CN1696874A - Attitude measurement device and attitude measurement method based on skeleton model - Google Patents
Attitude measurement device and attitude measurement method based on skeleton model Download PDFInfo
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- CN1696874A CN1696874A CN 200510079740 CN200510079740A CN1696874A CN 1696874 A CN1696874 A CN 1696874A CN 200510079740 CN200510079740 CN 200510079740 CN 200510079740 A CN200510079740 A CN 200510079740A CN 1696874 A CN1696874 A CN 1696874A
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Abstract
An attitude measuring device based on skeleton model is prepared as fixing transducer set on movable element of target to be tested, connecting output signal of each transducer set separately to conversion - transmission circuit having A / D conversion circuit and converting it to be digital signal, transmitting it to PC computer with software program through cable or radio data transmission bus. The device can be used to study athlete attitude, to collect action of film substitute.
Description
Technical field
The attitude that the present invention relates to use in a kind of virtual reality industry is gathered input equipment, more specifically belongs to a kind of attitude measuring and measuring method based on skeleton pattern.
Background technology
Attitude is gathered the particularly attitude collection of human body more and more widely application, and the attitude collecting device has user demand widely.Existing attitude collecting device, following several method or the devices of adopting more:
1, use has the position of the angular transducer measurement of mechanical connection as the object of measured target.As mechanical virtual reality input gloves.Utilize five fingers of these gloves all to be connected with a plurality of angular transducers, the operating state of staff is input to computing machine.This input is used for long-range mechanical hand control, virtual demonstration emulation, staff bionics Study more, also has the staff attitude measurement in the three-dimensional animation production process.Also can the similar angle sensor be installed, with the attitude of input whole human body at trunk, four limbs and head.Its shortcoming is because mechanical connection is arranged, and can't make the people or the thing free movement of tested attitude, and it is all restricted with precision to take measurement of an angle, and the people of measured target feels very uncomfortable.
2, photosphere camera method attitude is gathered.This method is to wear all black fitted garment as the human body of measured target, and the binding of each joint of health and key point is some to have the photosphere of strong reflection effect to specific wavelength light, to gather body state.Human body is made the various actions that need measurement during use before the opaque curtain of black, and with the tested human body of the light-illuminating of aforesaid specific wavelength, has some the video cameras that have this specific wavelength color filter from a plurality of angles target to be made a video recording.The image of being taken the photograph by a plurality of video cameras carries out three-dimensionalreconstruction through high-speed computer, draws the athletic posture of measured target.This method is widely used, and the utilization of aspects such as particularly film trick shooting, the collection of human motion attitude, interaction entertainment role modeling is the most extensive.Its benefit is corresponding better for moving fast, but apparatus expensive is handled because will carry out a large amount of 3-D views.If gather attitude in real time, that computing power for treatment facility requires then higher, adopts large-scale image workstation etc. to handle more.
3, three-dimensional laser line sweep photography modeling.Utilize two or many laser rays volscans, obtain the skeleton pattern of measured target by the method for range finding, and then the skeleton pattern of a plurality of directions made up with computing machine, become a static three-dimensional model, and pass through interpolation with a plurality of three-dimensional models in time, the attitude that obtains measured target changes.Its shortcoming is the target of energy measurement high-speed motion not.
Above equipment all is limited to complexity, expense height, or uses inconvenience, is difficult to penetration and promotion.
Summary of the invention
The purpose of this invention is to provide a kind of real-time, convenient, cheap attitude and input to attitude measuring and method thereof in the computing machine measured target---based on the attitude measuring and the attitude measurement method of skeleton pattern, to remedy the deficiency of prior art.
