WO2008026357A1 - Procédé de capture de mouvements - Google Patents

Procédé de capture de mouvements Download PDF

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Publication number
WO2008026357A1
WO2008026357A1 PCT/JP2007/061323 JP2007061323W WO2008026357A1 WO 2008026357 A1 WO2008026357 A1 WO 2008026357A1 JP 2007061323 W JP2007061323 W JP 2007061323W WO 2008026357 A1 WO2008026357 A1 WO 2008026357A1
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WIPO (PCT)
Prior art keywords
measured
acceleration
sensor
axis
motion capture
Prior art date
Application number
PCT/JP2007/061323
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English (en)
Japanese (ja)
Inventor
Takeshi Nishizawa
Norihiko Shiratori
Original Assignee
Microstone Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Microstone Corporation filed Critical Microstone Corporation
Priority to JP2007538786A priority Critical patent/JP4277048B2/ja
Publication of WO2008026357A1 publication Critical patent/WO2008026357A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

Definitions

  • the present invention relates to a motion capture. More specifically, the present invention relates to a motion capture that can accurately measure position data of an object to be measured and is easy to reduce in size and weight.
  • image processing for obtaining image information is not only expensive, but also requires a large-scale image processing system, which can be used for outdoor sports, motor function rehabilitation, vehicles such as vehicles, In the machine operation analysis etc., there was a problem that it was practically difficult.
  • motion angle calculation device (not shown) that computes with, acceleration sensors 314, 315, 316 that detect biaxial acceleration, geomagnetic sensors 317, 318, 319 that detect biaxial geomagnetism, acceleration sensors and geomagnetism Based on the sensor output, around the X, Y, and Z axes
  • a static angle calculation device (not shown) that calculates the rotation angle with two types of Euler angles
  • a determination device (not shown) that determines the truth of the calculation result
  • Attitude angle calculation device (not shown) that calculates angle with two types of Euler angles, Euler angular force error force, Euler angle conversion that selects the Euler angle to be used and converts it to the other Euler angle
  • the measurement error of the viewpoint position by the inertial sensor is corrected.
  • an accumulation error that occurs with the lapse of time is corrected, and a position / orientation measuring apparatus (a kind of motion capture) is disclosed (for example, see Patent Document 2).
  • an angular velocity measurement unit (high-precision attitude sensor) 401 that measures the angular velocity generated by the rotation of the measurement target and the acceleration generated by the movement and rotation of the measurement target are measured.
  • error estimation means error estimation module
  • the attitude calculation means attitude calculation module 404 for calculating the attitude of the measurement target, the error estimation result by the output of the acceleration measurement unit 402 and the error estimation means 403, and the attitude calculation means 404 ⁇
  • a position / orientation measurement apparatus 400 including position calculation means (position calculation module) 405 that calculates the position of a measurement target based on the attitude calculation result.
  • the output error of the acceleration measuring unit 402 is corrected by multiplying by a proportional constant or a time-averaged proportional constant.
  • a posture monitoring device for rehabilitation intended to accurately measure motion by correcting a zero error in a stationary state of 6-axis data obtained from a 3-axis accelerometer and a 3-axis angular velocity meter (A kind of motion capture) is disclosed (for example, see Patent Document 3).
  • the 6-axis data obtained from the 3-axis accelerometer and 3-axis angular velocity meter force provided in the posture monitor unit 561 is input to the inertial calculation unit 563, and
  • This is a posture monitoring device for rehabilitation of a living body that corrects the zero error of the state (M, N) and measures the movement of the living body 550 with high accuracy.
  • Patent Document 1 JP 2005-331265 A (Claims)
  • Patent Document 2 JP 2005-114452 (Claims)
  • Patent Document 3 Japanese Patent Laid-Open No. 2005-34343 (Claims)
  • the attitude angle detection device disclosed in Patent Document 1 performs rotation conversion in a path different from the actual operation state, and does not match the actual operation state of the object to be measured, thus improving reliability. Not only is it lacking, but the two types of Euler angular forces also calculate the attitude angle, so there is a problem that it takes time to process the data because of the large amount of calculation processing. In addition to the 6-axis data of the object to be measured, it was necessary to measure the specified geomagnetism using a geomagnetic sensor, and it was difficult to reduce the size and weight of the sensor part.
