CN109344922A - A kind of dance movement evaluating system having motion-captured function - Google Patents
A kind of dance movement evaluating system having motion-captured function Download PDFInfo
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- CN109344922A CN109344922A CN201811036844.6A CN201811036844A CN109344922A CN 109344922 A CN109344922 A CN 109344922A CN 201811036844 A CN201811036844 A CN 201811036844A CN 109344922 A CN109344922 A CN 109344922A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
Abstract
The present invention provides a kind of dance movement evaluating system for having motion-captured function, comprising: space orientation component, movable joint sensor element, sensor signal summarize component, sensor signal processing component, joint parameter processing component, dance movement processing component, dancing standard diaphragm plate, human-computer interaction component.The configuration of the present invention is simple, it is convenient to operate, the dance movement of dancer is acquired at the first time, and matching marking is carried out with the movement that dancing standard diaphragm plate is stored by therein, it can intuitively reflect that dancer acts the difference between standard operation and provides dancer and digitize the display terminal suggested, not only dancer can be allowed to get information about auto- defect, the dancing equipment of examining for the levels that can also be used as standard carries out marking grading to dancing standard operation, has good moral and commercial promise.
Description
Technical field
The present invention relates to dance education technical fields, and in particular, to a kind of dance movement for having motion-captured function
Evaluating system.
Background technique
The teaching of dance movement at present be in such a way that the teacher that teaches instructs in words and by deeds, it is intuitive and by teaching person carry out language and
The interaction of limbs, based on movement explanation and Knowledge delivery, the utilization of skill and grasp strong depend-ence teacher personal experience and
Overall qualities, be still short of it is a kind of standardization, digitized Dancing Teaching assessment system, cannot achieve wave movement teaching and comment
Estimate the standardization of marking.
Currently without the explanation or report for finding technology similar to the present invention, it is also not yet collected into money similar both at home and abroad
Material.
Summary of the invention
Aiming at the above shortcomings existing in the prior art, has motion-captured function the object of the present invention is to provide a kind of
Dance movement evaluating system, the system are capable of providing a kind of standardization, digitized Dancing Teaching mode, realize that dancing is dynamic
Make the standardization of teaching and assessment marking.
To achieve the above object, the present invention adopts the following technical scheme that.
A kind of dance movement evaluating system having motion-captured function, comprising: space orientation component, movable joint sensing
Device component, sensor signal summarize component, sensor signal processing component, joint parameter processing component, dance movement processing unit
Part, dancing standard diaphragm plate, human-computer interaction component；Wherein:
The space orientation component captures the current spatial coordinate and orientation of dancer, and is sent to joint parameter processing unit
Part；
The movable joint sensor element acquires each joint shaft movement raw data and passes to sensor signal remittance
Total component；
The sensor signal summarizes the joint shaft that component acquires several movable joint sensor elements and moves original number
According to being summarized, and sensor signal processing component is sent to according to certain coding form；
The sensor signal processing component handles the joint shaft movement raw data of acquisition, then calculates dance
The spatial pose of person's four limbs, and current spatial pose parameter is passed into joint parameter processing component；
The joint parameter processing component by the current spatial coordinate and orientation of acquisition and current spatial pose parameter into
Row integration, forms current dancer's motion process parameter, and be sent to dance movement processing component；
In current dancer's motion process parameter that the dance movement processing component will acquire some movement segment and
Dancing standard diaphragm plate carries out digitlization matching, when the different movement segments and dancing mark in entire current dancer's motion process parameter
After quasi- diaphragm plate matches one by one, the movement difference between current dancer's motion process parameter and dancing standard diaphragm plate is provided, and send
To human-computer interaction component；
The dancing standard diaphragm plate contains several standard dance movement parameters in dance movement；
The dancing standard diaphragm plate database that the human-computer interaction component settings are currently applicable in, shows that current dancer is moved through
Movement difference between movement segment in journey parameter and dancing standard diaphragm plate, and movement difference is indicated to dancer.