For the ease of understanding and implementing, introduce below and the present invention includes critical component in interior principle.The special sensor groups that adopts is made up of the acceleration transducer and the magnetoresistive transducer that are fixed on the substrate.The sensor technology that grew up in recent years provides required acceleration transducer for the attitude collection, and this sensor is used for vibration monitoring and measurement of angle more.This sensor can be measured the acceleration of self, and what measure when static state is the acceleration of gravity of self and the angle cosine value of measurement axis.Can use three single-axis acceleration sensors to form 3-axis acceleration sensor.The another kind of sensor that the present invention adopts is miniature magnetic resistance survey sensor, and this sensor chip adopts not alloy electric bridge of multiaxis magnetic glass, determines the direction and the intensity in magnetic field by the measuring bridge deviation, is the position angle of benchmark with measurement with the earth magnetism.Commercially available a kind of be that main body is formed and also comprised temperature, magnetic deviation compensation and reference voltage in the three-dimensional magnetic resistance hybrid circuit module with this sensor, it is very convenient to use it to measure magnetic direction.Wherein the magnitude of voltage of acceleration transducer output is directly proportional with acceleration, if when sensor is static, its output is exactly that the included angle cosine of sensor measurement direction and acceleration of gravity is on duty to be applied to 1/2 of supply voltage on the sensor.Acceleration transducer in the sensor groups uses at least three sensors, and its locus is three axles quadratures each other, so that can obtain elevation data in any attitude; It is on duty to be applied to 1/2 of supply voltage on the sensor with the included angle cosine of positive magnetic north direction that the output valve of magnetoresistive transducer is a sensor.Magnetoresistive transducer also uses at least three sensors, and its locus is also quadratures each other of three axles, so that can obtain bearing data in any attitude.After determining the elevation angle and position angle, promptly determined the attitude of sensor groups, can reflect the attitude of measured target rigidly connected with it.Each x, the y of these sensors, the output signal of z axle all are converted to digital quantity by the A/D change-over circuit, and transfer to computing machine by fieldbus.Sensor groups is fixed on each movable unit of measured target, just can records the attitude data of measured target, handle by the computing machine that contains software program at last, promptly obtain the attitude of measured target, and show and storage.At some in particular cases, have only two degree of freedom as the attitude variation of measured target, acceleration transducer in the then above-mentioned sensor groups and magnetoresistive transducer can be made of the sensor that is less than three.
The first step work of attitude measurement is the bone ilium movement characteristic according to measured target, sets up the skeleton pattern of measured target in computing machine.The method for building up of skeleton pattern is having long-term application aspect human medical and the human bionics.Attitude measurement with the people is an example, and can set up with the trunk is the human skeleton model of benchmark active unit.Other is directly connected in the submodule of the limbs of trunk as benchmark, simultaneously also as father's module of next stage limbs more.Can only be the polar coordinate mode motion at zero point and can not break away from the joint with the joint between father and son's module.During measurement the sensor group is rigidly secured on the movable unit of measured target and measures.9 degree of freedom also having only the utilization skeleton pattern just the measurement attitude need be able to be determined are reduced to 3 degree of freedom, to reduce the complexity of attitude measurement.
Therefore, the present invention includes at least one sensor groups on the movable unit that is fixed on measured target, the output signal of each sensor groups is connected respectively to the conversion and transmission circuit that contains the A/D change-over circuit and is converted into digital signal by cable, transferring to operation through wired or wireless data transmission bus again has the computing machine of software program and shows and store, and is powered by power supply.
Attitude measurement method of the present invention based on skeleton pattern is: at first each active unit of setting up with measured target in computing machine is the skeleton pattern of feature, again sensor groups is fixed on each active unit of measured target, then with the output valve of each sensor groups of computer measurement, be converted into the orientation vector and the motion vector of movable unit, at last it is used to the skeleton pattern of having built up, and show, store.
The sensor group is made up of the magnetoresistive transducer of the acceleration transducer that is fixed on two orthogonal thereto arrangements on the substrate and two orthogonal thereto arrangements at least at least, and two kinds of sensors can side-by-side or superimposedly be fixed on the substrate.
