KR20050052555A - Apparatus and method for motion capture using gyroscope and accelerometer sensor - Google Patents

Abstract

The gyro and accelerometer sensors attached to the joints of the object to be measured transmit the rotation angle shift values in the X, Y, and Z axis directions of the joints according to the movement of the object. The rotation angle variation value is converted into digital data and the actual rotation value of the joint is subtracted from the rotation angle variation value of the joint in the lower layer of each joint hierarchy from the digital data. Calculate and output the rotation value of the corresponding skeleton from the actual rotation value of each joint, and transmit the rotation value wirelessly from the first wireless circuit unit to receive the actual rotation value data from the signal processing unit through the second wireless circuit unit Provided are a motion capture system and method for expressing a corresponding skeleton movement. According to the present invention, the typical problems of motion capture are the limitations of operation, data loss due to influence on the surrounding environment, data loss due to light exposure, inefficient management due to peripheral devices, time loss due to initial calibration, and space limitation. In addition, we completely overcome the related problems of securing a separate motion capture space.

Description

Apparatus and method for motion capture using gyroscope and accelerometer sensor

The present invention relates to a motion capture device and method using a gyro and an accelerometer, and in particular, the X axis of each joint according to the movement of the subject by using a gyro and an accelerometer sensor attached to the joint portion of the subject. And a motion capture device and method for calculating the actual rotation value of a corresponding joint from rotation angle variation values in the Y, Y and Z directions.

Motion Capture is a form that captures the motion of a moving object and forms it into a form that can be used on a computer. Moving objects are distinguished in two ways: one for rotation and another for position. Since humans have very complicated movements, each joint of the human body moves based on the rotation value and the walking movement moves based on the position value.

General conventional motion capture has been developed in three ways. An infrared camera tracks moving markers with two or more cameras to compare and analyze images to create three-dimensional coordinates, and an optical method, and a magnetic field-forming device to create magnetic fields and objects with magnetic properties. Has been classified into a magnetic field method for generating a moving value and a mechanical method for generating a rotation value by an external mechanical device using a potentiometer with a potential meter. All of this equipment needed the help of external devices to get data from specific sensors.

The optical method used an infrared camera to track the reflective markers, and needed an infrared camera to shine infrared light on the marker to capture the value reflected from the marker. This is used because there is no way for the marker to glow and pass data on its own.

The magnetic field method is a method of recognizing the movement of a magnetic body by the change of the magnetic field when a human body having a magnetic body enters and moves in a magnetic field forming a magnetic field. Since there was no way to detect the movement of the magnetic body, it was a method of creating a constant magnetic field and expressing the value by changing the magnetic field.

The mechanical method is to create a skeleton that resembles a human body in the human body, attach a sensor to the joints of the skeleton, and read the data from the movement of the external skeleton to the sensor.

The problems of the existing motion capture equipment are all caused by the external environment, and the sensors used in the motion capture were all moved by external help to obtain data. The optical method offers considerably longer set-up times, time lost due to calibration, space constraints created by using infrared cameras, free space for motion capture, loss of data caused by markers temporarily disappearing and the sensor obscured, and difficult to express wire action. Has problems such as; In addition, the magnetic field and the mechanical method are interrupted by the magnetic field and the wire, and there is a problem in that a jitter occurs when a complicated motion or a rolling and jumping motion is delayed.

Accordingly, the present invention has been made to solve the above problems, and overcomes problems such as time loss due to initial calibration, space constraints, and secures a separate motion capture space, and uses motion communication to capture motion capture data. It provides a motion capture device and method that can transmit in real time to provide clean data.

The present invention for achieving the above object, the gyro and the accelerometer sensor attached to the joint portion of the subject to change the rotation angle in the X-axis, Y-axis, Z-axis direction of each joint according to the movement of the subject Sends the value and converts the rotation angle variation value into digital data using an analog-to-digital converter, and from the digital data, the rotation angle variation of the joint in the upper layer directly from the rotation angle variation value of the joint belonging to the lower layer of each joint hierarchy. Calculate the output by subtracting the value as the actual rotation value of the joint, calculate the corresponding rotation value of the skeleton from the actual rotation value of each joint, and transmit the rotation value wirelessly from the first wireless circuit section through the second wireless circuit section. It provides a motion capture system and method for receiving the actual rotation value data from the signal processor to represent the movement of the corresponding skeleton.