Preferably, the space orientation component is using any one following structure:
The current spatial coordinate and orientation of dancer are captured by the way of laser traces, including laser emitter and light pass
Sensor generates the non-visible light in space using fixed laser emitter, is scanned by non-visible light and is installed on dancer's body
Optical sensor, the laser source of exploring laser light transmitter transmitting, and the position for calculating dancer and movement variation are to reflecting dance
Person current space coordinate and orientation；
The current spatial coordinate and orientation of dancer, including at least two are captured by the way of active infra-red laser positioning
Platform thermal camera, processor and infrared spectroscopy mark point are launched outward by the infrared spectroscopy mark point on dancer's body
Infrared light, and passed using fixed thermal camera captured in real-time, then by the different angle image information of thermal camera shooting
Pass processor, to obtain the position of infrared spectroscopy mark point, the body position and movement for finally fitting dancer change into
And reflect dancer current space coordinate and orientation；
The current spatial coordinate and orientation of dancer, including photosphere, phase are captured using the method for active optical positioning
The binocular camera and binocular camera of same parameter pass through the photosphere and fixed binocular camera completion dance with dancer
The space orientation of person obtains the present orientation of dancer；The same photosphere of synchronization is shot by fixed binocular camera
Video real-time resolving is carried out to the space coordinate of photosphere and by following formula:
The perspective projection relationship of video camera:
ku=αuf,kv=αvf (2)
MinFor camera intrinsic parameter matrix, MoutFor external parameters of cameras matrix, kuAnd kvIt is the amplification of X-axis and Y direction
Coefficient, auAnd avBe imaging plane to the plane of delineation in the amplification coefficient of X-axis and Y direction, f is focal length of camera, and S is image
The nonorthogonality of coordinate, (u0,v0) be optical axis center line and imaging plane intersection point, (Xc,Yc,Zc) it is imaging point coordinate, (u, v)
It is imaging plane picture point.Using CCD or cmos camera, pixel is square, S (S is greater than 0 less than 0.1) close to 0, and
Optical axis is in imaging plane center, u0And v0Intrinsic parameter model M equal to 0, similar to the pin-hole imaging model of standard, in formula (1)in
Are as follows:
The external parameter model of video camera is the description that world coordinates ties up in camera coordinate system, and imaging coordinate system is turned
It changes world coordinate system into, present coordinate system is subjected to rotation and translation transformation, i.e. the external parameter matrix M of video cameraout:
In formula, n=[nx,ny,nz]T, o=[ox,oy,oz]TWith a=[ax,ay,az]TIt is X respectivelywAxis, YwAxis and ZwAxis exists
Camera coordinate system OcXcYcZcIn direction vector, P=[Px,Py,Pz]TIt is coordinate origin OwIn camera coordinate system OcXcYcZc
In position coordinates.Video camera, according to formula (1), obtains camera perspective projection formula as camera internal reference number:
It brings formula (1) and (4) into formula (5), obtains tested photosphere and sat by the three-dimensional space under binocular stereo vision
Mark；The spin matrix and translation matrix for finding out video camera, find corresponding match point, obtain the three-dimensional coordinate of spatial point:
Preferably, the movable joint sensor element is fixed on the limbs of dancer, include at least gravitational accelerometer,
Gyroscope and geomagnetic sensor provide 9 axis inertial parameters；It is calculated by gravitational accelerometer, gyroscope and geomagnetic sensor
The joint angles of dancer's limbs, speed, acceleration, angular acceleration initial data, the initial data at least cover the shoulder of human body
Joint, elbow joint, wrist joint, hip joint, knee joint and ankle-joint kinematic parameter, form each joint shaft movement original number
According to.
Preferably, each movable joint sensor element includes a signal processor, and the signal processor will
Sensor signal, which is passed to, after the joint shaft movement raw data digitlization of acquisition summarizes component.
Preferably, the sensor signal, which summarizes component and passes through wired or wireless form and obtain joint shaft, moves original number
According to and summarized, pass to sensor signal processing unit after then being encoded the joint shaft movement raw data summarized
Part.
Preferably, the mode that the sensor signal processing component handles joint shaft movement raw data includes:
Digital signal filter, digital signal amplification and joint parameter normalization, and by treated data according to the side of time series
Formula is stored.
Preferably, the dance movement processing component includes: dancing standard diaphragm plate database interface, dance movement training calculation
Method module, dance movement matching algorithm module and dance movement assessment algorithm module, in which:
The dancing standard diaphragm plate database interface uses search engine, transfers institute in dancing standard diaphragm plate database in real time
The standard dance movement parameter included simultaneously matches with dancer's current action segment and provides the value of the confidence and confidence interval；
The dance movement training algorithm module carries out convolution by the standard dance movement parameter of the same movement of magnanimity
Neural metwork training trains mathematical model, and in this, as the matching diaphragm plate of a certain specific action；
A series of dancer movement segment is segmented by the dance movement matching algorithm module, and will be dynamic after segmentation
Make mathematical model and the retrieval of dancing standard diaphragm plate database interface that segment is trained by dance movement training algorithm module
Standard dance movement is matched, and matching process includes but is not limited to the matching of joint angles parameter, the matching of moving end parameter, closes
Save kinematic parameter matching, Image Matching etc.；
Dance movement and dancing standard diaphragm plate in the dance movement assessment algorithm module movement segment a certain to dancer
The matching result of standard dance movement parameter in database is weighted marking, points out that dancer acts segment by score value
Degree up to standard, and point out that dancer acts the difference in segment between each limbs joint and standard operation, i.e. movement segment and dancing
Movement difference between standard diaphragm plate；
The dance movement assessment algorithm module will act difference to dancer by way of image, voice and/or text
It indicates.