The attitude data with the measured target gathered that can be real-time based on the present invention of skeleton pattern inputs in the computing machine, be used for virtual reality, the research of sportsman's attitude, film scapegoat and move collection, interaction entertainment program leading role's action collection, also can be used for the state acquisition of animal and non-magnetic object.Because the present invention directly measures the attitude vector of measured target, rather than the processing of original technology use real-time video, so do not need expensive high-performance computer among the present invention, as long as common PC computing machine.The present invention uses the skeleton pattern of measured target, makes the quantity of sensor and complexity that bigger reduction be arranged, and is more suitable for popularizing of this device.
Description of drawings
The present invention will be further described below in conjunction with accompanying drawing.
Fig. 1, general structure synoptic diagram of the present invention
Fig. 2, software flow pattern of the present invention
Fig. 3, the schematic perspective view of attitude measurement of the present invention
Fig. 4, measurement of elevation synoptic diagram of the present invention
Fig. 5, measurement of azimuth synoptic diagram of the present invention
Fig. 6, modular circuit theory diagrams of the present invention
Fig. 7, the modular schematic diagram of another kind of conversion and transmission circuit of the present invention
Fig. 8, sensor groups structural representation of the present invention
Wherein, 1, measured target 2, sensor groups 3, cable 4, A/D change-over circuit 5, power supply 6, data transmission bus 7, interface card 8, computing machine 9, display 10, substrate 11, acceleration transducer 12, magnetoresistive transducer 13, model left upper arm 14, multiway analog switch 15, conversion and transmission circuit 16, hand held object
Embodiment
The present invention includes at least one sensor groups 2 on the movable unit that is fixed on measured target 1, the output signal of each sensor groups 2 is connected respectively to the conversion and transmission circuit 15 that contains A/D change-over circuit 4 and is converted into digital signal by cable 3, transfer to computing machine 8 and demonstration and the storage that operation has software program through wired or wireless data transmission bus 6 again, and by power supply 5 power supplies.
Attitude measurement method of the present invention based on skeleton pattern is: at first each active unit of setting up with measured target 1 in computing machine 8 is the skeleton pattern of feature, again sensor groups 2 is fixed on each active unit of measured target 1, the output valve of each sensor groups 2 that computing machine 8 is measured then, be converted into the orientation vector and the motion vector of movable unit, at last it is used to the skeleton pattern of having built up, and show, store.
The sensor group 2 is made up of the magnetoresistive transducer 12 of the acceleration transducer 11 that is fixed on three orthogonal thereto arrangements on the substrate 10 and three orthogonal thereto arrangements, and two kinds of sensors can side-by-side or superimposedly be fixed on the substrate 10.
Measured target 1 of the present invention can be human or animal and nonmagnetic object.Measured target 1 among Fig. 1 is that example describes with the human body.The manikin that measured target 1 is made up of some movable unit, as the benchmark active unit, other all are connected on the reference cell according to certain connected mode as its submodule with its center such as torso portion.For example, head is connected on the trunk in the cervical vertebra position, and head can only be pressed polar coordinates motions with the tie point of cervical section, or is that axle rotatablely moves with the tie point, so that determine the relative space relation of head with respect to trunk uniquely.Each active unit that measured target is set up behind the model is all fixed at least one sensor groups 2, include be fixed on the substrate 10 one 3-axis acceleration sensor of perpendicular array and one three magnetoresistive transducers of perpendicular array each other each other in the sensor groups 2, in particular cases, contained sensor also can be less than three in the sensor groups 2.The output terminal of sensor groups 2 is connected to through cable 3 and contains on the A/D change-over circuit conversion and transmission circuit 15, is digital signal with analog signal conversion.All sensor groups 2 all have cable 3 to connect (only drawing among Fig. 1 five), and under the usual condition, every cable 3 all has six data transmission paths (as Fig. 6, Fig. 7).Data transfer to computing machine 8 through conversion and transmission circuit 15.Data transmission is to computing machine 8, and the attitude and the motion of measured target calculated, shows, stored to the final Survey Software of passing through in computing machine.Whole collecting device is by power supply 5 power supplies.Can use the RS-232 serial line interface as wired data transfer mode, can use the RS-485 serial line interface, also can use on-the-spot industrial field bus such as DeviceNet, or industry ethernet, as wireless transmission mode can be wireless RS-232 serial line interface, blue tooth interface, infrared interface, even can use radio network interface.These interfaces all have ripe industrial module directly to use.
