to protect a virtual reality system based on a human body centroid displacement calculation algorithm, which comprises the following components: wearable virtual reality equipment, equipment include head-mounted equipment, motion capture equipment and integration knapsack, and head-mounted equipment includes the head-mounted display for show virtual scene, motion capture equipment include motion capture inductor and barycenter displacement calculation module, still are used for catching the human barycenter displacement condition of moving, motion capture inductor is used for responding to the action of a plurality of positions on the user's health respectively, barycenter displacement calculation module is used for human barycenter displacement to calculate, through adopting inertia device including EMS gyroscope and accelerometer, obtains the human supporting leg situation of motion, asks the situation of motion of human barycenter, and the integration knapsack includes: a processor connected to the motion capture device and the head mounted display, respectively; at least one receiving space for receiving a motion capture device. The invention can improve the accuracy of human motion control of the virtual reality system.
Description
Technical Field
The invention belongs to the technical field of virtual reality, and particularly relates to a virtual reality system based on a human body centroid displacement calculation algorithm.
Background
Virtual Reality (Virtual Reality for short) is a high and new technology appearing in recent years, and is also called a smart technology (chiefly's translation of the national famous scientists). The virtual reality is a virtual world which utilizes computer simulation to generate a three-dimensional space, provides simulation of senses of vision, hearing, touch and the like for a user, and enables the user to observe objects in the three-dimensional space in time without limitation as if the user is in his own environment.
The rapid development in the field of virtual reality has promoted the rapid development of 3D head-mounted displays, gesture recognition technologies, motion capture technologies, indoor positioning technologies, and other related technologies. The above related art implementations also exhibit various forms. With different implementation technical schemes and combination modes of different parts, user experience and effect are greatly different. Most products on the market are based on a certain technology or products aiming at a certain part related to virtual reality. Such as a separate head mounted display, a motion capture device utilizing only light recognition technology, a motion capture device based only on inertial sensors, a laser-based indoor positioning system, and so forth. The distributed virtual reality equipment occupies a relatively large space on one hand, and limits the activity range of the user in experience on the other hand. The motion capture technology has raised the research enthusiasm at home and abroad, wherein the waist (center of mass) of the human body is taken as a key part capable of reflecting the motion of the human body, and plays a vital role in realizing motion capture, virtual reality and the like. The traditional method is to calculate the position of the mass center of the human body according to a human body kinematics model, but the method is only suitable for walking up and down stairs normally, but the posture of the human is mostly complex, and the capture of complex actions is difficult to realize. Another common method is to use an optical detection device to estimate the displacement of the centroid, but the optical measurement system is easily shielded by the outside world.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The virtual reality system based on the human body centroid displacement calculation algorithm is used for accurately estimating the motion centroid change of the human body in the virtual reality.
The technical scheme of the invention is as follows:
a virtual reality system based on a human body centroid displacement calculation algorithm comprises: including wearable virtual reality equipment, equipment includes head-mounted device, motion capture equipment and integration knapsack, and head-mounted device includes the head-mounted display for show virtual scene, motion capture equipment include a plurality of be suitable for arrange on user's health a plurality of positions motion capture inductor and barycenter displacement calculation module, still are used for catching human barycenter displacement removal condition, the motion capture inductor is used for responding to the action of a plurality of positions on user's health respectively, barycenter displacement calculation module is used for human barycenter displacement to calculate, through adopting inertia device including EMS gyroscope and accelerometer, obtains human supporting leg motion condition, specifically includes: judging whether the object to be tested is in a support period or a swing period according to data measured by the accelerometer; if when the measured object is in the support period, whether the measured object is a supporting leg is judged, and under the condition that the supporting leg is determined, the motion condition of the mass center of the human body is solved, which comprises the following steps: firstly, solving the sum of Euclidean norms of accelerometer data, then obtaining the sum of Euclidean norms of single measurement and the arithmetic square root of the relative error of gravity acceleration, and finally carrying out absolute value operation after filtering treatment to obtain the value of two-leg movement, multiplying the values of the two legs and judging the period of running of the pedestrian; solving the joint angle of the human body during motion according to inertial equipment fixed on the human body, and solving the position of the mass center according to a human body XOY vector motion diagram, a human body kinematics model and geometric kinematics to realize the calculation of the position of the mass center of the human body during running; the integration knapsack includes: the processor is respectively connected with the motion capture equipment and the head-mounted display and is used for receiving the real motion information acquired by the motion capture equipment, realizing a virtual reality effect based on the real motion information and a preset virtual scene and sending a corresponding virtual reality image to the head-mounted display; at least one receiving space for receiving a motion capture device.
