CN113268141B - A motion capture method and device based on inertial sensors and fabric electronics - Google Patents

Abstract

The application discloses a motion capture method based on an inertial sensor and fabric electronics, which is characterized in that a mode of combining the inertial sensor and the fabric electronics is adopted for data acquisition, so that the error problem caused by non-lamination of the inertial sensor is avoided, and the wearing comfort level is improved; in addition, the method provides a simplified 4-degree-of-freedom limb model according to the body movement characteristics, describes the rotation angle of a first human body part relative to the human body or the rotation angle of a second human body part relative to the first human body part by using quaternion, integrates the advantages of capturing a 3-dimensional posture by an inertial sensor, and captures the limb space posture; finally, the method can correct the lower limb posture through the reverse kinematic posture fitting, and effectively inhibits the abnormal twisting action caused by the drift of the inertial sensor. In addition, the application also provides a motion capture device, equipment and a readable storage medium based on the inertial sensor and the fabric electronics, and the technical effects of the motion capture device, the equipment and the readable storage medium correspond to the technical effects of the method.

Description

A motion capture method and device based on inertial sensors and fabric electronics

technical field

The present application relates to the field of computer technology, and in particular, to a motion capture method, device, device and readable storage medium based on inertial sensors and fabric electronics.

Background technique

Motion capture refers to a technology that uses sensors to measure, track and record the movement trajectories of various parts of the human body in three-dimensional space and represent and store them in digital form. With the development of motion capture technology, it has been applied to many fields such as film and television, virtual reality, human-computer interaction, games and medical rehabilitation.

The pioneer of simple motion capture is generally considered to be the American animator Max Fleischer, who developed a technique called Rotoscoping in 1915 during the First World War, which The captured action images are used as the background for the animation, and the animator draws the required actions frame by frame based on this. Snow White and the Seven Dwarfs, released in 1939, was the first film to use rotoscope technology. The human motion capture technology developed so far includes: (1) Mechanical capture equipment: The mechanical motion capture system includes multiple rigid links and joints. The angle of the joint can be measured by the angle sensor installed in the joint to calculate the end of the rod. The position and motion trajectory of points in space, the system is not disturbed by the external environment, has low cost and high precision, but hinders user activities. (2) Electromagnetic: The electromagnetic motion capture system consists of a transmitter, a receiver and a data processing unit. The transmitter can generate a time-regular electromagnetic field, and the receivers are placed at different positions on the human body. The advantages are simplicity of use, robustness, and high real-time performance, but are affected by ferrous metals in floors, walls, and ceilings, and noise sources in the capture area, as well as metal objects and stray magnetic fields in the operating space. (3) Acoustic wave type: The principle is to calculate the position and attitude of the human body according to the delay and phase deviation of the ultrasonic wave, which is often used for short-distance measurement. The system consists of transmitter, receiver and processor. The advantages are low cost, but low real-time performance, poor accuracy, easy to be affected by obstacles between the receiver and transmitter, large noise and multiple reflections will also interfere with its performance, and the propagation speed in the air is affected by air pressure, humidity and temperature effect. (4) Optical type is currently the most widely used motion capture technology, and it is also the most mature, most accurate and expensive motion capture system. Motion traces are captured by tracking specific light spots. The advantages of this system are low latency and high precision, but it has requirements for field lighting and markers may be hidden due to shadow effects. (5) Inertial sensor type: The inertial motion capture system is a motion capture system based on low-cost MEMS sensors. The spatial position of the object is obtained according to the double integral of the acceleration, so it has strong autonomy and is not easily disturbed by the external environment. However, with the passage of time, the inertial sensor will generate a large cumulative drift error, and the traditional auxiliary algorithm can only try to do as much as possible. Reduce drift error.

One existing motion capture solution is an optical-based motion capture system. The VR virtual reality motion capture system includes a plurality of optical motion capture cameras, which are used to capture the displacement of each part of the body in the three-dimensional direction according to the marker points. The optical camera is expensive, and the action is captured by the optical camera. Because the effect of the 3D scene in the later stage and other 3D characters or props synthesized in the later stage cannot be confirmed in real time, the performance needs to be performed in a motion capture room in a blank space. occlusion, so that the camera cannot accurately capture the location of the marker. Therefore, the optical motion capture system is not suitable for daily general use.