As Fig. 8, sensor groups 2 is to be fixed with acceleration transducer 11 and magnetoresistive transducer 12 on substrate 10, and this acceleration transducer 11 is 3-axis acceleration sensors of quadrature, and magnetoresistive transducer 12 is three magnetoresistive transducers of quadrature, and its three axles are respectively x
1, y
1, z
1And x
2, y
2, z
2Methods such as these sensor groups 2 use binding straps are fixed on the measured target.
Fig. 3 Fig. 4 Fig. 5 is to be example with an active unit, and the measuring principle of attitude is described.Be that example illustrates with human skeleton model left upper arm 13 among the figure.Fig. 4 of the enlarged drawing of the skeleton pattern left upper arm 13 among Fig. 3 represents the measuring principle of acceleration transducer.When static state or linear uniform motion, three axle x
1, y
1, z
1Vector and promptly be acceleration of gravity G.Fig. 5 of the enlarged drawing of skeleton pattern left upper arm 13 represents the measuring principle of magnetoresistive transducer, x
2, y
2, z
2The vector of three axles and promptly be the north direction N.This both direction is applied to skeleton pattern left upper arm 13, has determined its elevation angle and position angle by polar coordinates.For clarity sake, be divided into two figure statements of Fig. 4, Fig. 5 at this, in fact these two kinds of sensors are by paired being fixed in the same sensor groups 2.
Modular circuit theory embodiment of the present invention as shown in Figure 6 and Figure 7.Metering circuit is made up of three parts, i.e. sensor groups 2 and conversion and transmission circuit 15 that is connected with its circuit and the computing machine 8 that is connected.The output signal of sensor groups 2 is connected to conversion and transmission circuit 15, its effect is with the conversion of signals of sensor, collection, transmission, finally import in the computing machine, multiple circuit structure form can be arranged, conversion and transmission circuit 15 shown in Figure 6 has and sensor groups 2 corresponding a plurality of A/D change-over circuits 4, each A/D change-over circuit 4 all is connected on the data transmission bus 6 and links to each other with interface card 7, and interface card 7 exports data in the computing machine 8 to, shown in frame of broken lines among Fig. 6.
The flow direction of data transfer signal is: the conversion and transmission circuit 15 among Fig. 6 inputs to each A/D change-over circuit 4 with the output signal of the acceleration transducer 11 of sensor groups 2 and magnetoresistive transducer 12 and is converted to digital signal, and transfers to computing machine 8 by data transmission bus 6.Data transmission bus 6 can be the bus of wired connection, and for example RS485, CAN bus, industry ethernet also can be the buses of no line, for example blue tooth interface, infrared interface, even can use wireless network.Wherein each A/D change-over circuit 4 all has specific address, obscures being unlikely to.The other end of data transmission bus 6 is connected in computing machine 8, and the measurement result of A/D change-over circuit is transferred to computing machine 8.
Conversion and transmission circuit 15 also can include a multiway analog switch 14 and a coupled A/D change-over circuit 4, via A/D change-over circuit 4 data is exported in the computing machine 8.Sort circuit is simpler, the output signal that is about to all the sensors group is connected in the multiway analog switch 14, this multiway analog switch 14 is thrown analog switch by a plurality of hilted broadswords more and is formed, and the chip selection signal of these switches and the address wire of selecting input are obtained by clock signal frequency division and collaborative counter and code translator combinational logic.All sensor output is connected in turn the input end of A/D change-over circuit 4 along with clock signal.Like this, all status informations are imported into computing machine and handle.Above-mentioned hilted broadsword is thrown analog switch, counter and code translator more all can adopt commercially available standard model.