Further, the sum of euclidean norms of accelerometer data is obtained, then the sum of euclidean norms of single measurement and the arithmetic square root of relative error of gravity acceleration are obtained, and after filtering processing, absolute value operation is finally performed to obtain the value of two-leg movement, the values of two legs are multiplied, and the period of running of the pedestrian is judged, specifically comprising the following formula: firstly, acquiring an output value of a triaxial accelerometer fixed on a leg of a person, and solving an Euclidean norm Acc of the output value, as shown in a formula (1).
In the formula (1), accx、accy、acczThe outputs of the accelerometer on the x axis, the y axis and the z axis respectively;
in the formula (2), g represents the gravitational acceleration, and is generally set to g ≈ 9.8m/s2
β＝0.5*(1+α-|1-α|) (3)
ζ＝βleft·βright (4)
In the formula (4), βleftValue, β, representing the left legrightA value representing the right leg;
the state of the running period and the supporting legs of the supporting period can be judged according to the formula (5), and the specific steps are as follows:
the support legs in the flight period, the support period, and the support period can be discriminated according to the formula (5).
Further, the calculation of the mass center of the human body in the support period specifically includes: when a person is in a standing stage, the lengths of the thigh, the shank and the foot of the person are measured, and L is used respectivelytight、Lshin、LfootTo show that for convenience of describing the displacement of the root node during support, the unique estimates during support are analyzed in a xoy plan; in xoy plane, x-axis coordinate of root node 
y-axis coordinate
May be represented by formulas (11), (12), respectively.
Similarly, the z-axis coordinates of the xoz plane and the root node can be obtained;
within the time delta t, the displacement change quantity of the hip joint, the knee joint and the ankle joint is
In the formula (13), LkRepresents the bone length of the k joint, which can be directly measured; thetai,tRepresenting the magnitude of the angle of rotation of the centroid in the xoy plane at time t;
similarly, the displacement of the root joint point changes by an amount equal to Δ t
Further, the processor determines the position of the head-mounted virtual reality device and/or the integrated backpack according to the time when the at least four positioning beam receivers respectively receive the positioning beams, the scanning period, the relative spatial position relationship, and a predetermined position of the positioning beam emitting device.
The invention has the advantages of
The MEMS inertial sensor is low in cost, low in power consumption and light in weight, does not need external distribution, and is easy to popularize. The algorithm flow is simple to operate, and too many resources of a processor are not required to be consumed. In experimental verification, the accuracy can reach 98.88%, the research on human body movement is significant, and the method has wide significance in virtual reality application. The movement condition of the human body supporting leg is obtained by arranging inertial devices including an EMS gyroscope and an accelerometer, and the measured object is judged to be in a supporting period or a swinging period according to data measured by the accelerometer; if when the measured object is in the support period, whether the measured object is a supporting leg is judged, and under the condition that the supporting leg is determined, the motion condition of the mass center of the human body is solved, which comprises the following steps: firstly, solving the sum of Euclidean norms of accelerometer data, then obtaining the sum of Euclidean norms of single measurement and the arithmetic square root of the relative error of gravity acceleration, and finally carrying out absolute value operation after filtering treatment to obtain the value of two-leg movement, multiplying the values of the two legs and judging the period of running of the pedestrian; solving the joint angle of the human body during motion according to inertial equipment fixed on the human body, and solving the position of the mass center according to a human body XOY vector motion diagram, a human body kinematics model and geometric kinematics to realize the calculation of the position of the mass center of the human body during running; accurate calculation of the position of the mass center of the human body is achieved, and then accurate feedback can be carried out on the state of the human body in virtual reality.