Another existing motion capture solution is an inertial sensor-based motion capture system. The number of data sensors used is not less than 31. Too many nodes cause simultaneous transmission to be easily delayed, and each sensor is connected by wire. First of all, too many inertial nodes increase the complexity of wearing, and the weight increases the burden on the user. Secondly, the accurate conversion of the sensor coordinate system to the human body coordinate system requires the sensor to be tightly fixed on the human body during motion, and the rigid node is used to wear it on the human body, which seems reasonable, but the non-rigid part of the human body will make the sensor relative to the human body. Movement, in order to reduce the coordinate conversion error caused by the loose sensor, the use of bandages to firmly fix the sensor to various parts of the human body will cause discomfort to the skin, which is not suitable for long-term capture of movements.

Another existing motion capture solution is a real-time motion capture AR bowling entertainment system based on inertial sensors. Only the inertial sensor is installed on the hand for motion capture, which only considers the capture of hand motion, but does not consider the real-time movement of the foot, and cannot capture the motion of the whole body. Inertial sensors are greatly affected by local magnetic fields and metals, and are uncomfortable to wear, so they cannot meet the requirements of real-time capture of whole-body movements.

In a word, the current human motion capture scheme has the following shortcomings: low real-time performance, high price, uncomfortable wearing, low precision, and high environmental requirements.

SUMMARY OF THE INVENTION

The purpose of this application is to provide a motion capture method, device, device and readable storage medium based on inertial sensors and fabric electronics, to solve the problem of low real-time performance, uncomfortable wearing, low precision and high cost of current human motion capture solutions The problem. Its specific plan is as follows:

In a first aspect, the present application provides a motion capture method based on inertial sensors and fabric electronics, including:

The inertial data is collected by using the inertial sensor deployed on the first body part, and the activity angle data is collected by using the fabric electronics deployed on the second body part;

The inertial data and the activity angle data are respectively converted into the form of quaternions to obtain the human body posture, so as to describe the rotation angle of the first human body part relative to the human body and the second human body part relative to the first human body part. The rotation angle of a body part;

Determine the lower limb posture according to the current foot position and the human body posture, wherein the lower limb posture includes the position of the centroid; determine the current step length according to the preset leg length and the current centroid height; according to the current step length and the centroid position, Correcting the posture of the lower limb through inverse kinematics posture fitting;

According to the human body posture and the corrected lower limb posture, the human body action presentation is performed.

Preferably, the inertial sensors are deployed on the head, waist, upper arms and thighs, and the fabric is electronically deployed on the leg joints and the elbow joints.

Preferably, after the inertial data is collected by the inertial sensor deployed on the first body part, and the activity angle data is collected electronically by using the fabric deployed on the second body part, the method further includes:

The inertial data and the movement angle data are acquired based on wireless communication technology.

Preferably, after converting the inertial data and the activity angle data into the form of quaternions to obtain the human body posture, the method further includes:

The posture of the human body is corrected according to preset motion constraints between various human body parts.

Preferably, determining the lower limb posture according to the current foot position and the human body posture, including:

Determine the current knee joint position according to the current foot position and the human body posture;

According to the current knee joint position and the human body posture, determine the position of the center of mass;

determining the position of another knee joint according to the position of the centroid and the posture of the human body;

According to the position of the other knee joint and the posture of the human body, determine the position of the other foot;

The current foot position, the current knee joint position, the mass center position, the other knee joint position, and the other foot position are used as the lower limb posture.

Preferably, performing human action presentation according to the human body posture and the corrected lower limb posture, including:

A character model is established through Unity 3D, and the human body posture and the corrected lower limb posture are mapped to the human body model to present human movements.

In a second aspect, the present application provides a motion capture device based on inertial sensors and fabric electronics, comprising:

Data acquisition module: used to collect inertial data using the inertial sensor deployed on the first human body part, and collect activity angle data using the fabric electronically deployed on the second human body part;

Human body posture determination module: used to convert the inertial data and the activity angle data into the form of quaternion respectively, to obtain the human body posture, to describe the rotation angle of the first human body part relative to the human body and the second the rotation angle of the human body part relative to the first human body part;

Lower limb posture correction module: used to determine the posture of the lower limbs according to the current foot position and the posture of the human body, wherein the posture of the lower limbs includes the position of the center of mass; determine the current step length according to the preset leg length and the current height of the center of mass; according to the current step The length and the position of the center of mass, and the posture of the lower limb is corrected by inverse kinematics posture fitting;

Action presentation module: used for presenting human actions according to the human body posture and the corrected lower limb posture.