  • the posture monitoring device for rehabilitation disclosed in Patent Document 3 only corrects the zero-point error in the stationary state of the 6-axis data before and after the movement of the measured object using a Kalman filter or the like. Therefore, there has been a problem that the accurate position of the object to be measured cannot be detected in a reference coordinate system as a coordinate system for observing movement, for example, the ground coordinate system.
  • Patent Documents 1 to 3 have a problem of low measurement accuracy.
  • the object to be measured makes a circular motion
  • the sensor part is made large in order to prevent the measurement error from increasing, it becomes difficult to reduce the size and weight of the device.
  • the present inventors have found that even when the object to be measured has a circular motion, for example, the measurement interval is relatively 5 to 50 ms. Even when rough sampling is performed, a relatively small 6-axis sensor and a predetermined data processing algorithm (3-axis batch rotation conversion technology based on minute angles integrating angular velocities) are used to measure It has been found that the position of an object can be detected with high accuracy.
  • an object of the present invention is to provide a motion capture that can accurately measure position data of an object to be measured and that can be easily reduced in size and weight.
  • the inverse skew matrix expressed by the following formula (1) ( R (n) — 1 ), or based on the deformed inverse skew matrix ((n) " 1 ) expressed by the following formula (2), the acceleration of the reference coordinate system expressed by the following formula (3) ( Motion carrier including data processing steps to calculate A, A, A)
  • the position of the object to be measured can be accurately detected by the 3-axis batch rotation conversion technology based on the minute angle that integrates the angular velocity.
  • At is a minute time between measurements of the object to be measured.
  • At is a minute time between measurements of the object to be measured.
  • Equation (3) G is the gravity on the reference coordinates at the start of measurement.
  • the acceleration in the reference coordinate system is the acceleration in the ground coordinate system.
  • the position of the object to be measured can be accurately detected even when the object to be measured has a circular motion in the ground coordinate system as the reference coordinate system.
  • the position of the object to be measured can be detected more quickly.
  • the position data of the object to be measured can be accurately calculated.
  • the output data of the three-axis acceleration sensor is subjected to an offset correction process before the data processing step.
  • a known adjustment voltage may be applied to the three-axis acceleration sensor and / or the three-axis angular velocity sensor to adjust the detection level. preferable.
  • the position of the object to be measured can be detected more quickly and accurately even if the measurement range (range) of the object to be measured is expanded and a large offset occurs.
  • the first motion capture and the second motion capture are included, and each of them is disposed at a position away from the object to be measured. At the same time, it is preferable to calculate the relative position in the constituent part of the object to be measured from the position data obtained by the first motion capture and the position data obtained by the second motion capture.
  • the position data of the object to be measured by the motion capture can be used to calculate the relative angle (position relative to the component part of the object to be measured).
  • the relative angle (relative position) at the component part of the object to be measured can be calculated. It is possible to infer human movements with coordinates fixed to the vehicle.
  • a power supply is included, and the power supply is electrically connected to the outside of the motion capture housing. It is preferable to isolate it from the 6-axis sensor mounted inside.
  • the position of the object to be measured can be detected with higher accuracy by eliminating the influence of the relatively heavy power supply.
  • the 6-axis sensor is It is preferably mounted on a rigid substrate laminated on a steel substrate.
  • Such a configuration not only facilitates the mounting of the 6-axis sensor, but also guarantees the operation of the 6-axis sensor and can detect the position of the object to be measured with higher accuracy.
  • a plurality of rigid substrates are stacked on the flexible substrate, and the plurality of rigid substrates are stacked at a predetermined interval. Better!/,.
  • the 6-axis sensor can be easily mounted, and can be bent or deformed using the flexible substrate exposed between the rigid substrates. Therefore, it is possible to dramatically improve the degree of freedom in attaching and handling motion capillaries.
  • Another aspect of the motion capture of the present invention is the acceleration (G, G
  • the object to be measured is output from the output data of the 3-axis acceleration sensor and 3-axis angular velocity sensor.
  • the skew matrix (R (n)) expressed by the following formula (4) or the deformed skew matrix (IT ( n) Based on)
  • the acceleration of the object to be measured can be accurately measured.