Preferably, the human-computer interaction component is using any one following display structure:
It is shown using any display screen in resistive touch screen, capacitive touch screen, inductive touch；
It is shown using any display terminal in LCD, CRT, LED, OLED, projection.
Preferably, each standard dance movement parameter includes following any one information:
Each joint shaft according to the movement velocity of time reference, position, acceleration and angular acceleration traffic flow information；
Each joint shaft according to the movement velocity of time reference, position, acceleration and angular acceleration traffic flow information, with
And image corresponding with traffic flow information, picture and music information.
Preferably, the movable joint sensor element, sensor signal summarize component, sensor signal processing component,
Any one or more in dance movement processing component, dancing standard diaphragm plate and human-computer interaction component passes through insertion battery
Or the transmitting of work energy is carried out by wired forms.
Compared with prior art, the present invention has the following beneficial effects:
The configuration of the present invention is simple, it is convenient to operate, and dancer need to only wear and contain the dress of several movable joint sensor elements
It sets, the movement that the dance movement of dancer can be acquired at the first time, and therein and dancing standard diaphragm plate is stored
Matching marking is carried out, the difference that can intuitively reflect between dancer's movement and standard operation simultaneously provides what dancer's digitlization was suggested
Display terminal not only can allow dancer to get information about auto- defect, and the dancing that can also be used as standard is examined for the levels equipment
Marking grading is carried out to dancing standard operation, there is good moral and commercial promise.The present invention has operation well
Property and versatility, have be widely popularized meaning.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of one embodiment of the present invention；
In figure: 01- space orientation component, 02- movable joint sensor element, 03- sensor signal summarize component, 04-
Sensor signal processing component, 05- dance movement processing component, 06- dancing standard diaphragm plate, 07- human-computer interaction component；
Fig. 2 is the movable joint sensor element of one embodiment of the present invention to acceleration and pitching, rolling and beat
Etc. the circuit diagram that is detected of postures；
Fig. 3 is that the circuit that the movable joint sensor element angular acceleration of one embodiment of the present invention is detected shows
It is intended to.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Referring to Fig.1 shown in -3, the example structure of the dance movement evaluating system for having motion-captured function of the invention
Figure, including: space orientation component, movable joint sensor element, sensor signal summarize component, sensor signal processing
Component, joint parameter processing component, dance movement processing component, dancing standard diaphragm plate, human-computer interaction component.Wherein:
The space orientation component is used to capture the space coordinate and orientation of dancer, and is sent to joint parameter processing unit
Part；
The movable joint sensor element includes at least gravitational accelerometer, gyroscope and geomagnetic sensor, provides 9
Each joint shaft movement raw data is passed to sensor signal by wired or wireless form and summarizes portion by axis inertial parameter
Part；
The 9 axis inertial parameter includes: 3 axis accelerometer parameters, 3 axis gyroscope parameters, 3 axis magnetometer parameters；
The sensor signal summarizes component and is used to summarize the movement raw data that several joint sensors acquire,
And sensor signal processing component is sent to according to certain coding form；
The sensor signal processing component is used to that the movement raw data in each joint of acquisition to be filtered, amplified,
The processing such as normalization, the spatial pose for then calculating four limbs, and current spatial pose parameter is passed into joint parameter processing
Component；
Calculate method used by the spatial pose of four limbs are as follows: according to joint each under the world coordinate system in four limbs joint
Space coordinate, limbs are equivalent to concatenated multi-joint connecting rod, four limbs connecting rod using forearm, upper arm, hand, thigh, shank,
Foot etc., four limbs multi-joint is using shoulder joint, elbow joint, wrist joint, hip joint, knee joint and ankle-joint etc., according to connecting rod two
End joint space coordinate, which is converted into space polar coordinate, can calculate space angle between two connecting rods, with this method application
On all four limbs, the spatial pose of four limbs can be calculated.
The joint parameter processing component by the current spatial coordinate and orientation of acquisition and current spatial pose parameter into
Row integration, forms current dancer's motion process parameter, and be sent to dance movement processing component；
Some movement segment and dancing in dancer's motion process parameter that the dance movement processing component will acquire
Standard diaphragm plate carries out digitlization matching, by the different movement segments and dancing standard film in entire current dancer's motion process parameter
Plate all matching after, provide the difference between current dancer's motion process parameter and diaphragm plate, and be sent to human-computer interaction component (
Discriminant amendment can be proposed simultaneously)；
The dancing standard diaphragm plate is several standard dance movement parameters contained in dance movement, each mark
Quasi- dance movement is including at least each joint shaft according to data such as the movement velocity of time reference, position, acceleration, angular acceleration
Stream, also may include in this corresponding image, picture and music information；
The human-computer interaction component is a kind of display terminal for having human-computer interaction function, is currently applicable in for setting
Diaphragm plate library, and for showing the difference in movement segment and dancing standard diaphragm plate in dancer's motion process, and pass through image, language
The modes such as sound, text will act difference and indicate to dancer.