In a third aspect, the present application provides a motion capture device based on inertial sensors and fabric electronics, including:

Memory: used to store computer programs;

Processor: for executing the computer program to implement the motion capture method based on inertial sensors and fabric electronics as described above.

In a fourth aspect, the present application provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, is used to implement the above-mentioned inertial sensor-based and textile electronics based Motion capture method.

A motion capture method based on inertial sensors and fabric electronics provided by the present application includes: collecting inertial data by using an inertial sensor deployed on a first human body part, and collecting activity angle data by using fabric electronics deployed on a second human body part; The inertial data and the activity angle data are respectively converted into the form of quaternions, and the human body posture is obtained to describe the rotation angle of the first human body part relative to the human body and the rotation angle of the second human body part relative to the first human body part; Position and body posture, determine the posture of the lower limbs, where the posture of the lower limbs includes the position of the centroid; determine the current step length according to the preset leg length and the current height of the centroid; according to the current step length and the position of the centroid, perform inverse kinematics posture fitting on the posture of the lower limbs. Correction: According to the posture of the human body and the posture of the lower limbs after correction, the human body action is presented.

It can be seen that, first, this method uses the combination of inertial sensors and fabric electronics to collect data. Compared with the method of using all inertial sensors, this method solves the problem that the inertial sensors cannot fit the human body well, and avoids the problem of The error problem caused by non-fitting improves the wearing comfort; secondly, this method proposes a simplified 4-DOF limb model according to the characteristics of body movement, and uses quaternions to describe the rotation angle of the first human body part relative to the human body or The rotation angle of the second body part relative to the first body part makes the fabric electronics compromise the use of some inertial nodes, and integrates the advantages of inertial sensors to capture the 3-dimensional posture to capture the limb space posture; third, considering the inertial The sensor has the inherent defect of inertial drift. This method can correct the posture of the lower limbs through inverse kinematics attitude fitting, and effectively suppress the occurrence of abnormal twisting movements caused by inertial sensor drift and other reasons.

In addition, the present application also provides a motion capture device, device and readable storage medium based on inertial sensors and textile electronics, the technical effects of which correspond to those of the above method, and are not repeated here.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application or the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only For some embodiments of the present application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a flowchart of Embodiment 1 of the motion capture method based on inertial sensors and fabric electronics provided by the application;

2 is a schematic diagram of the motion capture system architecture of Embodiment 2 of the motion capture method based on inertial sensors and fabric electronics provided by the application;

3 is a schematic diagram of wearing a whole-body sensor according to Embodiment 2 of the motion capture method based on inertial sensors and fabric electronics provided by the application;

4 is a schematic diagram of a step size calculation model of Embodiment 2 of the motion capture method based on inertial sensors and fabric electronics provided by the application;

5 is a schematic diagram of a rigid body hinge model of a lower limb of a human body according to Embodiment 2 of the motion capture method based on inertial sensors and fabric electronics provided by the application;

6 is a flow chart of real-time action mapping of Embodiment 2 of the motion capture method based on inertial sensors and fabric electronics provided by the application;

FIG. 7 is a functional block diagram of an embodiment of a motion capture device based on inertial sensors and fabric electronics provided by the present application.

Detailed ways

In order to make those skilled in the art better understand the solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The core of the present application is to provide a motion capture method, device, device and readable storage medium based on inertial sensors and fabric electronics. The combination of inertial sensors and fabric electronics is used to collect data, so as to avoid the inertial sensors not fitting to the belt. to improve wearing comfort; according to the characteristics of body motion, a simplified 4-DOF limb model is proposed, and the advantages of 3-dimensional posture captured by inertial sensors are combined to capture the spatial posture of limbs; the posture of lower limbs is carried out by inverse kinematics posture fitting. Correction to effectively suppress the generation of uncoordinated movements.