  • At is a minute time between measurements of the object to be measured.
  • At is a minute time between measurements of the object to be measured.
  • FIG. 1] (a) to (c) are a schematic cross-sectional view, a plan view, and a side view of a motion cap- ture according to the present invention.
  • FIG. 2 is another schematic cross-sectional view of the motion capture of the present invention.
  • FIG. 3 is a diagram for explaining a correction method for a triaxial acceleration sensor and a triaxial angular velocity sensor.
  • FIG. 4 (a) to (b) are diagrams for explaining an example of a three-axis acceleration sensor.
  • FIG. 5 (a) to (b) are diagrams for explaining an example of a triaxial angular velocity sensor.
  • FIG. 6 is a diagram for explaining the electrode relationship of the triaxial angular velocity sensor.
  • FIG. 7 (a) to (d) are diagrams for explaining the operation of the three-axis angular velocity sensor (part
  • FIG. 8 (a) to (d) are diagrams for explaining the operation of the three-axis angular velocity sensor (part
  • FIG. 9 (a) to (d) are diagrams for explaining the operation of the three-axis angular velocity sensor (part
  • FIG. 10 is a flowchart for carrying out a correction method for a 3-axis acceleration sensor and a 3-axis angular velocity sensor.
  • FIG. L l (a) to (b) are diagrams showing the relationship between a trajectory during circular motion using a skew matrix as an algorithm, its elapsed time and error.
  • FIG. 12] (a) to (b) are diagrams showing the relationship between a trajectory during circular motion using a deformed skew matrix as an algorithm, its elapsed time and error.
  • FIG. 13 (a) to (d) are composite substrates including a flexible circuit substrate and a rigid substrate.
  • FIG. 14 (a) to (b) are diagrams for explaining an application example to a baseball bat for practice.
  • FIG. 15 is a diagram for explaining a conventional posture angle detection device (part 1).
  • FIG. 16 is a diagram for explaining a conventional position and orientation measurement apparatus (part 2).
  • FIG. 17 is a diagram for explaining a conventional rehabilitation posture monitoring device.
  • FIG. 18 is a diagram for explaining a correction method for a conventional triaxial acceleration sensor and a triaxial angular velocity sensor.
  • the embodiment of the present invention includes a three-axis acceleration sensor 16a for measuring the acceleration (G, G, G) of an object to be measured, and an angular velocity.
  • Another embodiment of the motion capture according to the present invention is a motion capture for detecting the position or orientation of an object to be measured by using a similar 6-axis sensor, and comprising a 3-axis acceleration sensor If the measured object is determined to be in non-inertial movement from the output data of the 3-axis angular velocity sensor, the skew matrix (R (n)) or the deformation skew matrix (IT (n ) Based on)), the motion capture includes a data processing step for calculating the tilt angle from the reference gravity vector applied to the object to be measured.
  • FIG. 1 (a) is a schematic cross-sectional view of the motion capture 10
  • FIG. 1 (b) is a schematic plan view thereof
  • FIG. 1 (c) is a schematic side view thereof
  • FIG. 2 is a schematic cross-sectional view of another motion capture 1 (1.
  • the 3-axis acceleration sensor has a buried SiO layer inside and a flat surface.
  • a mass body 43 having a rectangular shape, beam portions 45 to 48 that connect the mass body 43 and the frame portion 42 at four locations, and a plurality of resistance elements 49 provided at predetermined locations of these 45 to 48
  • a piezoresistive type three-dimensional acceleration sensor 40 is preferable.
  • a three-axis acceleration sensor that can detect static acceleration such as gravity, as represented by a capacitance type, can be applied.
  • the three-dimensional acceleration sensor is used to monitor the acceleration in the three-dimensional direction of the object to be measured, and the three-dimensional acceleration component (G, G, G) is filtered to synthesize the predetermined direction component.
  • a vector G (G 1, G 2, G 3) can be defined. Shi
  • the combined beta G (G, G, G) of the gravity direction component can be accurately determined from the acceleration components (G, G, G) in the three-dimensional direction.
  • FIG. 5 is a diagram provided for explaining an example of the triaxial angular velocity sensor 50.