Further, the space orientation component can be realizes that the posture information of dancer obtains by way of laser traces
It takes, generates very dense in space using fixed (can be fixed in dancer's ambient enviroment, same as below) laser emitter
Non-visible light, pass through it and scan the optical sensor installed on dancer's body, the laser source (stroboscopic of exploring laser light transmitter transmitting
Light, laser beam) etc., and position and the movement variation of dancer are calculated to reflect the current space coordinate of dancer and pose (side
Position).
Further, space orientation component, the mode that can be active infra-red laser positioning realize the pose letter of dancer
Breath obtains, and by the infrared spectroscopy mark point on dancer's body, launches outward infrared light, and taken the photograph at least two infrared of fixation
Camera captured in real-time, then the image information that thermal camera different angle is shot is passed into processing unit, to obtain infrared
The position of spectral marker point, the body position for finally fitting dancer and movement variation are to reflect the current space coordinate of dancer
With pose (orientation).
Further, space orientation component can be active optical localization method, pass through the photosphere with dancer
Dancer's space orientation (orientation) is completed with fixed binocular camera, the binocular camera of the fixation of same parameter is selected, therefore takes the photograph
Camera inner parameter is identical.The video of the same photosphere of synchronization is shot, and resolving is set out by following formula in real time
The space coordinate of photosphere body is resolved:
The perspective projection relationship of video camera:
ku=αuf,kv=αvf (2)
MinFor camera intrinsic parameter matrix, MoutFor external parameters of cameras matrix, kuAnd kvIt is the amplification of X-axis and Y direction
Coefficient, auAnd avBe imaging plane to the plane of delineation in the amplification coefficient of X-axis and Y direction, f is focal length of camera, and S is image
The nonorthogonality of coordinate, (u0,v0) be optical axis center line and imaging plane intersection point, (Xc,Yc,Zc) it is imaging point coordinate, (u, v)
It is imaging plane picture point.Using CCD camera or cmos camera, pixel is square, and S is greater than 0 less than 0.1, close to
0, and optical axis is in imaging plane center, u0And v0Internal reference digital-to-analogue equal to 0, similar to the pin-hole imaging model of standard, in formula (1)
Type MinAre as follows:
The external parameter model of video camera is the description that world coordinates ties up in camera coordinate system, and imaging coordinate system is turned
It changes world coordinate system into, present coordinate system is subjected to rotation and translation transformation, i.e. the external parameter matrix M of video cameraout:
In formula, n=[nx,ny,nz]T, o=[ox,oy,oz]TWith a=[ax,ay,az]TIt is X respectivelywAxis, YwAxis and ZwAxis exists
Camera coordinate system OcXcYcZcIn direction vector, P=[Px,Py,Pz]TIt is coordinate origin OwIn camera coordinate system OcXcYcZc
In position coordinates.Video camera, according to formula (1), obtains camera perspective projection formula as camera internal reference number:
It brings formula (1) and (4) into formula (5), tested photosphere can be obtained and pass through the three-dimensional space under binocular stereo vision
Coordinate.The spin matrix and translation matrix for finding out video camera, find corresponding match point, obtain the three-dimensional coordinate of spatial point:
Further, the movable joint sensor element is fixed on limbs, calculate dancer's limbs joint angles,
The initial data such as speed, acceleration, angular acceleration, at least shoulder joint of covering human body, elbow joint, wrist joint, hip joint, knee are closed
The kinematic parameter of section and ankle-joint.
Further, movable joint sensor element includes a sensor signal processor, for acquiring the fortune in joint
Dynamic parameter, passes to sensor signal after digitlization and summarizes component.
Further, the sensor signal summarizes component and can be sensed movable joint by wired or wireless form
The initial data of device acquisition is summarized, and can also be carried out the sensor raw data summarized by wired or wireless form
It encodes and passes to sensor signal processing component.
Further, the mode of the sensor signal processing component processing includes but is not limited to: digital signal filter, number
Word signal amplification, joint parameter normalization, multiple degrees of freedom limbs joint angle value resolve, and by the motion information handled well according to
The mode of time series is stored.