The first embodiment of a motion capture method based on inertial sensors and fabric electronics provided by the present application will be introduced below. Referring to FIG. 1 , the first embodiment includes:

S101. Collect inertial data by using an inertial sensor deployed on a first human body part, and collect activity angle data by using a fabric electronically deployed on a second human body part;

S102, the inertial data and the active angle data are converted into the form of quaternion respectively, obtain the human body posture, to describe the rotation angle of the first human body part relative to the human body and the rotation angle of the second human body part relative to the first human body part;

S103. Determine the lower limb posture according to the current foot position and the human body posture, wherein the lower limb posture includes the position of the centroid; determine the current step length according to the preset leg length and the current centroid height; Correct the posture of the lower limbs together;

S104 , presenting human body movements according to the human body posture and the corrected lower limb posture.

In this embodiment, inertial sensors are combined with fabric electronics to collect data at the same time. Among them, fabric electronics is an electronic device developed based on fabrics, which aims to integrate ubiquitous electronic and computing elements into fabrics. In addition to the inherent style and wearability of ordinary textile materials, it can also sense environmental changes and A new type of material that can change one or more of its performance parameters in real time and make self-adjustments adapted to the environment. The current development of fabric electronics will greatly benefit the development of wearable computing. The flexible tensile strain sensor based on fabric electronics is a sensor that can generate corresponding capacitance changes for tensile strain. The mapping relationship can obtain the active angle of the joint angle in real time.

Fabric electronics are worn on the human body in a non-invasive form, and can replace inertial nodes in specific places on the human body, reducing the wearing burden of users, making long-term motion capture possible, and reducing system hardware costs.

According to the kinematics analysis, both the hand and the leg have 7 degrees of freedom, of which the upper arm and the thigh have three degrees of freedom, the forearm and the calf have two degrees of freedom, and the hand and foot have two degrees of freedom. For example, as far as the human hand is concerned, the big arm has 3-dimensional angle changes of yaw angle, pitch angle and roll angle, the forearm has the change of pitch angle and roll angle, and the hand has the change of pitch angle and yaw angle. It can be noticed that the rolling of the hand and the rolling of the forearm are closely related, that is, they are the same degree of freedom. Therefore, this application does not consider the hand, but regards the entire hand as the upper arm with 3 degrees of freedom and the forearm with 1 degree of freedom. In summary, this application treats the hand and leg as a 4-DOF structure.

Based on the above-mentioned characteristics of the fabric electronics and kinematic analysis results, the fabric electronics are deployed at the elbow joint and the leg joint in this embodiment to collect the movement angle of the forearm relative to the upper arm or the movement angle of the lower leg relative to the thigh . Correspondingly, in this embodiment, inertial sensors are deployed at the upper arms and thighs. In order to collect the posture of the whole body of the human body, some sensors may also be deployed at positions such as the waist and the head.

To sum up, the above-mentioned first human body parts may be parts such as the upper arm, thigh, waist, and head, and the above-mentioned second human body parts may be elbow joints and leg joints.

After the inertial data is collected by the inertial sensor and the movement angle data is collected by the fabric electronics, the inertial data and the movement angle data are transmitted to the end for data analysis. In order to avoid complicated wiring, wireless communication can be used for data transmission.

After that, the inertial data and the activity angle data are respectively converted into the form of quaternion, and the converted data is called the human body pose. Specifically, convert the 3-dimensional angle data obtained by the inertial sensor into the form of quaternion, make the arm or thigh rotate relative to the body, and convert the joint activity angle data obtained by the fabric electronically into the form of quaternion (the remaining two The angle is set as a fixed value), so that the forearm rotates relative to the upper arm, and the calf rotates relative to the thigh. In addition, when the inertial sensors are installed on the head and waist, the three-dimensional angles of the head and waist obtained by the inertial sensors are also converted into quaternions, so that the head and waist are rotated relative to the body.