  • FIG. 6 is a diagram for explaining the electrode relationship of the triaxial angular velocity sensor 50, and
  • FIGS. 7 to 9 are diagrams for explaining the operation of the triaxial angular velocity sensor 50.
  • FIG. 5 is a diagram provided for explaining an example of the triaxial angular velocity sensor 50.
  • FIG. 6 is a diagram for explaining the electrode relationship of the triaxial angular velocity sensor 50
  • FIGS. 7 to 9 are diagrams for explaining the operation of the triaxial angular velocity sensor 50.
  • the triaxial angular velocity sensor preferably has a configuration in which a piezoelectric element is stacked on the vibrator and detects Coriolis generated when the angular velocity around the three axes changes.
  • the reason for this is that if Coriolis is detected, the monitored angular velocity components ( ⁇ , ⁇ , ⁇ y ⁇ ) can be measured as relatively large values. This is because the correction can be effectively performed so as to approximate the angular velocity motion state. Moreover, if Coriolis is detected, it is possible to provide a triaxial angular velocity sensor that consumes less power and can be easily reduced in size and weight.
  • the two orthogonal axes are the X axis and
  • the first vibrating leg 52b is aligned with the vertical axis, and the second vibrating leg 52a and the third vibrating leg 52c are Also provided are extending portions 54a, 54c extending in an oblique direction so that the axial force is also separated from each other.
  • each mass body 53a, 53b, 53c when the Coriolis generated for each mass body 53a, 53b, 53c is detected by the detection unit of the angular velocity sensor 50, the vibration mode of each mass body 53a, 53b, 53c is the second vibration leg 52a and the second vibration 3)
  • the vibration leg 52c opens and closes simultaneously in the Y-axis direction, or the second vibration leg 52a and the third vibration leg 52c are simultaneously displaced in the same direction with respect to the Y-axis direction.
  • the vibration leg 52b has a two-dimensional movement of the HA mode that moves in the opposite direction.
  • the triaxial angular velocity sensor shown in FIG. 5 includes electrodes as shown in FIG. 6 at predetermined locations, and can measure the angular velocity as shown in FIG.
  • the oscillation circuit unit 80 of the triaxial angular velocity sensor 50 is a part including a vibration circuit for vibrating the vibration legs 52a, 52b, and 52c in a predetermined vibration mode. Therefore, it is preferable that the oscillating circuit unit 80 is configured to include an oscillating circuit, an AGC circuit, an impedance conversion circuit, a phase correction circuit, a comparator, and the like.
  • a frequency signal oscillation device (oscillation circuit) 77 As a part of the oscillation circuit unit 80, a frequency signal oscillation device (oscillation circuit) 77, output terminals 71, 73, 75, ground (or reference potential) 72, 74, 76, An oscillating circuit composed of predetermined wiring is shown.
  • a plurality of electrodes 70 are provided on each vibration leg 52a, 52b, 52c so that a driving signal should be input to each vibration leg 52a, 52b, 52c. .
  • the electrodes of the second vibrating leg 52a and the third vibrating leg 52c are provided with two electrodes 70a, 70b, 70k, 701 in a divided form on one of the side surfaces.
  • one electrode 70e is provided over the entire surface.
  • a pair of auxiliary electrodes 70c and 70d are provided almost entirely on the upper and lower surfaces of the second vibrating leg 52a and the third vibrating leg 52c in order to assist the electrodes on the side surfaces.
  • the electrodes 70f, 70g, 70h, 70i of the first vibrating leg 52b are provided corresponding to the four surfaces around the vibrating leg, respectively.
  • the electrodes 70a, 70b, 70k, and 701 provided separately on the side surfaces of the second vibrating leg 52a and the third vibrating leg 52c contribute to vertical vibrations, respectively.
  • the electrodes 70e, 70f, 70g, and 70j provided on the entire sides of the vibrating legs 52a, 52b, and 52c contribute to horizontal vibration, making them suitable for driving and detection in the HS and HA modes. It can be said that.
  • a logic circuit for phase adjustment in a small range an analog element such as L, C, R, etc., or a filter for amplifying the drive signal is installed at any circuit location. It ’s also good to go.