Further, the dance movement processing component includes: dancing standard diaphragm plate database interface, dance movement training
Algoritic module, dance movement matching algorithm module and dance movement assessment algorithm module, in which:
The dancing standard diaphragm plate database interface is exactly a kind of search engine, transfers dancing standard diaphragm plate database in real time
Middle included standard dance movement parameter simultaneously matches with the current dance movement of dancer (movement segment) and provides the value of the confidence
And confidence interval；
The dance movement training algorithm module carries out convolution by the standard dance movements parameter of the same movement of magnanimity
Neural metwork training trains mathematical model, and in this, as the matching diaphragm plate of a certain specific action segment；
A series of dancer's dance movement is exactly segmented by the dance movement matching algorithm module, and segmentation is dynamic
Make the standard dancing of the mathematical model trained by dance movement training algorithm and the retrieval of dancing standard diaphragm plate database interface
Movement is matched, and matching process includes but is not limited to the matching of joint angles parameter, the matching of moving end parameter, joint motions ginseng
Number matching, Image Matching etc.；
The dance movement assessment algorithm module is exactly the dance movement and dancing that will be provided in a certain movement segment of dancer
The matching result of standard dance movement in standard diaphragm plate database is weighted marking, points out that dancer's dancing is dynamic by score value
The degree up to standard made, and point out the difference of each limbs joint and standard operation in dancer's dance movement.
Further, the human-computer interaction component can be one of resistance, capacitor, inductive touch, can also be with
It is inputted by mouse-keyboard etc., is shown by display terminals such as LCD, CRT, LED, OLED, projections.
Further, the movable joint sensor element, sensor signal summarize component, sensor signal processing unit
One or more of part, dance movement processing component, dancing standard diaphragm plate, human-computer interaction component can be by being embedded in battery
The transmitting of work energy can also be carried out by wired forms.
The technical solution of the embodiment of the present invention is described in further detail with reference to the accompanying drawing.
Such as Fig. 1, a kind of dance movement evaluating system having motion-captured function, comprising: space orientation component 01, movement
Joint sensors component 02, sensor signal summarize component 03, sensor signal processing component 04, joint parameter processing component,
Dance movement processing component 05, dancing standard diaphragm plate 06, human-computer interaction component 07.Wherein:
Space orientation component 01 is used to capture the space coordinate and orientation of dancer；Preferably, the space orientation component
01 can be the posture information acquisition that dancer is realized by way of laser traces, be generated using fixed laser source close in space
Great non-visible light is spent, the optical sensor installed on dancer's body, the stroboscopic of exploring laser light transmitter transmitting are scanned by it
Light, laser beam etc., and the position for calculating dancer and movement variation are to reflect the current space coordinate of dancer and pose；Space
The mode that positioning element 01 is also possible to active infra-red laser positioning realizes that the posture information of dancer obtains, and passes through dancer's body
On infrared spectroscopy mark point, launch outward infrared light, and at least two thermal camera captured in real-time, then by infrared photography
The image information of machine different angle shooting passes to processing unit, so that the position of infrared spectroscopy mark point is obtained, it is final to be fitted
The body position of dancer and movement variation are out to reflect the current space coordinate of dancer and pose；Space orientation component 01 can also
To be active optical localization method, dancer's space orientation is completed by photosphere and binocular camera, selects same parameter
Binocular camera, therefore intrinsic parameters of the camera is identical.The video of the same photosphere of synchronization is shot, and in real time by such as
Lower formula resolves the space coordinate for calculating photosphere:
The perspective projection relationship of video camera:
ku=αuf,kv=αvf (2)
MinFor camera intrinsic parameter matrix, MoutFor external parameters of cameras matrix, kuAnd kvIt is the amplification of X-axis and Y direction
Coefficient, auAnd avBe imaging plane to the plane of delineation in the amplification coefficient of X-axis and Y direction, f is focal length of camera, and S is image
The nonorthogonality of coordinate, (u0,v0) be optical axis center line and imaging plane intersection point, (Xc,Yc,Zc) it is imaging point coordinate, (u, v)
It is imaging plane picture point.Using CCD camera or cmos camera, pixel is square, and S (is less than close to 0 greater than 0
0.1), and optical axis is in imaging plane center, u0And v0Intrinsic parameter equal to 0, similar to the pin-hole imaging model of standard, in formula (1)
Model MinAre as follows:
The external parameter model of video camera is the description that world coordinates ties up in camera coordinate system, and imaging coordinate system is turned
It changes world coordinate system into, present coordinate system is subjected to rotation and translation transformation, i.e. the external parameter matrix M of video cameraout:
In formula, n=[nx,ny,nz]T, o=[ox,oy,oz]TWith a=[ax,ay,az]TIt is X respectivelywAxis, YwAxis and ZwAxis exists
Camera coordinate system OcXcYcZcIn direction vector, P=[Px,Py,Pz]TIt is coordinate origin OwIn camera coordinate system OcXcYcZc
In position coordinates.Video camera, according to formula (1), obtains camera perspective projection formula as camera internal reference number:
It brings formula (1) and (4) into formula (5), tested photosphere can be obtained and pass through the three-dimensional space under binocular stereo vision
Coordinate.The spin matrix and translation matrix for finding out video camera, find corresponding match point, obtain the three-dimensional coordinate of spatial point:
Movable joint sensor element 02 includes at least gravitational accelerometer, gyroscope and geomagnetic sensor, provides 9 axis
Each joint shaft movement raw data is passed to sensor signal by wired or wireless form and summarizes component by inertial parameter
03.Movable joint sensor element 02 is fixed on limbs, calculates the joint angles of dancer's limbs, speed, acceleration, angle add
The initial data such as speed, at least movement of the shoulder joint, elbow joint, wrist joint, hip joint, knee joint and ankle-joint of covering human body
Parameter.Movable joint sensor element 02 includes a sensor signal processor, for acquiring the kinematic parameter in joint, number
Sensor signal is passed to after change summarizes component 03.