The present invention comprises the steps of sending a rotation angle variation value of the X-axis, Y-axis, Z-axis direction of each joint according to the movement of the object by the gyro and the accelerometer sensor attached to the joint portion of the object under test, Converting the rotation angle variation value to digital data using a digital converter, and converting the rotation angle variation value of a joint of a higher layer from the digital data from the rotation angle variation value of a joint belonging to a lower layer of each joint hierarchy from the digital data. Calculating the rotational value of the corresponding skeleton from the actual rotational value of each joint and expressing the movement of the skeleton according to the calculated rotational value of the skeleton. It further comprises the step.

The motion capture device is installed at the joint part of the object to be measured and outputs the gyro and accelerometer sensor to measure and output rotation angle variation values in the X, Y, and Z directions of each joint according to the movement of the object. Analog-to-digital converting unit for converting the rotation angle shift signal from the gyro and the accelerometer sensor unit into a digital signal and the joint of the upper layer directly from the rotation angle shift value of the joint belonging to the lower layer of each joint hierarchy from the digital signal And a signal processor that calculates and outputs a value obtained by subtracting the rotation angle variation of the joint as the actual rotation value of the joint.

The motion capture device may further include a wireless circuit unit for wirelessly transmitting an output value from the signal processing unit.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 shows the coordinate axes of the gyro and accelerometer. Gyro and gyro, also known as angular speedometer, are inertial sensors. As shown in FIG. 1, the gyro and accelerometer are represented by a roll 100, a pitch 110, and a yaw 120, which are X, Y, and Z axes, respectively. Corresponds to. Gyro and accelerometer move without external help and send out rotation angle variation. This distinguishes itself from other sensors and is an innovative device that can eliminate the disadvantages of existing motion capture equipment. All the sensors that have been used for motion capture have moved or obtained data with external help. Thus, gyros and accelerometers use inertia, so they can get their own data without outside assistance.

Figure 2a shows a block diagram of a motion capture system using a gyro and an accelerometer according to a preferred embodiment of the present invention.

Motion capture device according to the present invention is installed in the joint portion of the object to be measured and output the rotation angle variation value of each joint X-axis, Y-axis, Z-axis according to the movement of the object to be measured and output A meter sensor unit 200, an analog-to-digital converter 212 for converting rotation angle shift value signals from a gyro and an accelerometer sensor unit into a digital signal, and belonging to a lower layer of each joint hierarchy from the digital signal. A signal processor which calculates and outputs a value obtained by subtracting a rotation angle variation value of the joint in the upper layer from the joint rotation angle variation value as the actual rotation value of the corresponding joint; and a first signal for wirelessly transmitting an output value from the signal processor. Through the wireless circuit unit 213, the second wireless circuit unit 222 for receiving a signal from the first wireless circuit unit, and the second wireless circuit unit 222, the actual rotation value from the signal processor is determined. And a host computer (220) for converting the movement of the skeleton corresponding to the reception site.

Figure 2b shows the details of the motion capture system using a gyro and an accelerometer according to a preferred embodiment of the present invention.

The detailed configuration of the present invention consists of an analog-to-digital converter 232, an embedded operating system computer 234, a wireless circuit unit 236, a host operating system computer (238). The analog-to-digital converter 232 converts the rotation angle shift value signals from the gyro and accelerometer sensors into digital signals. The embedded operating system computer 234 has a program for operating the embedded computer, and the wireless circuit unit 236 is for wirelessly transmitting the output value from the signal processing unit in the embedded operating system computer. The host operating system computer 238 is loaded with motion capture software, and receives data transmitted from the embedded operating system computer 234 and substitutes data into the skeleton of the motion capture software. The degree of freedom for obtaining data from a gyro and an accelerometer may be a three degree of freedom 230 gyro and an excelometer or a six degree of freedom gyro and an accelerometer.

3 shows a process in which data obtained from a gyro and an accelerometer according to a preferred embodiment of the present invention is transferred to the motion capture software.