In order to prevent the feet from falling to the ground or not landing, it is necessary to correct the posture of the lower limbs. Specifically, the current foot position can be known according to the historical movement step length, and the entire lower limb posture can be obtained by step-by-step calculation according to the current foot position and the aforementioned human body posture (lower limb movement angle), wherein the lower limb posture includes but is not limited to the position of the center of mass. In the process of moving, the height of the center of mass and the length of the leg are known quantities, and the step length can be calculated according to the two. In the correction process, according to the current step length and the position of the center of mass, the posture of the lower limbs is corrected by inverse kinematics posture fitting, so as to avoid the situation that the foot has fallen to the ground or has not yet landed.

After the correction, the human action presentation can be performed according to the human body posture and the corrected lower limb posture, and the detailed introduction of the action presentation method is not given here.

This embodiment provides a motion capture method based on inertial sensors and fabric electronics, which uses the combination of inertial sensors and fabric electronics to collect data, which solves the problem that inertial sensors cannot fit the human body well, and avoids unnecessary The error problem caused by fitting improves wearing comfort; moreover, this method proposes a simplified 4-DOF limb model according to the characteristics of body movement, and uses quaternions to describe the rotation angle of the first human body part relative to the human body or the second one. The rotation angle of the human body part relative to the first human body part makes the fabric electronics compromise the use of some inertial nodes, and integrates the advantages of inertial sensors to capture 3-dimensional poses to capture the spatial pose of the limbs; finally, the method can reverse the motion through the The lower limb posture is corrected by learning posture fitting, and the occurrence of abnormal twisting movements caused by inertial sensor drift and other reasons is effectively suppressed.

The second embodiment of a motion capture method based on inertial sensors and fabric electronics provided by the present application will be described in detail below.

Referring to FIG. 2 , in the second embodiment, the overall structure of the motion capture system includes: a data acquisition module, a wireless communication module, a human body posture determination module, a lower limb posture correction module, and an action presentation module. Each model is introduced separately below.

(1) Data acquisition module

The inertial sensor (mpu9250) used in the data acquisition module includes a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis magnetometer. The accelerometer and gyroscope can measure 3-axis acceleration and direction respectively, and the magnetometer can measure the heading angle of the object in the world coordinate system. The data is calculated into the attitude data in the form of quaternion through the main control chip stm32lo71.

Fabric electronics is an electronic material with the flexibility and comfort of fabrics, an elastic and stretchable strain sensor, which solves the problem that the inertial sensor does not fit the human body well when the non-rigid body parts of the human body are active, and avoids this problem of the inertial sensor. This kind of non-fit causes the error in the conversion of the sensor coordinate system to the human coordinate system, so it is especially useful for non-rigid body parts. This textile-based fabric measurement joint angle technology reduces the use of inertial nodes.

Specifically, by collecting the resistance changes caused by the bending of the elbow joint and the knee joint to make the sensor stretch, there is a mapping relationship between the resistance value and the angle value. Fabric electronic sensors can be integrated on elbow and knee pads to obtain the angle of joint movement and capture the position of the forearm and calf.

As shown in Figure 3, inertial sensors are deployed on the head, waist, thigh, and upper arm, and fabric electronics are deployed on the forearm and calf.

(2) Wireless communication module

The wireless communication module is the data communication module of the motion capture system. This module is a wireless data transmission module with low power consumption and high real-time performance, which is responsible for transmitting the inertial data of each node collected by the lower computer and the digital signals of textile electronics to the upper computer.

(3) Human body posture determination module

For body parts with 3 degrees of freedom (head, waist, upper arm, and thigh), use inertial nodes to capture their spatial positions, and for body parts with 1 degree of freedom (knee and elbow), measure joint activity using fabric electronic sensors The angle of movement of the forearm relative to the upper arm or the movement angle of the calf relative to the thigh is obtained.

When working, convert the 3-dimensional angle obtained by the inertial sensor into the form of quaternion, make the arm or thigh rotate relative to the body, and convert the joint activity angle obtained by the fabric electronically into the form of quaternion (the remaining two angles) Set to a fixed value), so that the forearm rotates relative to the big arm, and the calf rotates relative to the thigh. The 3D angles of the nodes of the head and waist are also converted into quaternions, which rotate the head and waist relative to the body.