As a preferred embodiment, motion state physical quantity acceleration in movable joint sensor element 02 is bowed
It faces upward, roll and the attitude signals such as beat can use Freescale FXOS8700CQ6 axis using sensor IC as shown in Figure 2
Sensor can measure X, Y, the acceleration of Z-direction and Geomagnetic signal to calculate the acceleration of movable joint and posture letter
Breath, and pass data to sensor signal processor.
As a preferred embodiment, the motion state physical quantity angular acceleration in movable joint sensor element 02 is believed
It number can be measured using 3 axis gyro sensor of Freescale FXAS21002C using sensor IC as shown in Figure 3
X, Y, Z axis to angular acceleration signal, and pass data to sensor signal processor.
As a preferred embodiment, sensor signal processor in the movable joint sensor element 02 can be with
Realize WIFI, bluetooth etc. without line number using 32 bit processor MC13224V of the integrated 2.4GHZ radio frequency of Freescale company
According to interaction.
Sensor signal summarizes component 03 for summarizing the movement raw data that several joint sensors acquire, and
Sensor signal processing component 04 is sent to according to certain coding form.Sensor signal summarize component 03 can by wired or
Wireless form summarizes the initial data that movable joint sensor acquires, and can also be incited somebody to action by wired or wireless form
The sensor raw data summarized is encoded and passes to sensor signal processing component 04.Sensor signal processing component 04
For the processing such as being filtered, amplifying, normalize for the movement raw data in each joint of acquisition and then calculate the sky of four limbs
Between pose, and current spatial pose parameter is passed into joint parameter processing component.The processing of sensor signal processing component 04
Mode includes but is not limited to: digital signal filter, digital signal amplification, joint parameter normalization, multiple degrees of freedom limbs joint angle
Angle value, and the motion information handled well is stored in the way of time series.Dance movement processing component 05 will acquire
Dancer's kinematic parameter during some segment and dancing standard diaphragm plate 06 carry out digitlization matching, by entire motion process
In different movement segments and dancing standard diaphragm plate 06 match after, provide the difference between current dancer's kinematic parameter and diaphragm plate,
And propose discriminant amendment.Preferably, the dance movement processing component 05 includes: dancing standard diaphragm plate database interface, dancing
Action training algorithm, dance movement matching algorithm and dance movement assessment algorithm, in which: dancing standard diaphragm plate database interface is just
It is a kind of search engine, transfers the dance movement parameter included in 06 database of dancing standard diaphragm plate and current with dancer in real time
Dance movement is matched and provides the value of the confidence and confidence interval；The mark that dance movement training algorithm passes through the same movement of magnanimity
Standardization kinematic parameter carries out convolutional neural networks training, trains mathematical model, and in this, as the matching of a certain specific action
Diaphragm plate；A series of dancer's dance movement is exactly segmented by dance movement matching algorithm, and fragmentation action is passed through dancing
The standard dance movement progress for mathematical model and dancing standard diaphragm plate the database interface retrieval that action training algorithm trains
Match, matching process includes but is not limited to the matching of joint angles parameter, the matching of moving end parameter, joint kinematic parameter matching, shadow
As matching etc.；Dance movement assessment algorithm is exactly 06 data of dance movement and dancing standard diaphragm plate that will provide a certain segment of dancer
The matching result of standard dance movement in library is weighted marking, and the journey up to standard of dancer's dance movement is pointed out by score value
Degree, and point out the difference of each limbs joint and standard operation in dancer's dance movement.Dancing standard diaphragm plate 06 is one and contains
Several standard dance movement parameters in dance movement, each standard dance movement is including at least each joint shaft according to the time
The data flows such as movement velocity, position, acceleration, the angular acceleration of benchmark, also may include in this corresponding image, picture and
Music information.Human-computer interaction component 07 is a kind of display terminal for having human-computer interaction function, is currently applicable in for setting
Diaphragm plate library, and for showing the difference in movement segment and dancing standard diaphragm plate 06 in dancer's motion process, and pass through image,
The modes such as voice, text will act difference and indicate to dancer.Human-computer interaction component 07 can be comprising resistance, capacitor, inductance type
One of touch screen can also be inputted by mouse-keyboard etc., pass through the displays such as LCD, CRT, LED, OLED, projection end
End is shown.Movable joint sensor element 02, sensor signal summarize component 03, sensor signal processing component 04, dance
Stepping one or more of movement processing component 05, dancing standard diaphragm plate 06, human-computer interaction component 07 can be by being embedded in electric power storage
Pond can also carry out the transmitting of work energy by wired forms.