The rotation angle shift values in the X-, Y-, and Z-axis directions obtained through the gyro and accelerometer sensors are converted into voltages (300). The analog-to-digital converter 302 converts the rotation angle shift value signals from the gyro and the accelerometer sensor unit into digital signals. From the digital signal, the value obtained by subtracting the rotation angle variation value of the joint in the lower layer of each joint hierarchy from the rotation angle variation value of the joint in the upper layer is calculated and output as the actual rotation value of the joint, and the actual rotation value of each joint. Calculate the rotation value of the corresponding skeleton from and transmit the signal to the host computer receiving the actual rotation value data via the second wireless circuit unit for wirelessly transmitting the signal from the first wireless circuit unit and receiving the signal (304). . The received data is retrieved using the motion capture software at the host computer (306). The next step is to link the skeleton, open and modify the pre-generated skeleton information file, connect to the device for live or recording, save the data, and export it to other software, 3ds max, Maya, or SoftImage export (308). . The skeleton is moved 310 by the value assigned to the skeleton in the motion capture software.

4 is a block diagram illustrating a process of processing gyro and accelerometer data according to a preferred embodiment of the present invention.

First, a gyro and an accelerometer sensor unit 400 installed at a joint portion of a target object to measure and output rotation angle variation values in X, Y, and Z axis directions of each joint according to the movement of the subject. Exports the rotation angle variation from. The signal of the gyro and accelerometer sensor is amplified by the DC component removed from the DC blocking circuit 402 and the DC component removed from the DC circuit 404. The amplified signal is converted into a digital signal through the analog-to-digital converter 406, and the value obtained by subtracting the rotation angle variation value of the joint in the upper layer from the digital data from the rotation angle variation value of the joint belonging to the lower layer of each joint hierarchy. The signal is processed by the signal processing unit 408 to calculate and output the actual rotation value of the joint.

5a and 5b show the position to attach the gyro and accelerometer according to a preferred embodiment of the present invention.

The place where the rotation value is to be received from each joint part of the human is divided by the result of analyzing each joint, and the result obtained from the character modeling data of the 3D software. The joints of the subject were the uppermost level of the waist, the left and right hips and neck, which are the lower layers of the waist, and the left and right knees, which are the lower layers of the left and right hips, respectively. Ankles, left and right shoulders and heads, which are lower layers of the neck, left and right elbows, which are lower layers of the left and right shoulders, respectively, and left and right wrists, which are lower layers of the left and right elbows, respectively.

Gyro and accelerometers are attached to the top of each joint of each joint to receive rotation values. As shown in FIG. 5A, the gyro and accelerometer attached to the right arm are attached with three gyros and accelerometers including shoulder, elbow and wrist.

6 shows a hierarchical structure of gyros and accelerometers according to a preferred embodiment of the present invention. As shown in FIG. 6, the gyro and accelerometer sensor units are the upper and lower layers of the left and right hips and neck, which are the lower layers of the waist, and the left and right knees, which are the lower layers of the left and right hips, respectively. Installed on the lower left and right ankles, the left and right shoulders and heads, the lower layer of the neck, the left and right elbows, the lower layer of the left and right shoulders, respectively, and the left and right wrists, the lower layer of the left and right elbows, respectively. It is.

7A shows a skeleton of software to correspond to a gyro and an accelerometer according to a preferred embodiment of the present invention.

Skeleton on the side of the motion capture software that will wirelessly transmit data from the gyro and accelerometer sensors attached to each joint of the subject and receive data from the host computer to correspond to each joint of the gyro and accelerometer. Make it.

7B shows an example of a skeleton hierarchy of software to correspond to a gyro and an accelerometer according to a preferred embodiment of the present invention.

As shown in FIG. 7A, the skeleton is defined as a hierarchical structure, and the software has 23 skeletons corresponding to gyros and accelerometers. Based on Skeleton 1, it is divided into three subclasses. Right leg with skeletons 2, 3, 4, 5 and 6, left leg with skeletons 7, 8, 9, 10 and 11, with skeletons 12 and 13 Waist Here we can see that the waist is divided into three sublayers. Right arm containing 14, 15, 16 and 17 skeletons, left arm containing 18, 19, 20 and 21 skeletons, head containing 22 and 23 skeletons.

8A and 8B show an example according to a connection state of a hardware unit and a software unit according to an exemplary embodiment of the present invention.

Analog-to-digital converter converts rotation angle shift values in the X-, Y-, and Z-axis directions of the joints from the gyro and accelerometer sensors attached to the object to be measured. Converts to digital signal, calculates and outputs the actual rotation value of the joint by subtracting the rotation angle variation of the joint in the upper layer from the rotation angle variation of the joint in the lower layer of each joint hierarchy. The rotation value of the corresponding skeleton is calculated from the actual rotation value of each joint, transmitted wirelessly, and the actual rotation value data is received from the host computer. The received data is transferred to the motion capture software and put in a skeleton prepared in advance by the motion capture software.