  • the second vibration leg and the third vibration leg are opened and closed simultaneously with respect to the Y-axis direction, or the second vibration leg and the third vibration leg are It is preferable that the HA mode operation in which the first vibrating leg is displaced in the opposite direction simultaneously with the Y-axis direction is performed in a planar manner.
  • the detection mode in the X-axis direction is the V mode
  • the detection mode in the Y-axis direction is the T mode
  • the detection mode in the Z-axis direction is the HA mode. This is because Coriolis can be detected with high sensitivity.
  • the detection mode in the X-axis direction can be detected as the HA mode
  • the detection mode in the Y-axis direction can be detected as the HS mode. Therefore, it is difficult to detect Coriolica with high sensitivity because it matches the vibration direction.
  • the correction method of the present embodiment is compared with the conventional correction method with reference to FIGS.
  • Equation (6) there are three variables in Equation (6), and these are three-dimensional acceleration.
  • one of the coordinate force acceleration sensor offset vector (G represents.
  • the posture is forcibly changed three times and the measurement is performed as described above. It is preferable to control the object to be measured so that calibration is performed.
  • the DZA converter is forcibly offset so that the output of the amplifier A2 or the value Dc of the AZD converter is not saturated. Da and Db can be given.
  • gain correction of the acceleration vector data G (G, G, G) (autonomous adjustment correction of acceleration vector data) is performed.
  • Equation (3) this time, in six different postures, by measuring the gravitational acceleration vector, six equations expressed by Equation (9) below are created. be able to.
  • the measured object performs inertial movement from the corrected acceleration vector data G (G, G, G). Judgment of power or not.
  • the measured object is in inertial motion. It can be judged.
  • the initial value is stored as G and used when measuring the position of the object to be measured.
  • At is a minute time between measurements of the object to be measured.
  • At is a minute time between measurements of the object to be measured.
  • the reference gravity vector G is set to the current gravity vector.
  • the inclination angle (0, 0, 0) of the object to be measured is calculated as indicated by S8 in FIG. That is, when the Z-axis is in the vertical direction (opposite of the reference gravity vector G)
  • the tilt angle ( ⁇ , 0, 0) of the object to be measured can be obtained.
  • the tilt angle 0 is an angle formed with the horizontal plane of the Y axis
  • the tilt angle 0 is The angle between the X axis and the horizontal plane
  • the tilt angle ⁇ is the angle between the Z axis and the vertical plane.
  • FIG. 10 illustrates offset correction of angular velocity data attached to the same location indicated by.
  • the gain correction of the angular velocity data can be performed similarly. That is, in FIG. 10, the angular velocity data as shown by S ′ l is obtained, and it is subjected to LP filtering in the step shown by 2 to remove the high-frequency impact component (noise). Simple gain correction can be performed.
  • the value obtained by dividing the elapsed time (T1 TO) from the previous calibration (T1 TO) is used as the difference immediately before initialization to offset the angular velocity sensor. It can be regarded as an error.
  • the offset correction of the angular velocity sensor can be performed by the following method from the values represented by the mathematical formulas (11) and (12) as well as the angular calibration.
  • the minute rotation angles ( ⁇ ′, ⁇ ′, ⁇ ′) can be obtained from the following equation (13). .
  • a Q 'x ⁇ ( ⁇ + ⁇ ; - ⁇ ⁇ — ⁇ t + ⁇ ⁇ ⁇
  • ⁇ ⁇ 'z ⁇ ( ⁇ + ⁇ ) -At ⁇ ⁇
  • the minute rotation angles ( ⁇ ⁇ ', ⁇ ⁇ ', ⁇ 0,) include error integration of angular velocities ( ⁇ , ⁇ ) as shown in Equation (13).
  • the angle ( ⁇ 0 ', ⁇ 0') It is preferable to always correct the integral constant.
  • the corrected acceleration vector data G (G, G, G) is used as indicated by arrows (dotted lines) directed to S3 to S'4 in FIG.
  • the reference coordinate system represented by the following formula (3) Acceleration (A 1, A 2, A 3) can be calculated.
  • the corrected acceleration vector data G (G, G, G) and the measurement data G (G, G, G) are represented in the same manner for convenience.
  • At is a minute time between measurements of the object to be measured.
  • Equation (3) G is the gravity on the reference coordinates at the start of measurement.