As Fig. 2, software flow of the present invention is as follows: at first according to the skeleton motion characteristics of measured target, in computing machine, set up the skeleton pattern of measured target, software program reads the measured value of acceleration transducer and magnetoresistive transducer by the USBDI of hardware, and this value is converted to acceleration and azimuthal vector.Degree of will speed up vector and acceleration of gravity vector subtract each other then, can get the acceleration of motion of measured target.Obviously its time integrated value is the movement velocity of measured target, and the orientation vector and the motion vector of the velocity amplitude stack father module of gained promptly can calculate the attitude and the motion state of each unit of measured target.At last, it is on the skeleton pattern of feature that software is applied to each active unit with measured target of having set up with the attitude of all measured targets, can show attitude in real time and preserve target attitude and movement velocity.A whole set of software can adopt matrix operation to simplify the skeleton motion model when carrying out computing, and can utilize the matrix vector stored position information.The data of storage can be converted to the skeleton action message file that application software such as 3DMAX can be discerned by software.The foundation of skeleton pattern and matrix operation all can be adopted prior art.
Concrete to measure concrete steps as follows: at first sensor groups is fixed on the movable unit such as head, arm, leg, pin of measured target, trunk and hipbone partly adopt resilient vest and pants fixation of sensor group.In addition, also fix a sensor groups for the various hand held object of being taken in the measured target hand such as daggers and swords, club, racket etc. as the extension of skeleton pattern, but even on dress ornament also fixation of sensor group so that the attitude and the action of other objects that will extend as skeleton pattern also keep a record.Use a computer then by the output valve of each sensor groups of conversion and transmission circuit continuous acquisition, software is scaled these values by the elevation angle and the position angle of each active unit of sidelong glance target, and the vector of the accekeration of sensor measurement and the movement velocity that can converse each unit of measured target with difference and azimuthal rate of change of acceleration of gravity vector.Last computing machine applies to the skeleton pattern that pre-sets in the computer software kind with these angles and speed, and shows and store the attitude and the motion state of measured target.
Claims (10)
1. based on the attitude measuring of skeleton pattern, it is characterized in that forming by computing machine that contains software program (8) and corresponding metering circuit, wherein metering circuit comprises at least one sensor groups (2) on the movable unit that is fixed on measured target (1), the output signal of each sensor groups (2) is connected respectively to the conversion and transmission circuit (15) that contains A/D change-over circuit (4) and is converted into digital signal by cable (3), pass through wired or wireless data transmission bus (6) again and transfer to computing machine (8) and demonstration and the storage that operation has software program, and power by power supply (5).
2. device as claimed in claim 1, the sensor group (2) that it is characterized in that described biography is made up of two acceleration transducers (11) and two magnetoresistive transducers (12) that are fixed on the substrate (10) at least at least, two kinds of side-by-side or superimposed being fixed on the substrate (10) of sensor.
3. as claim 1,2 described devices, it is characterized in that the spatially orthogonal thereto arrangement of acceleration transducer (11) in the described sensor groups (2), the spatially also orthogonal thereto arrangement of magnetoresistive transducer (12).
4. device as claimed in claim 1, it is characterized in that described conversion and transmission circuit (15) has and the corresponding a plurality of A/D change-over circuits of sensor groups (2) (4), each A/D change-over circuit (4) all is connected on the data transmission bus (6) and links to each other with interface card (7), and interface card (7) exports data in the computing machine (8) to.
5. device as claimed in claim 1 is characterized in that described conversion and transmission circuit (15) contains a multiway analog switch (14) and a coupled A/D change-over circuit (4), exports data in the computing machine (8) to via A/D change-over circuit (4).
6. device as claimed in claim 1, the attitude acquisition software that it is characterized in that in computing machine (8) operation is determined the attitude of each active unit of measured target by the output valve of measuring acceleration transducer (11) on each unit of measured target (1) and magnetoresistive transducer (12).
7. device as claimed in claim 1 is characterized in that described computing machine (8) is the PC computing machine.
8. device as claimed in claim 1, the attitude acquisition software that it is characterized in that in computing machine (8) operation is determined the movement velocity and the direction of motion of each unit of measured target (1) by the output valve of measuring acceleration transducer (11) on each unit of measured target (1) and magnetoresistive transducer (12).