As shown in FIG. 8B, the data received at the host computer is substituted into the skeleton of the motion capture software. For example, the gyro and accelerometer values in the head section correspond to the 23 skeleton in the head section, the gyro and accelerometer values in the neck section correspond to the 12 and 13 skeletons and the waist. The gyro and accelerometer values of the part are for skeleton 1, the parts for the right arm are for skeletons 15, 16, and 17, and the parts for the right leg are for skeletons 3, 4, and 5. Put it. This connection ensures that the values from the gyro and accelerometer sensors are accurately applied to the skeleton.

8C shows the basic posture of the humanoid and the skeleton according to the preferred embodiment of the present invention.

Before connecting the humanoid and the skeleton of the motion capture software, always connect the humanoid and the skeleton in the same position.

Figure 9a shows an example of applying a change value of the gyro and the accelometer to the joint according to a preferred embodiment of the present invention.

For example, set the shape as in ① and then calculate the movement value based on ①. Assume that the drawing shown in FIG. 9A is a leg.

Currently, the gyro and accelerometers of A, B and C are defined as 0 °. In the following ②, A moved + 45 ° compared to A ', and B' moved + 45 ° based on B. And C 'also moved by + 45 ° relative to C. However, from the leg's point of view, only A 'moved and B' and C 'did not move at all. However, because the gyro and the accelerometer move without any help from outside, all the gyro and the accelerometer move by 45 °. In this case, a problem occurs unlike the actual movement. Thus, in order to solve the problem, the gyro and the accelerometer are formed to be dependent on each other.

9B illustrates a process of forming a skeleton structure according to a preferred embodiment of the present invention.

First, the gyro and accelerometer are made into a skeleton structure, and then they are formed into a hierarchical structure. In this way, the C gyro and the accelerometer are affected by the B gyro and the accelerometer, and the condition that the B gyro and the accelerometer are affected by the A gyro and the accelerometer is established. This causes the B-gyro and accelerometer to always follow the movement of the A-gyro and accelerometer. As the A gyro and the accelerometer move, the B gyro and the accelerometer move as well. This is actually like our body.

It is assumed that a person lifts his leg as shown in ② of FIG. 9A. The human legs are attached to the hips, which in turn are connected to the thighs and then to the calves and feet. If you lift your thighs, the knees you want or not will naturally sound together. At this time, the knee is not moved at all, but it seems to have moved. Gyro and accelerometers have absolute values as well. Therefore, the data is output from the gyro and accelerometer sensors because they move regardless of the joint structure. However, if you establish a dependency relationship between each other, the B-gyro and excelometer proved to be dependent on the A-gyro and the accelerometer, and you can ignore the B-gyro and accelerometer values that have moved by the gyro and excelometer. do. This allows you to create a single equation based on the top gyro and the accelerometers A and G.

On the basis of the upper gyro and the accelerometer G and the accelerometer, the following equation is formed.

A gyro and accelerometer values = A gyro and accelerometer values

B gyro and accelerometer values = B gyro and accelerometer values-A gyro and accelerometer values

The value of C gyro and accelerometer = The value of C gyro and accelerometer

Next, the case of ③ shown in FIG. 9A is directly applied. In the case of ③, the A '' gyro and the accelerometer were actually + 45 ° and the B '' gyro and the accelerometer were -45 °. And C '' gyro and accelerometer moved -45 °. However, for the actual joints, the A '' gyro and the accelerometer were + 45 °, the B '' gyro and the accelerometer were -90 ° and the C '' gyro and the accelometer were 0 °. If you connect it to the above formula,

A '' value of gyro and accelerometer = A '' moving value of gyro and accelerometer (+ 45 °)

B '' Gyro and Accelerometer values = B '' Gyro and Accelerometer values (-45 °)-A '' Gyro and Accelerometer values (+ 45 °)

C '' value of gyro and accelerometer = C '' value of gyro and accelerometer (-45 °)-B '' value of gyro and accelerometer (-45 °)

To rewrite,

A '' (+ 45 °) = (+ 45 °)

B '' (-90 °) = (-45 °)-(+ 45 °)

C '' (0 °) = (-45 °)-(-45 °)

Therefore, the values of the joints actually moved are A '' (+ 45 °), B '' (-90 °), and C '' (0 °). This calculation can be used to obtain accurate joint values using gyros and accelerometers with absolute values.