Drawings
Fig. 1 is a block diagram of a virtual reality system based on a human body centroid displacement calculation algorithm according to a preferred embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
fig. 1 shows a virtual reality system based on a human body centroid displacement calculation algorithm, which includes: wearable virtual reality equipment, equipment include head-mounted equipment, motion capture equipment and integration knapsack, and head-mounted equipment includes the head-mounted display for show virtual scene, motion capture equipment include a plurality of be suitable for arrange on user's health a plurality of positions motion capture inductor and barycenter displacement calculation module, still are used for catching human barycenter displacement removal condition, the motion capture inductor is used for responding to the action of a plurality of positions on user's health respectively, barycenter displacement calculation module is used for human barycenter displacement to calculate, through adopting inertia device including EMS gyroscope and accelerometer, obtains human supporting leg motion condition, specifically includes: judging whether the object to be tested is in a support period or a swing period according to data measured by the accelerometer; if when the measured object is in the support period, whether the measured object is a supporting leg is judged, and under the condition that the supporting leg is determined, the motion condition of the mass center of the human body is solved, which comprises the following steps: firstly, solving the sum of Euclidean norms of accelerometer data, then obtaining the sum of Euclidean norms of single measurement and the arithmetic square root of the relative error of gravity acceleration, and finally carrying out absolute value operation after filtering treatment to obtain the value of two-leg movement, multiplying the values of the two legs and judging the period of running of the pedestrian; solving the joint angle of the human body during motion according to inertial equipment fixed on the human body, and solving the position of the mass center according to a human body XOY vector motion diagram, a human body kinematics model and geometric kinematics to realize the calculation of the position of the mass center of the human body during running; the integration knapsack includes: the processor is respectively connected with the motion capture equipment and the head-mounted display and is used for receiving the real motion information acquired by the motion capture equipment, realizing a virtual reality effect based on the real motion information and a preset virtual scene and sending a corresponding virtual reality image to the head-mounted display; at least one receiving space for receiving a motion capture device.
Preferably, the sum of euclidean norms of accelerometer data is obtained, the sum of euclidean norms of single measurement and the arithmetic square root of the relative error of the gravity acceleration are obtained, filtering is performed, absolute value operation is performed finally to obtain the value of the motion of the two legs, the values of the two legs are multiplied, and the period of the running pedestrian is judged, specifically including the following formula: firstly, acquiring an output value of a triaxial accelerometer fixed on a leg of a person, and solving an Euclidean norm Acc of the output value, as shown in a formula (1).
In the formula (1), accx、accy、acczThe outputs of the accelerometer on the x axis, the y axis and the z axis respectively;
in the formula (2), g represents the gravitational acceleration, and is generally set to g ≈ 9.8m/s2
β＝0.5*(1+α-|1-α|) (3)
ζ＝βleft·βright (4)
In the formula (4), βleftValue, β, representing the left legrightA value representing the right leg;
the state of the running period and the supporting legs of the supporting period can be judged according to the formula (5), and the specific steps are as follows:
the support legs in the flight period, the support period, and the support period can be discriminated according to the formula (5).
Preferably, the calculation of the mass center of the human body in the support period specifically includes: when a person is in a standing stage, the lengths of the thigh, the shank and the foot of the person are measured, and L is used respectivelytight、Lshin、LfootTo show that for convenience of describing the displacement of the root node during support, the unique estimates during support are analyzed in a xoy plan; in xoy plane, x-axis coordinate of root node 
y-axis coordinate
May be represented by formulas (11), (12), respectively.
Similarly, the z-axis coordinates of the xoz plane and the root node can be obtained;
within the time delta t, the displacement change quantity of the hip joint, the knee joint and the ankle joint is
In the formula (13), LkRepresents the bone length of the k joint, which can be directly measured; thetai,tRepresenting the magnitude of the angle of rotation of the centroid in the xoy plane at time t;
similarly, the displacement of the root joint point changes by an amount equal to Δ t
Preferably, the processor determines the position of the head-mounted virtual reality device and/or the integrated backpack according to the time when the positioning light beam receivers respectively receive the positioning light beams, the scanning period, the relative spatial position relationship, and a predetermined position of the positioning light beam emitting device.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (3)