  • the acceleration A (A of the ground coordinate system is based on the modified inverse skew matrix (IT (n) — 1 ) of the following equation (2). , A, A)
  • At is a minute time between measurements of the object to be measured.
  • the position of the object to be measured can be measured with higher accuracy by using the inverse skew matrix (R (n) -1 ) or the modified inverse skew matrix (IT (n)-) in data processing.
  • the measured object is in inertial motion
  • the acceleration (A) is inertial motion
  • the initial value G of the gravitational acceleration is calculated from the calculated acceleration (A, A, A). Is taken to be the motion acceleration (D 1, D 2, D 3).
  • the speed is integrated with and the position of the object to be measured in the reference coordinate system is detected.
  • the power source 22 is controlled by the power control semiconductor element 27 and is located inside the housing 12 of the motion capture 10 to operate the 6-axis sensor 16 and the wireless transmission module. I prefer that.
  • the power source 22 is electrically connected to the external terminal of the motion capture 10 and is isolated from the 6-axis sensor 16 and the like mounted inside the housing 12 of the motion capture 10.
  • the number of power supplies may be singular, but it is preferable to use a plurality of power supplies in order to achieve a weight balance.
  • a secondary battery as a power source, it is possible not only to avoid problems such as disposal and reduce the impact on the environment, but also to allow external charging and replace the power source. Can be saved.
  • a sleep function for extending the life of the power supply. That is, it is preferable to automatically turn off the power when the sensor does not detect the operation for a predetermined time, and turn on the power again by an impact or the like.
  • the substrate on which the 6-axis sensor 16 (16a, 16b) is mounted is at least a rigid substrate 18a laminated on a flexible substrate 18b.
  • a composite substrate 18 ′ in which a rigid substrate 18 a is laminated on each of the upper and lower surfaces so as to sandwich the flexible substrate 18 b from above and below.
  • the 6-axis sensor 16 is mounted on the rigid board 18a. This is because it can be easily and accurately mounted using one method or the like. Moreover, the rigid substrate 18a can guarantee the operation of the 6-axis sensor 16 and detect the position of the object to be measured with higher accuracy.
  • a plurality of rigid substrates 19a are stacked on the flexible substrate 18b, and the plurality of rigid substrates 19a are predetermined. It is preferable to use a composite substrate 19 ′ which is laminated at intervals.
  • the 6-axis sensor 16 is mounted on a relatively small rigid substrate 19a, so that it can be easily and accurately mounted using a solder reflow method or the like. Further, this is because the flexible board 18b exposed between the plurality of rigid boards 19a can be bent or deformed. Therefore, the degree of freedom in mounting and handling motion capture can be dramatically improved.
  • FIGS. 13A to 13D show several embodiments of the composite substrate.
  • the flexible substrate 18b exposed in a cross shape can be bent or deformed in the longitudinal direction or in the lateral direction.
  • a relatively large mounting area can be secured by using the flexible substrate 18b exposed diagonally, and it can be bent or deformed in an oblique direction. You can make it.
  • the flexible substrate 18b exposed in a slit shape can be used to be deformed into a roll shape and wound.
  • a wireless transmission / reception module 26 and an antenna 24 for transmitting the obtained data it is preferable to provide a wireless transmission / reception module 26 and an antenna 24 for transmitting the obtained data to a computer provided outside the motion capture.
  • the chip antenna 24 for data communication with the outside is electrically connected to the wireless transmission / reception module 26.
  • Preferred to exist Preferred to exist ,.
  • the reason for this is that when the board 18 and the board 19 positioned in the vertical direction are viewed in the vertical direction, if they are overlapped at the mounting location of the chip antenna 24, a radio wave interference will occur, which hinders data communication. This is because there may be cases. Therefore, it is preferable that the length of the substrate 18 positioned in the vertical direction is different from the length of the substrate 19 so that the chip antenna 24 is not overlapped at the mounting position.
  • first motion capture and the second motion capture constitute a composite motion capture, each of which is placed at a distance from the object to be measured! It is preferable to calculate the relative position in the component part of the object to be measured from the position data by the first motion capture and the position data by the second motion capture.
  • the first and second motion captures are attached to the upper and lower arms of the hand, respectively, and the relative positions are calculated by detecting the positions of the upper and lower arms of the hand. This makes it possible to measure the bending angle of the upper and lower arms of the hand.
