RU121947U1 - TRAFFIC CAPTURE SYSTEM - Google Patents

Abstract

1. A motion capture system, including at least one mobile measuring device for determining and transmitting data with parameters of captured motion, at least one signal receiver connected by wireless communication channels with at least one mobile measuring device, a unit processing, storage and visualization of data connected to the data receiver, while the mobile measuring device includes an autonomous power supply, a wireless sensor network module, an inertial measuring module connected by communication channels with a wireless sensor network module for calibration and wireless data transmission to a processing, storage unit and data visualization. ! 2. The system according to claim 1, characterized in that the inertial measuring module includes a three-axis angular velocity sensor, a three-axis acceleration sensor, a three-axis magnetic field sensor, a temperature sensor and a microcontroller connected to them by communication channels that processes signals from the sensors. ! 3. The system according to claim 1, characterized in that the wireless sensor network module includes a transceiver and has I2C, SPI, UART, DAC / ADC interfaces for connecting an inertial measuring module.

Description

The utility model relates to a means of collecting, processing and transmitting data from sensors, designed to capture motion using inertial micromechanical (MEMS) sensors and wireless sensor network technology (based on the IEEE 802.15.4 / ZigBee standard) and can be used in virtual reality systems , medical and sports equipment, game and simulation systems, cinema, robotics.

Motion capture is a method of animating characters and objects. The method is used in the production of CGI cartoons, as well as for creating special effects in films. Widely used in the gaming industry.

Known solutions related to measuring instruments (devices) designed to determine the parameters of movement of the body and limbs of a person.

Known inertial system for determining the parameters of motion of the body and limbs of a person based on molecular-electronic sensors according to the patent of the Russian Federation No. 91275, IPC AB 5/00, publ. 02/10/2010. An inertial system for determining the motion parameters of human limbs consists of at least one highly sensitive broadband linear motion sensor, or one highly sensitive broadband angular motion sensor mounted on the body and / or limbs of a person, a control unit that includes an analog power supply, amplification, filtering and signal temperature correction, ADC, data storage and wired or wireless interface for transferring data to a personal computer.

A disadvantage of the known system is the impossibility of obtaining complete information about the movement of a person as a whole and the low accuracy of determining the parameters of movement of a person, since the system uses linear and angular motion sensors made using a liquid inertial mass and a molecular-electronic sensitive element that converts the movement of liquid into electrical signal that does not provide the required measurement accuracy and initial calibration of the system.

A known method of tracking and displaying the position and orientation of the user in space and a system for implementing the method according to the patent of the Russian Federation No. 2107328, IPC G09B 19/10, publ. 03/20/1998. - prototype.

The system for tracking and displaying the user's position and orientation in space, contains many motion parameters sensors located on parts of the user's body, which are used relative angle sensors located in the immediate vicinity of the main joints between segments of the user's musculoskeletal system or on the segments themselves , means for converting sensor signals to the desired form of their presentation, a processing unit for measured data, the input of which is connected to the output m transforming means, a unit for displaying the spatial position and orientation of the user associated with the processing unit for measuring data, means for determining reference directions located on at least one of the segments of the musculoskeletal system of the user, a polling unit connected to the polling channels with motion parameters sensors and means definition of reference directions

In the known method, the parameters of the movement of parts of the body of the user are determined, the obtained measurement data are converted to the desired form of their presentation, and the set of converted data is processed to obtain data that determines the position and orientation of the user in space. To this end, at each of the main joints of the segments of the user's musculoskeletal system, a means for determining at least one angle between the segments adjacent to the corresponding joint is fixed. The orientation and position of the user as a whole in space is determined based on the obtained values of the angles and orientation of at least one segment on which the means for determining reference directions are located.

A disadvantage of the known system is the low accuracy of determining the parameters of human movement and large dimensions due to the use of a relative angle of rotation of the strain gauge or fiber-optic sensor as a sensor, and as a means of determining reference directions - a local vertical sensor or gravity sensor. In addition, the known system is not mobile, it is inconvenient to use, since it involves the presence of a specially equipped room for tracking and displaying the position and orientation of the user.

The technical problem to which the proposed utility model is directed is to create a mobile wireless motion capture system that provides high accuracy in measuring motion parameters (orientation and position) of human, animal limbs, or technical means, which can be used to capture motion outside a specially equipped room.

The stated technical problem is solved in that, according to the proposed utility model, the motion capture system includes at least one mobile measuring device for determining and transmitting data with parameters of the captured motion, at least one signal receiver connected with wireless communication channels, at least one mobile measuring device, a processing unit, storage and visualization of data connected to the data receiver, while the mobile measuring device includes sources to autonomous power supply, wireless sensor network module, inertial measuring module connected by communication channels to the wireless sensor network module for calibration and wireless data transmission to the data processing, storage and visualization unit.

In addition, the inertial measuring module includes a triaxial angular velocity sensor, a triaxial acceleration sensor, a triaxial magnetic field sensor, a temperature sensor and a microcontroller connected to them via communication channels that processes signals from the sensors.

In addition, the wireless sensor network module includes a transceiver and has interfaces I2C, SPI, UART, DAC / ADC for connecting an inertial measuring module.

The technical result, the achievement of which is ensured by the implementation of the entire claimed combination of essential features of the claimed utility model, consists in increasing the accuracy of measuring motion parameters (orientation and position) of human, animal limbs or technical means.

The triaxial acceleration sensors, angular velocity sensors, magnetic field sensors used in the claimed utility model for determining rotation and displacement angles have greater accuracy and smaller dimensions than the sensors used in the prototype, which ensures high accuracy of measurement by the system of motion parameters. In addition, the sensors attached to parts of the human body are wireless and are connected to the data processing, storage and visualization unit by a wireless sensor network, which deprives the system of the drawback associated with the need to use a specially equipped room for motion capture and ensures the mobility of the system.