In order to reduce the drift of inertial sensors in motion, whole-body kinematic model constraints are required. Specifically, according to the biological kinematics model, it is assumed that the whole body of the human body is composed of body segments connected by joints, and the arms or legs are considered to be structures with 3 degrees of freedom plus 1 degree of freedom. Bending in the range of 0-150, can not exceed or reverse bending), the motion parameters of adjacent segments are fused and estimated, and the specific constraints are shown in Table 1.

Table 1

(4) Lower limb posture correction module

This embodiment uses the waist pedestrian dead reckoning (PDR) algorithm to calculate the step length, that is, when a person steps, the center of gravity moves downward, and the height h of the downward movement of the center of gravity is obtained by double integral of the acceleration in the vertical direction. As shown in Figure 4, according to the Pythagorean theorem, the step size calculation formula is as follows:

Judging the supporting leg by the joint angle, as shown in Figure 5, the knee joint position of the foot is calculated through the supporting foot during the exercise, and then the position of the center of mass is calculated, the knee joint position of the other leg is calculated, and finally the position of the other foot is calculated. position during exercise. When the moving foot touches the ground, the inverse kinematics pose fitting is used according to the previously calculated step size and centroid position to prevent the foot from falling to the ground or not yet landing.

(5) Action presentation module

The action presentation module is a 3D scene interface developed by Unity 3D. By establishing a character model through Unity 3D, the received data can be processed and mapped to the character model, and the whole body movements of the human body can be presented in real time.

As shown in Figure 6, in the actual application, the real-time mapping process of actions is as follows: continuously monitor the serial port information, determine whether the serial port interrupt is triggered, if it is triggered, receive the data collected by the inertial sensor and the fabric electronics, and then process the data according to the aforementioned process. , and finally map the processed data to a 3D model for action mapping.

It can be seen that a motion capture method based on inertial sensors and fabric electronics provided in this embodiment has at least the following advantages:

First, compared with optical capture systems, inertial sensors are relatively inexpensive, and are not affected by the environment, and have strong autonomy. However, due to the inherent defects of inertial sensors (inertial drift), the results of long-term use will be different from the real values. There is a large error, and the traditional rigid hardware nodes cannot well adapt to the non-rigid parts of the human body, which not only affects the accuracy, but also affects the comfort of wearing for a long time. The fabric electronics used in this embodiment has the characteristics of fabric, can adapt to non-rigid parts, will not cause discomfort to the human body, and can also protect key parts. In addition, the low power consumption enables it to be used for a long time, greatly enhancing the wearability.

Second, compared with a general inertial motion capture system, this embodiment performs data transmission through low-power wireless communication, avoiding the defect of complex wiring.

Thirdly, according to the characteristics of body motion, the proposed 4-DOF motion structure model can electronically replace the use of some inertial nodes in flexible fabrics.

Fourth, the traditional motion capture technology does not analyze and constrain the motion characteristics of each joint of the human body. This embodiment proposes joint constraints, which can effectively suppress the generation of uncoordinated movements and the occurrence of abnormal twisting movements caused by inertial sensor drift.

The motion capture device based on inertial sensors and fabric electronics provided by the embodiments of the present application will be introduced below. The motion capture device based on inertial sensors and fabric electronics described below and the motion capture method based on inertial sensors and fabric electronics described above can interact with each other. corresponding reference.

As shown in FIG. 7 , the motion capture device based on inertial sensors and fabric electronics of this embodiment includes:

Data acquisition module 701: used to collect inertial data using the inertial sensor deployed on the first body part, and collect activity angle data using the fabric electronically deployed on the second body part;

Human body posture determination module 702: used to convert the inertial data and the activity angle data into the form of quaternions respectively to obtain a human body posture, so as to describe the rotation angle of the first human body part relative to the human body and the first human body part. The rotation angle of the two body parts relative to the first body part;

Lower limb posture correction module 703: for determining the lower limb posture according to the current foot position and the human body posture, wherein the lower limb posture includes the position of the centroid; according to the preset leg length and the current centroid height, determine the current step length; according to the current Step length and the position of the centroid, correct the posture of the lower limb through inverse kinematics posture fitting;

Action presentation module 704: used for presenting human actions according to the human body posture and the corrected lower limb posture.