1. A virtual reality system based on a human body centroid displacement calculation algorithm is characterized by comprising: wearable virtual reality equipment, equipment include head-mounted equipment, motion capture equipment and integration knapsack, and head-mounted equipment includes the head-mounted display for show virtual scene, motion capture equipment include a plurality of be suitable for arrange on user's health a plurality of positions motion capture inductor and barycenter displacement calculation module, still are used for catching human barycenter displacement removal condition, the motion capture inductor is used for responding to the action of a plurality of positions on user's health respectively, barycenter displacement calculation module is used for human barycenter displacement to calculate, through adopting inertia device including EMS gyroscope and accelerometer, obtains human supporting leg motion condition, specifically includes: judging whether the object to be tested is in a support period or a swing period according to data measured by the accelerometer; if when the measured object is in the support period, whether the measured object is a supporting leg is judged, and under the condition that the supporting leg is determined, the motion condition of the mass center of the human body is solved, which comprises the following steps: firstly, solving the sum of Euclidean norms of accelerometer data, then obtaining the sum of Euclidean norms of single measurement and the arithmetic square root of the relative error of gravity acceleration, and finally carrying out absolute value operation after filtering treatment to obtain the value of two-leg movement, multiplying the values of the two legs and judging the period of running of the pedestrian; solving the joint angle of the human body during motion according to inertial equipment fixed on the human body, and solving the position of the mass center according to a human body XOY vector motion diagram, a human body kinematics model and geometric kinematics to realize the calculation of the position of the mass center of the human body during running; the integration knapsack includes: the processor is respectively connected with the motion capture equipment and the head-mounted display and is used for receiving the real motion information acquired by the motion capture equipment, realizing a virtual reality effect based on the real motion information and a preset virtual scene and sending a corresponding virtual reality image to the head-mounted display; at least one receiving space for receiving a motion capture device;
The method comprises the following steps of solving the sum of Euclidean norms of accelerometer data, then obtaining the sum of Euclidean norms of single measurement and the arithmetic square root of the relative error of gravity acceleration, carrying out filtering processing, finally carrying out absolute value operation to obtain the value of two-leg movement, multiplying the values of the two legs, and judging the period of running of the pedestrian, and specifically comprises the following formulas: firstly, collecting the output value of a triaxial accelerometer fixed on a leg of a person, and calculating the Euclidean norm Acc of the output value, as shown in a formula (1),
in the formula (1), accx、accy、acczThe outputs of the accelerometer on the x axis, the y axis and the z axis respectively;
in the formula (2), g represents the gravitational acceleration, and is generally set to g ≈ 9.8m/s2
β＝0.5*(1+α-|1-α|) (3)
ζ＝βleft·βright (4)
In the formula (4), βleftValue, β, representing the left legrightA value representing the right leg;
the state of the running period and the supporting legs of the supporting period can be judged according to the formula (5), and the specific steps are as follows:
the support legs in the flight period, the support period, and the support period can be discriminated according to the formula (5).
2. The virtual reality system based on the human body centroid displacement calculation algorithm according to claim 1, wherein the calculation of the human body centroid in the support period specifically comprises: when a person is in a standing stage, the lengths of the thigh, the shank and the foot of the person are measured, and L is used respectively tight、Lshin、LfootTo show that for convenience of describing the displacement of the root node during support, the unique estimates during support are analyzed in a xoy plan; in xoy plane, x-axis coordinate of root node
y-axis coordinate
May be represented by formulas (11), (12), respectively;
similarly, the z-axis coordinates of the xoz plane and the root node can be obtained;
within the time delta t, the displacement change quantity of the hip joint, the knee joint and the ankle joint is
In the formula (13), LkRepresents the bone length of the k joint, which can be directly measured; thetai,tRepresenting the magnitude of the angle of rotation of the centroid in the xoy plane at time t;
similarly, the displacement of the root joint point changes by an amount equal to Δ t
3. The virtual reality system based on human body centroid displacement calculation algorithm according to claim 1, wherein said processor determines the position of said head-mounted device and/or said integrated backpack according to the time of receiving positioning light beam by at least four positioning light beam receivers, said scanning period, said relative spatial position relationship and the predetermined position of positioning light beam emitting device.
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| CN102323854A (en) * | 2011-03-11 | 2012-01-18 | 中国科学院研究生院 | Human motion capture device |
| CN105183166A (en) * | 2015-09-15 | 2015-12-23 | 北京国承万通信息科技有限公司 | Virtual reality system |
| US10264997B1 (en) * | 2015-04-27 | 2019-04-23 | Capsule Technologies, Inc. | Systems and methods for selecting accelerometer data to store on computer-readable media |
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| CN102323854A (en) * | 2011-03-11 | 2012-01-18 | 中国科学院研究生院 | Human motion capture device |
| US10264997B1 (en) * | 2015-04-27 | 2019-04-23 | Capsule Technologies, Inc. | Systems and methods for selecting accelerometer data to store on computer-readable media |
| CN105183166A (en) * | 2015-09-15 | 2015-12-23 | 北京国承万通信息科技有限公司 | Virtual reality system |
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| Movement Analysis and Displacement Estimation of Human Lower Body by Inertial Sensors;Gong Shuang et al.;《International Journal of Science》;20170331;第4卷(第3期);第90-96页 * |
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