The essence of the utility model is illustrated in the figure, where figure 1 presents a block diagram of a system containing the following positions:

1 - motion capture system;

2 - mobile measuring device;

3 - inertial measuring module;

4 - angular velocity sensor;

5 - acceleration sensor;

6 - magnetic field sensor;

7 - temperature sensor;

8 - microcontroller;

9 - wireless sensor network module;

10 - signal receiver;

11 - block processing, storage and visualization of data.

Motion capture system 1 is based on wireless sensor network technology (IEEE 802.15.4 / ZigBee standard) and inertial sensors.

The system comprises at least one mobile measuring device 2 connected by wireless communication channels, at least one signal receiver 10, a data processing, storage and visualization unit 11.

The mobile measuring device has a UART / USB interface for programming and debugging.

Mobile measuring device 2 consists of an inertial measuring module 3, module 9 of the wireless sensor network, an autonomous power source (not shown in FIG. 1). Each mobile measuring device can be equipped with a separate autonomous power source (batteries or accumulators), or several measuring devices can be combined with a common power source.

As an inertial measuring module, an inertial measuring module made using MEMS technology is used.

In the claimed design of the utility model, together with the sensors of linear accelerations and angular movements, MEMS magnetic field sensors are used - magnetometers. Their use allows you to get the most complete information about human movement in general and increases the accuracy of determining the parameters of human movement

The inertial measuring module 3 includes a triaxial sensor 4 of the angular velocity (gyroscope), a triaxial sensor 5 of acceleration (accelerometer), a triaxial sensor 6 of the magnetic field (magnetometer), a temperature sensor 7 and a microcontroller 8 that processes the signals received from sensors 4, 5, 6, 7.

The use of the utility model in the claimed design in conjunction with linear acceleration and angular motion sensors MEMS magnetic field sensors - magnetometers - allows you to get the most complete information about the movement of a person (animal) in general and improves the accuracy of determining the parameters of the movement of the object.

The inertial measuring module is connected to the module 9 of the wireless sensor network via one or more interfaces: I2C, SPI, UART, ADC / DAC. Received data is transmitted via a wireless communication channel according to the IEEE802.15.4 / ZigBee standard, or via the UART / USB interface (if connected directly to the module).

The wireless sensor network module 9 includes a transceiver (it can have either a built-in antenna or a reinforced external antenna) and has interfaces I2C, SPI, UART, DAC / ADC for connecting an inertial measuring module.

Using a wireless sensor network can significantly increase the number of simultaneously used wireless measuring devices in a single network. Thus, the extensibility and mobility of the system is ensured. Using the sensor network provides a more accurate initial calibration of the system

The signal receiver 10 is a device including a sensor network module. The receiver forms a sensor network. It can either be connected to an autonomous power source (batteries or rechargeable batteries), or receive power via the USB interface. The receiver includes a built-in antenna and / or a reinforced external antenna, a UART / USB interface for programming, debugging and interacting with the data storage, processing and visualization unit 11

The inventive system operates as follows.

One or more mobile measuring devices 2 are attached to parts of the body of a person, animal, or technical device.

The position and orientation data from the sensors 4, 5, 6, 7 are received and processed in the microcontroller 8, which is equipped with software for filtering and combining data ((for example, Kalman filter using quaternions)). The use of several types of sensors can improve the accuracy of determining motion parameters. The processed data from the output of the microcontroller 8 is fed to the input of the module 9 of the wireless sensor network, then, via a wireless communication channel, it is transmitted to the input of the receiver 10. From the receiver 10, signals with information through the connection interface are transmitted to the input of the data processing, storage and visualization unit 11. In block 11, the obtained data is subjected to additional processing, visualized and stored for later use. As the block 11 of the storage, processing and visualization of data, you can use a personal computer. Control from a personal computer allows you to configure the system, calibrate sensors, configure a wireless sensor network, transmit control signals to the receiver and wearable measuring devices. Adding wearable measuring devices to the network can occur both in manual and automatic mode. Traffic can be captured both indoors and outdoors. Using the proposed utility model, motion capture of human limbs, animals, and various technical devices can be made. For example, to capture the movement of the upper part of the human body can be used from 8 measuring devices, the lower part - from 7 devices. Full body motion capture - from 15 devices. As a technical device for capturing movement, for example, a tennis racket for a tennis simulator can be used. In this case, 1 measuring device is used, which is built into the racket.

The novelty of the claimed utility model consists in the use of a wireless sensor network in conjunction with inertial sensors to determine the motion parameters of a person, animal or technical devices.

The use of a wireless sensor network for the measuring system provides the extensibility of the system for measuring motion parameters, its mobility, ease of deployment and calibration. Measurement of motion parameters can be made both in an artificially organized environment, closed from external influences, and in natural conditions in open spaces.

Claims (3)

1. Motion capture system, comprising at least one mobile measuring device for detecting and transmitting data with captured motion parameters, at least one signal receiver connected by wireless communication channels to at least one mobile measuring device, unit processing, storage and visualization of data connected to the data receiver, while the mobile measuring device includes an autonomous power supply, a wireless sensor network module, inertial measurement module coupled communication channels with the wireless sensor network module for calibration and wireless data processing unit, storage and visualization of data. 2. The system according to claim 1, characterized in that the inertial measuring module includes a triaxial sensor of angular velocity, a triaxial acceleration sensor, a triaxial magnetic field sensor, a temperature sensor and a microcontroller connected to them by communication channels, processing signals from the sensors. 3. The system according to claim 1, characterized in that the wireless sensor network module includes a transceiver and has interfaces I2C, SPI, UART, DAC / ADC for connecting an inertial measuring module.