10 shows an example of a motion capture system using a gyro and an accelerometer according to a preferred embodiment of the present invention.

Gyro and accelerometer sensors measure the angle of rotation in the X-, Y-, and Z-axis directions, send data to the analog converter board, remove DC components, amplify the signal, and convert it into a digital signal. From the digital signal, the value obtained by subtracting the rotation angle variation value of the joint in the lower layer of each joint hierarchy from the rotation angle variation value of the joint in the upper layer is calculated and output as the actual rotation value of the joint, and the actual rotation value of each joint. The rotation value of the corresponding skeleton is calculated from the first wireless circuit unit to wirelessly transmit the rotation value, and receives the actual rotation value data from the signal processor through the second wireless circuit unit. The host computer retrieves the data from the motion capture software and displays the skeleton's movement according to the calculated skeleton's rotation.

11 is a flowchart illustrating a process of transmitting data from a humanoid structure to a skeleton structure of a motion capture system using a gyro and an accelerometer according to an exemplary embodiment of the present invention.

First, the performer wears a body suit and attaches a gyro and an accelerometer sensor (S1100). Actors with gyros and accelerometers perform actions such as rolling or jumping actions or wire actions. Wearing a body suit with a gyro and an accelerometer sensor obtains motion capture data from the actor within a few seconds and transmits the data to the analog-to-digital converter board (S1102). Data transmitted to the analog-to-digital converter board is subjected to a DC blocking circuit process to remove the DC component from the signal of the gyro and the accelerometer sensor (S1104). The signal that has undergone the DC blocking circuit process is amplified by the amplification circuit (S1106), and is converted into a digital signal through an analog-to-digital converter (S1108). The value obtained by subtracting the rotation angle variation value of the joint of the upper layer from the rotation angle variation value of the joint belonging to the lower layer of each joint hierarchy from the digital signal is calculated as the actual rotation value of the corresponding joint and outputs the calculated value. The rotation value of the corresponding skeleton is calculated from the actual rotation value of each joint (S1112), and the first wireless circuit unit wirelessly transmits the rotation value (S1114). The host computer receives the actual rotation value data from the signal processor via the second wireless circuit unit and retrieves the data received from the motion capture software (S1116). The next step is to link the skeleton, open and modify the pre-generated skeleton information file, connect to the device for live or recording, save the data and export it to other software, 3ds max, Maya, SoftImage export (S1118). . The movement of the skeleton is expressed according to the rotation value of the skeleton calculated by the motion capture software (S1120).

12 is a flowchart showing a skeleton link process according to a preferred embodiment of the present invention.

First, the skeleton information obtained through the gyro and the accelerometer sensor is stored and the desired skeleton is generated in 3ds max, Maya, and SoftImage (S1200). Next, the generated skeleton information is exported, for example, the test01.bvh file (S1202). The exported test01.bvh file is opened or modified in the motion capture software (S1204). After opening the motion capture software file, the hierarchical structure of the skeleton is viewed, and any modifications are made later (S1206). After modifying the hierarchy of the skeleton, the equipment and the skeleton are connected (S1208). Here the skeleton's posture maintains its basic posture. Maintain the basic posture of the skeleton to drive the live or record equipment (S1210). The user records or stops as desired (S1212). The live of the motion capture software is stopped (S1214), and data is stored (S1216). Export the motion capture file to 3ds max, Maya, SoftImage (S1218).

The present invention is a hardware combined with a body suit, a hybrid active sensor, and a high-speed motion data transfer station system, and shows real-time high-speed motion data through wireless communication to a data receiver. It consists of editing software that can provide.

The body suit is not constrained by the central type wired system. Actor can roam freely without any wires, and even depict complex movements. The markers are connected to the waistbelt pack via flexible wires designed to provide maximum comfort and freedom. It is not affected by electric wire or magnetic field like mechanical or magnetic method, and can perform complicated motion or rolling and jumping without the typical jitter of magnetic, and wire action that is difficult to express even in optical method. Acting is possible enough.

Gyro and accelerometer sensors capture the motion capture data from an optical device that uses an external device, such as an infrared camera and a transmitter, or from the hybrid active sensor itself, rather than the magnetic one, so the data can be received and processed very quickly and have a low latency. It is a hybrid active sensor that is virtually free and makes the actors perfect and free to move. In addition, it offers superior performance compared to conventional optical motion capture at a reasonable price, which is quite wide such as games, multimedia, film animation, live entertainment, virtual reality, web casting, and human computer interaction gesture recognition. It can be used in a wide range.