The configuration of the present invention is simple, it is convenient to operate, and dancer need to only wear and contain the dress of several movable joint sensor elements
It sets, the movement that the dance movement of dancer can be acquired at the first time, and therein and dancing standard diaphragm plate is stored
Matching marking is carried out, the difference that can intuitively reflect between dancer's movement and standard operation simultaneously provides what dancer's digitlization was suggested
Display terminal not only can allow dancer to get information about auto- defect, and the dancing that can also be used as standard is examined for the levels equipment
Marking grading is carried out to dancing standard operation, there is good moral and commercial promise.The present invention has operation well
Property and versatility, have be widely popularized meaning.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of dance movement evaluating system for having motion-captured function characterized by comprising space orientation component, fortune
Movable joint sensor element, sensor signal summarize component, sensor signal processing component, joint parameter processing component, dancing
Act processing component, dancing standard diaphragm plate, human-computer interaction component；Wherein:
The space orientation component captures the current spatial coordinate and orientation of dancer, and is sent to joint parameter processing component；
The movable joint sensor element, which acquires each joint shaft movement raw data and passes to sensor signal, summarizes portion
Part；
The sensor signal summarize joint shaft movement raw data that component acquires several movable joint sensor elements into
Row summarizes, and is sent to sensor signal processing component according to certain coding form；
The sensor signal processing component handles the joint shaft movement raw data of acquisition, then calculates dancer four
The spatial pose of limb, and current spatial pose parameter is passed into joint parameter processing component；
The joint parameter processing component carries out the current spatial coordinate and orientation of acquisition and current spatial pose parameter whole
It closes, forms current dancer's motion process parameter, and be sent to dance movement processing component；
Some movement segment and dancing in current dancer's motion process parameter that the dance movement processing component will acquire
Standard diaphragm plate carries out digitlization matching, when the different movement segments and dancing standard film in entire current dancer's motion process parameter
After plate matches one by one, the movement difference between current dancer's motion process parameter and dancing standard diaphragm plate is provided, and be sent to people
Machine interactive component；
The dancing standard diaphragm plate contains several standard dance movement parameters in dance movement；
The dancing standard diaphragm plate database that the human-computer interaction component settings are currently applicable in shows current dancer's motion process ginseng
Movement difference between movement segment in number and dancing standard diaphragm plate, and movement difference is indicated to dancer.
2. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that institute
Space orientation component is stated using any one following structure:
The current spatial coordinate and orientation of dancer, including laser emitter and optical sensor are captured by the way of laser traces,
The non-visible light in space is generated using fixed laser emitter, the light installed on dancer's body is scanned by non-visible light and is passed
Sensor, the laser source of exploring laser light transmitter transmitting, and the position for calculating dancer and movement variation are to reflect that dancer is current
Space coordinate and orientation；
Capture the current spatial coordinate and orientation of dancer by the way of active infra-red laser positioning, including at least two red
Outer video camera, processor and infrared spectroscopy mark point are launched outward infrared by the infrared spectroscopy mark point on dancer's body
Light, and passed to using fixed thermal camera captured in real-time, then by the different angle image information that thermal camera is shot
Processor, to obtain the position of infrared spectroscopy mark point, body position and the movement variation for finally fitting dancer are anti-in turn
Reflect dancer current space coordinate and orientation；
The current spatial coordinate and orientation of dancer, including photosphere, identical ginseng are captured using the method for active optical positioning
Several binocular cameras and binocular camera completes dancer's by the photosphere with dancer and the binocular camera fixed
Space orientation obtains the present orientation of dancer；The view of the same photosphere of synchronization is shot by fixed binocular camera
Frequently, and by following formula, real-time resolving is carried out to the space coordinate of photosphere:
The perspective projection relationship of video camera:
ku=αuf,kv=αvf (2)
MinFor camera intrinsic parameter matrix, MoutFor external parameters of cameras matrix, kuAnd kvIt is the amplification coefficient of X-axis and Y direction,
auAnd avBe imaging plane to the plane of delineation in the amplification coefficient of X-axis and Y direction, f is focal length of camera, and S is image coordinate
Nonorthogonality, (u0,v0) be optical axis center line and imaging plane intersection point, (Xc,Yc,Zc) it is imaging point coordinate, (u, v) is imaging
Plan view picture point；Using CCD or cmos camera, pixel is square, and S is greater than 0 less than 0.1, and optical axis is in imaging plane
The heart, u0And v0Intrinsic parameter model M equal to 0, in formula (1)inAre as follows:
The external parameter model of video camera is the description that world coordinates ties up in camera coordinate system, and imaging coordinate system is converted into