  • the first motion capture is attached to a part of the vehicle, for example, a handle or a door
  • the second motion capture is attached to the driver's body.
  • a relatively small 6 Accurately measure the position, orientation, etc. of the measured object using an axis sensor and a predetermined data processing algorithm (3-axis batch rotation conversion technology based on minute angles obtained by integrating angular velocities) As well as making it easier to reduce the size and weight.
  • a rectangular motion captilla with a length (LI) of 10 cm, a width (L3) of 8 cm, and a thickness (L2) of about 2 cm has a length (LI) of 5 cm, a width (L3) of 4 cm, Thickness (L2) It can be a rectangular motion capillaries of about 1cm.
  • the conventional capacities of 500 g or more have improved the measurement accuracy and the ability to reduce the size of the sensor according to the motion capillaries of the present invention.
  • Light weight can be reduced to about LOOg
  • the motion capture of the present invention is applied to, for example, tennis rackets, table tennis rackets, notington rackets, baseball bats, golf clubs, automobiles, motorcycles, robots, mobile phones, watches, personal computers and the like. It is expected to be applied.
  • the motion capture 10 of the present invention is mounted inside the baseball bat 100 for practice, and the baseball battery for practice by the player 101 is used.
  • the position can be detected during 100 swings. Therefore, the player 101 can refer to it as image information, and can contribute to the acquisition of an accurate bat swing in the player 101 as indicated by the track (K).
  • the motion capture of the present invention is applied to skis and ski jumping athletes using the skis to measure aerial postures and flight trajectories, highlight blurring, etc., and superimpose them on TV images. By posing, it is expected to further impress viewers in fields such as ski competitions.

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  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physiology (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Gyroscopes (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un procédé de capture de mouvements, capable de mesurer les données de position ou analogues d'un objet mesuré de manière hautement précise et dont les réductions de taille et de poids sont simples. Le procédé de capture de mouvements détecte la position d'un objet avec un capteur à six axes muni d'un capteur d'accélération triaxial pour mesurer les accélérations (Gxn, Gyn, Gzn) de l'objet et d'un capteur de vitesse angulaire triaxial pour mesurer les vitesses angulaires (ωxn, ωyn, ωzn) de l'objet. Le procédé de capture de mouvement est caractérisé en ce qu'il comprend une étape de traitement des données destinée à calculer les accélérations (AXn, AYn, AZn) d'un système de coordonnées de référence à partir des données de sortie individuelles du capteur d'accélération triaxial et du capteur de vitesse angulaire triaxial sur la base d'une matrice antisymétrique inverse (R(n)-1) ou d'une matrice antisymétrique inverse déformée (R'(n)-1).
PCT/JP2007/061323 2006-08-29 2007-06-05 Procédé de capture de mouvements WO2008026357A1 (fr)

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JP2009236788A (ja) * 2008-03-28 2009-10-15 Honda Motor Co Ltd ヨーレイトセンサ及び横加速度センサの故障検出装置及び方法
JP2010014712A (ja) * 2008-06-30 2010-01-21 Samsung Electronics Co Ltd モーションキャプチャー装置及びモーションキャプチャー方法
JP2010227366A (ja) * 2009-03-27 2010-10-14 Nintendo Co Ltd ゲーム装置およびゲームプログラム
JP2010240242A (ja) * 2009-04-08 2010-10-28 Nintendo Co Ltd 姿勢算出装置および姿勢算出プログラム
JP2011503522A (ja) * 2007-07-06 2011-01-27 インベンセンス インコーポレイテッド Ｍｅｍｓ慣性感知及び内蔵デジタルエレクトロニクスを備えた統合運動処理ユニット（ｍｐｕ）
WO2011016302A1 (fr) * 2009-08-03 2011-02-10 アイチ・マイクロ・インテリジェント株式会社 Marqueur pour capture de mouvement
WO2011152429A1 (fr) 2010-06-02 2011-12-08 富士通株式会社 Dispositif de terminal mobile, programme de calcul de lieux de marche et procédé de diagnostic de posture de marche