Gyro and accelerometer motion capture systems are a new real-time motion tracking system, where each hybrid active sensor locates the actor's movement and position and retrieves the information from the high-speed motion data transfer station. Send to The motion capture data tracks the X, Y, and Z axes from a hybrid active sensor with six degrees of freedom from each marker, and then stays in the high speed motion data transfer station. Its data rate is very fast at sec / m, and data loss is prevented. Motion capture can be smoothly cleaned by synchronizing data between each hybrid active sensor, requiring post processing. Do. In some cases, post processing is required, but most of the time it is automatic.

Basically, unlike optical or magnetic motion capture, it can be used in any environment without securing a separate studio or space limitation, and motion capture area is unlimited. When real-time motion capture data is sent to the high-speed motion data transfer station, the captured data is received in real time at the data receiver and displayed in the editing software. You can also send motion capture data anywhere in the world via network or software.

The present invention provides a body capture with a simple hybrid active sensor that can capture motion capture data directly to the performer in seconds, without calibration, unlike other optical motion capture systems that require significantly longer set-up and calibration times. You can use it immediately. Editing capture software can capture motion for 24 hours and export to a variety of external real-time programs such as Kaydara FiLMBOX.

Therefore, the gyro and accelerometer motion capture system according to the present invention, unlike the conventional motion capture device, is a typical problem of optical, magnetic and mechanical motion capture, the limitation of operation, data loss due to the influence on the surrounding environment, and light exposure. It completely overcomes the problems of data loss, inefficient management due to peripheral devices, time loss due to initial calibration, space limitation, and separate motion capture space. Wirelessly, the high-speed motion data transfer station's motion capture data transmission provides clean data in real time and requires little modification.

Gyro and accelerometer motion capture systems are sensor type, unlike conventional optical motion capture, where markers are temporarily disappeared. Unlike traditional motion cameras that use infrared cameras, the system can be used in any natural or outdoor environment, requires no calibration, and can be used immediately.

As described above, according to the present invention, the gyro and accelerometer motion capture system according to the present invention is different from the conventional motion capture device due to the limitations of operation, which are typical problems of optical, magnetic, and mechanical motion capture due to the influence on the surrounding environment. It completely overcomes related problems such as data loss, data loss due to light exposure, inefficient management due to peripheral devices, time loss due to initial calibration, space constraints, and space saving for separate motion capture. The motion capture data transmission of the transfer station has the effect of providing clean data in real time.

Figure 1 shows the coordinate axes of the gyro and accelerometer.

Figure 2a shows a block diagram of a motion capture system using a gyro and an accelerometer according to a preferred embodiment of the present invention.

Figure 2b shows the details of the motion capture system using a gyro and an accelerometer according to a preferred embodiment of the present invention.

3 shows a process in which data obtained from a gyro and an accelerometer according to a preferred embodiment of the present invention is transferred to the motion capture software.

4 is a block diagram showing a processing step procedure according to a preferred embodiment of the present invention.

5a to 5b show the position to attach the gyro and accelerometer according to a preferred embodiment of the present invention.

6 shows a hierarchical structure of gyros and accelerometers according to a preferred embodiment of the present invention.

7A shows a skeleton of software to correspond to a gyro and an accelerometer according to a preferred embodiment of the present invention.

7B shows an example of a skeleton hierarchy of software to correspond to a gyro and an accelerometer according to a preferred embodiment of the present invention.

8A and 8B show an example according to a connection state of a hardware unit and a software unit according to an exemplary embodiment of the present invention.

8C shows the basic posture of the humanoid and the skeleton according to the preferred embodiment of the present invention.

9A shows an example of applying a change value of a gyro and an accelerometer to a joint according to a preferred embodiment of the present invention.

9B illustrates a process of hierarchizing a skeleton structure of a gyro and an accelerometer according to a preferred embodiment of the present invention.

10 shows an example of a motion capture system using a gyro and an accelerometer according to a preferred embodiment of the present invention.

11 is a flowchart illustrating a process of transmitting data from a humanoid structure to a skeleton structure of a motion capture system using a gyro and an accelerometer according to an exemplary embodiment of the present invention.

12 is a flowchart showing a skeleton link process according to a preferred embodiment of the present invention.