Present coordinate system is carried out rotation and translation transformation, i.e. the external parameter matrix M of video camera by world coordinate systemout:
In formula, n=[nx,ny,nz]T, o=[ox,oy,oz]TWith a=[ax,ay,az]TIt is X respectivelywAxis, YwAxis and ZwAxis is imaging
Machine coordinate system OcXcYcZcIn direction vector, P=[Px,Py,Pz]TIt is coordinate origin OwIn camera coordinate system OcXcYcZcIn
Position coordinates；According to formula (1), camera perspective projection formula is obtained:
It brings formula (1) and formula (4) into formula (5), obtains tested photosphere and pass through the three dimensional space coordinate under binocular stereo vision；
The spin matrix and translation matrix for finding out video camera, find corresponding match point, obtain the three-dimensional coordinate of spatial point:
3. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that institute
It states movable joint sensor element to be fixed on the limbs of dancer, includes at least gravitational accelerometer, gyroscope and earth magnetism sensing
Device provides 9 axis inertial parameters；The joint angle of dancer's limbs is calculated by gravitational accelerometer, gyroscope and geomagnetic sensor
Degree, speed, acceleration, angular acceleration initial data, the initial data at least cover the shoulder joint of human body, elbow joint, wrist pass
Section, hip joint, knee joint and ankle-joint kinematic parameter, form each joint shaft movement raw data.
4. a kind of dance movement evaluating system for having motion-captured function according to claim 3, which is characterized in that every
One movable joint sensor element includes a signal processor, and the signal processor is by the joint shaft motor of acquisition
Sensor signal, which is passed to, after beginning data digital summarizes component.
5. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that institute
It states sensor signal to summarize component by wired or wireless form acquisition joint shaft movement raw data and summarized, then
Sensor signal processing component is passed to after the joint shaft movement raw data summarized is encoded.
6. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that institute
Stating the mode that sensor signal processing component handles joint shaft movement raw data includes: digital signal filter, number
Signal amplification and joint parameter normalization, and data store in the way of time series by treated.
7. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that institute
Stating dance movement processing component includes: dancing standard diaphragm plate database interface, dance movement training algorithm module, dance movement
With algoritic module and dance movement assessment algorithm module, in which:
The dancing standard diaphragm plate database interface uses search engine, transfers included in dancing standard diaphragm plate database in real time
Standard dance movement parameter and matched with dancer's current action segment and provide the value of the confidence and confidence interval；
The dance movement training algorithm module carries out convolutional Neural by the standard dance movement parameter of the same movement of magnanimity
Network training trains mathematical model, and in this, as the matching diaphragm plate of a certain specific action segment；
A series of dancer movement segment is segmented by the dance movement matching algorithm module, and by the action movie after segmentation
The standard of mathematical model and the retrieval of dancing standard diaphragm plate database interface that section is trained by dance movement training algorithm module
Dance movement is matched, and matching process includes but is not limited to the matching of joint angles parameter, the matching of moving end parameter, joint fortune
Dynamic parameter matching, Image Matching etc.；
Dance movement and dancing standard diaphragm plate data in the dance movement assessment algorithm module movement segment a certain to dancer
The matching result of standard dance movement parameter in library is weighted marking, points out that dancer acts the up to standard of segment by score value
Degree, and point out that dancer acts the difference in segment between each limbs joint and standard operation, that is, act segment and dancing standard
Movement difference between diaphragm plate；
The dance movement assessment algorithm module is indicated movement difference to dancer by way of image, voice and/or text.
8. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that institute
Human-computer interaction component is stated using any one following display structure:
It is shown using any display screen in resistive touch screen, capacitive touch screen, inductive touch；
It is shown using any display terminal in LCD, CRT, LED, OLED, projection.
9. a kind of dance movement evaluating system for having motion-captured function according to claim 1, which is characterized in that every
One standard dance movement parameter includes following any one information:
Each joint shaft according to the movement velocity of time reference, position, acceleration and angular acceleration traffic flow information；
Traffic flow information of each joint shaft according to the movement velocity of time reference, position, acceleration and angular acceleration, Yi Jiyu
The corresponding image of traffic flow information, picture and music information.
10. a kind of dance movement evaluating system for having motion-captured function according to any one of claim 1 to 9,
It is characterized in that, the movable joint sensor element, sensor signal summarize component, sensor signal processing component, dancing
Any one or more in processing component, dancing standard diaphragm plate and human-computer interaction component is acted by insertion battery or is led to
Cross the transmitting that wired forms carry out work energy.
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