JPWO2010027015A1 (ja) * 2008-09-05 2012-02-02 国立大学法人 東京大学 モーションキャプチャ装置
JP2012229011A (ja) * 2011-04-06 2012-11-22 Robert Bosch Gmbh 自動車の重心の連続計算
EP2140917A3 (fr) * 2008-06-30 2013-05-15 Nintendo Co., Ltd. Appareil de calcul d'orientation et support de stockage doté du programme de calcul d'orientation
US8614672B2 (en) 2009-03-09 2013-12-24 Nintendo Co., Ltd. Information processing apparatus, storage medium having information processing program stored therein, information processing system, and display range control method
US8749490B2 (en) 2008-06-30 2014-06-10 Nintendo Co., Ltd. Orientation calculation apparatus, storage medium having orientation calculation program stored therein, game apparatus, and storage medium having game program stored therein
WO2014115817A1 (fr) * 2013-01-23 2014-07-31 株式会社東芝 Dispositif de traitement d'informations de mouvement
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US8960002B2 (en) 2007-12-10 2015-02-24 Invensense, Inc. Vertically integrated 3-axis MEMS angular accelerometer with integrated electronics
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JP2017016518A (ja) * 2015-07-03 2017-01-19 京セラ株式会社 携帯電子機器、制御方法および制御プログラム
WO2018088041A1 (fr) * 2016-11-11 2018-05-17 ソニー株式会社 Dispositif de traitement d'informations
US10203203B2 (en) 2012-04-02 2019-02-12 Casio Computer Co., Ltd. Orientation detection device, orientation detection method and program storage medium
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US10288427B2 (en) 2007-07-06 2019-05-14 Invensense, Inc. Integrated motion processing unit (MPU) with MEMS inertial sensing and embedded digital electronics
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US8960002B2 (en) 2007-12-10 2015-02-24 Invensense, Inc. Vertically integrated 3-axis MEMS angular accelerometer with integrated electronics
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JP2009236788A (ja) * 2008-03-28 2009-10-15 Honda Motor Co Ltd ヨーレイトセンサ及び横加速度センサの故障検出装置及び方法
US8988438B2 (en) 2008-06-30 2015-03-24 Samsung Electronics Co., Ltd. Motion capture apparatus and method
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US9079102B2 (en) 2008-06-30 2015-07-14 Nintendo Co., Ltd. Calculation of coordinates indicated by a handheld pointing device
US8749490B2 (en) 2008-06-30 2014-06-10 Nintendo Co., Ltd. Orientation calculation apparatus, storage medium having orientation calculation program stored therein, game apparatus, and storage medium having game program stored therein
JP2010014712A (ja) * 2008-06-30 2010-01-21 Samsung Electronics Co Ltd モーションキャプチャー装置及びモーションキャプチャー方法
JPWO2010027015A1 (ja) * 2008-09-05 2012-02-02 国立大学法人 東京大学 モーションキャプチャ装置
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JP2010227366A (ja) * 2009-03-27 2010-10-14 Nintendo Co Ltd ゲーム装置およびゲームプログラム
JP2010240242A (ja) * 2009-04-08 2010-10-28 Nintendo Co Ltd 姿勢算出装置および姿勢算出プログラム
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US10203203B2 (en) 2012-04-02 2019-02-12 Casio Computer Co., Ltd. Orientation detection device, orientation detection method and program storage medium
US10222194B2 (en) 2012-04-02 2019-03-05 Casio Computer Co., Ltd. Orientation detection device, orientation detection method and program storage medium
US9727779B2 (en) 2013-01-23 2017-08-08 Toshiba Medical Systems Corporation Motion information processing apparatus
WO2014115817A1 (fr) * 2013-01-23 2014-07-31 株式会社東芝 Dispositif de traitement d'informations de mouvement
JP2017016518A (ja) * 2015-07-03 2017-01-19 京セラ株式会社 携帯電子機器、制御方法および制御プログラム
WO2018088041A1 (fr) * 2016-11-11 2018-05-17 ソニー株式会社 Dispositif de traitement d'informations
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US11243228B2 (en) 2016-11-11 2022-02-08 Sony Corporation Information processing apparatus
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CN109813272B (zh) * 2019-03-28 2023-11-03 苏州聚慧体育用品有限公司 一种乒乓球全自动偏心检测系统

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