       * Description of the symbols for the main parts of the drawings *

100: roll 110: pitch

120: yo 200: gyro and accelerometer sensor

210: Embedded Computer 211: Analog-to-Digital Converter Board

212: embedded operating system 213: first wireless circuit

220: host computer 221: Windows operating system

222: second wireless circuit unit 400: gyro and accelerometer sensor

402: DC blocking circuit 404: amplifying circuit

406: analog to digital converter board

 408: signal processing unit

Claims (9)

Transmitting, by the gyro and accelerometer sensors attached to the joints of the object under test, rotation angle shift values in the X, Y, and Z axes of the joints according to the movement of the object; Converting the rotation angle variation value into digital data using an analog to digital converter; Calculating the actual rotation value of the corresponding joint by subtracting the rotation angle variation value of the joint of the upper layer from the rotation angle variation value of the joint belonging to the lower layer of each joint hierarchy from the digital data. Motion capture method comprising a. The method of claim 1, The joints of the subject were the uppermost level of the waist, the left and right hips and the neck of the lower layer of the waist, the left and right knees of the lower layer of the left and right hips, respectively, the left and the lower layers of the left and right knees, respectively. Motion capture method characterized in that the right ankle, the left and right shoulders and heads, which are the lower layers of the neck, the left and right elbows, which are the lower layers of the left and right shoulders, respectively, and the left and right wrists, which are the lower layers of the left and right elbows, respectively. . The method according to claim 1 or 2, Calculating a rotation value of a corresponding skeleton from the actual rotation value of each joint; And representing the movement of the skeleton according to the calculated rotational value of the skeleton. A gyro and accelerometer sensor unit installed at a joint part of a subject to measure and output rotation angle variation values of X, Y, and Z axes of each joint according to the movement of the subject; An analog-to-digital converter for converting the rotation angle shift value signals from the gyro and accelerometer sensors into digital signals; Signal processing unit that calculates and outputs the value obtained by subtracting the rotation angle variation value of the joint of the upper layer from the digital signal from the rotation angle variation value of the joint belonging to the lower layer of each joint hierarchy as the actual rotation value of the corresponding joint. Motion capture device characterized in that it comprises a. The method of claim 4, wherein The gyro and accelerometer sensor units are the uppermost layer of the waist, the left and right hips and the neck of the lower layer of the waist, the left and right knees of the lower layer of the left and right hips, respectively, the left and the lower layers of the left and right knees, respectively. Right ankle, left and right shoulders and heads, which are the lower layers of the neck, left and right elbows, which are the lower layers of the left and right shoulders, respectively, and left and right wrists, which are the lower layers of the left and right elbows, respectively. Motion capture device. The method of claim 4, wherein the analog to digital conversion unit A DC blocking circuit for removing DC components from signals from the gyro and accelerometer sensors, An amplifying circuit for amplifying a signal from which a direct current component has been removed; AD converter for converting amplified signals to digital signals Motion capture device comprising a. The motion capturing apparatus of claim 4, further comprising a wireless circuit unit for wirelessly transmitting an output value from the signal processing unit. A gyro and accelerometer sensor unit installed at a joint part of a subject to measure and output rotation angle variation values of X, Y, and Z axes of each joint according to the movement of the subject; An analog-to-digital converter for converting the rotation angle shift value signals from the gyro and accelerometer sensors into digital signals; A signal processor that calculates and outputs a value obtained by subtracting a rotation angle variation value of a joint of a higher layer from the digital signal from the rotation angle variation value of a joint belonging to a lower layer of each joint hierarchy as the actual rotation value of the corresponding joint; A first wireless circuit unit for wirelessly transmitting an output value from the signal processing unit; A second wireless circuit unit for receiving a signal from the first wireless circuit unit, A host computer for receiving the actual rotation value data from the signal processing unit through the second wireless circuit unit and converts it to the movement of the corresponding skeleton. Motion capture device having a. The method of claim 8, The gyro and accelerometer sensor units are the uppermost layer of the waist, the left and right hips and the neck of the lower layer of the waist, the left and right knees of the lower layer of the left and right hips, respectively, the left and the lower layers of the left and right knees, respectively. Right ankle, left and right shoulders and heads, which are the lower layers of the neck, left and right elbows, which are the lower layers of the left and right shoulders, respectively, and left and right wrists, which are the lower layers of the left and right elbows, respectively. Motion capture device.