9. device as claimed in claim 1 is characterized in that record that moves and the acquisition software that shows the attitude change procedure of measured target in computing machine (8).
10. attitude measurement method is: at first each active unit of setting up with measured target (1) in computing machine (8) is the skeleton pattern of feature, again sensor groups (2) is fixed on each active unit of measured target (1), the output valve of each sensor groups (2) that computing machine (8) is measured then, be converted into the orientation vector and the motion vector of movable unit, at last it is used to the skeleton pattern of having built up, and show, store.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100478849C (en) * | 2007-04-10 | 2009-04-15 | 南京航空航天大学 | System and method for virtual implementing helmet anti-dazzle based on multiple acceleration transducers |
| CN101908226A (en) * | 2010-08-16 | 2010-12-08 | 北京水晶石数字科技有限公司 | Three-dimensional animation production system |
| CN101908225A (en) * | 2010-08-16 | 2010-12-08 | 北京水晶石数字科技有限公司 | Three-dimensional animation manufacturing method |
| CN102402290A (en) * | 2011-12-07 | 2012-04-04 | 北京盈胜泰科技术有限公司 | Method and system for identifying posture of body |
| CN102402291A (en) * | 2011-12-07 | 2012-04-04 | 北京盈胜泰科技术有限公司 | Body posture identifying method and device |
| CN102520791A (en) * | 2011-11-28 | 2012-06-27 | 北京盈胜泰科技术有限公司 | Wireless gesture recognition device |
| CN102707799A (en) * | 2011-09-12 | 2012-10-03 | 北京盈胜泰科技术有限公司 | Gesture identification method and gesture identification device |
| CN102914668A (en) * | 2012-09-30 | 2013-02-06 | 河海大学常州校区 | Method and device for researching bird flight dynamics |
| CN103020598A (en) * | 2012-12-11 | 2013-04-03 | 杭州电子科技大学 | Method for identifying attitude variation when people performing specific actions |
| CN103399628A (en) * | 2013-05-13 | 2013-11-20 | 重庆大学 | Human-computer interaction game system |
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2005
- 2005-06-28 CN CN 200510079740 patent/CN1696874A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100478849C (en) * | 2007-04-10 | 2009-04-15 | 南京航空航天大学 | System and method for virtual implementing helmet anti-dazzle based on multiple acceleration transducers |
| CN101908226A (en) * | 2010-08-16 | 2010-12-08 | 北京水晶石数字科技有限公司 | Three-dimensional animation production system |
| CN101908225A (en) * | 2010-08-16 | 2010-12-08 | 北京水晶石数字科技有限公司 | Three-dimensional animation manufacturing method |
| CN102707799A (en) * | 2011-09-12 | 2012-10-03 | 北京盈胜泰科技术有限公司 | Gesture identification method and gesture identification device |
| CN102520791A (en) * | 2011-11-28 | 2012-06-27 | 北京盈胜泰科技术有限公司 | Wireless gesture recognition device |
| CN102402290A (en) * | 2011-12-07 | 2012-04-04 | 北京盈胜泰科技术有限公司 | Method and system for identifying posture of body |
| CN102402291A (en) * | 2011-12-07 | 2012-04-04 | 北京盈胜泰科技术有限公司 | Body posture identifying method and device |
| CN102914668A (en) * | 2012-09-30 | 2013-02-06 | 河海大学常州校区 | Method and device for researching bird flight dynamics |
| CN103020598A (en) * | 2012-12-11 | 2013-04-03 | 杭州电子科技大学 | Method for identifying attitude variation when people performing specific actions |
| CN103020598B (en) * | 2012-12-11 | 2015-08-19 | 杭州电子科技大学 | A kind ofly carry out knowledge method for distinguishing for attitude variation when people being completed to specific action |
| CN103399628A (en) * | 2013-05-13 | 2013-11-20 | 重庆大学 | Human-computer interaction game system |
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