The motion capture device based on inertial sensors and fabric electronics in this embodiment is used to implement the aforementioned motion capture method based on inertial sensors and fabric electronics. Therefore, the specific implementation of the device can be seen in the aforementioned actions based on inertial sensors and fabric electronics. The embodiment part of the capture method, for example, the data acquisition module 701, the human body posture determination module 702, the lower limb posture correction module 703, and the action presentation module 704 are respectively used to realize step S101 in the above-mentioned motion capture method based on inertial sensors and fabric electronics, S102, S103, S104. Therefore, reference may be made to the descriptions of the corresponding partial embodiments for specific implementations thereof, which will not be described herein again.

In addition, since the motion capture device based on inertial sensors and fabric electronics in this embodiment is used to implement the aforementioned motion capture method based on inertial sensors and fabric electronics, its function corresponds to that of the above method, and will not be repeated here.

In addition, the present application also provides a motion capture device based on inertial sensors and fabric electronics, including:

Memory: used to store computer programs;

Processor: for executing the computer program to implement the motion capture method based on inertial sensors and fabric electronics as described above.

Finally, the present application provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, is used to implement the actions based on inertial sensors and textile electronics as described above capture method.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments may be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The steps of a method or algorithm described in conjunction with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by a processor, or a combination of the two. A software module can be placed in random access memory (RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other in the technical field. in any other known form of storage medium.

The solutions provided by this application have been introduced in detail above, and specific examples are used to illustrate the principles and implementations of this application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of this application; , for those of ordinary skill in the art, according to the idea of the application, there will be changes in the specific embodiments and application scope. To sum up, the content of this specification should not be construed as a limitation to the application.

Claims (9)

1. a motion capture method based on inertial sensor and fabric electronics, is characterized in that, comprises: The inertial data is collected by using the inertial sensor deployed on the first body part, and the activity angle data is collected by using the fabric electronics deployed on the second body part; The inertial data and the activity angle data are respectively converted into the form of quaternions to obtain the human body posture, so as to describe the rotation angle of the first human body part relative to the human body and the second human body part relative to the first human body part. The rotation angle of a body part; Determine the lower limb posture according to the current foot position and the human body posture, wherein the lower limb posture includes the position of the centroid; determine the current step length according to the preset leg length and the current centroid height; according to the current step length and the centroid position, Correcting the posture of the lower limb through inverse kinematics posture fitting; According to the human body posture and the corrected lower limb posture, the human body action presentation is performed. 2. The motion capture method based on inertial sensors and fabric electronics according to claim 1, wherein the inertial sensors are deployed on the head, waist, upper arms and thighs, and the fabric electronics are deployed on leg joints and elbows joint. 3. The motion capture method based on inertial sensors and fabric electronics as claimed in claim 1, wherein the inertial data collected by the inertial sensor deployed on the first human body part, and the After the fabric electronically collects the movement angle data, it also includes: The inertial data and the movement angle data are acquired based on wireless communication technology. 4. The motion capture method based on inertial sensors and fabric electronics according to claim 1, wherein, in the said inertial data and said activity angle data are respectively converted into the form of quaternion, to obtain the human body posture After that, also include: The posture of the human body is corrected according to preset motion constraints between various human body parts. 5. The motion capture method based on inertial sensors and fabric electronics as claimed in claim 1, wherein, determining the lower limb posture according to the current foot position and the human body posture, comprising: Determine the current knee joint position according to the current foot position and the human body posture; According to the current knee joint position and the human body posture, determine the position of the center of mass; determining the position of another knee joint according to the position of the centroid and the posture of the human body; According to the position of the other knee joint and the posture of the human body, determine the position of the other foot; The current foot position, the current knee joint position, the mass center position, the other knee joint position, and the other foot position are used as the lower limb posture. 6. The motion capture method based on inertial sensors and fabric electronics as claimed in claim 1, wherein the human body motion presentation is performed according to the human body posture and the corrected lower limb posture, comprising: A character model is established through Unity 3D, and the human body posture and the corrected lower limb posture are mapped to the human body model to present human movements. 7. A motion capture device based on inertial sensors and fabric electronics, comprising: Data acquisition module: used to collect inertial data using the inertial sensor deployed on the first human body part, and collect activity angle data using the fabric electronically deployed on the second human body part; Human body posture determination module: used to convert the inertial data and the activity angle data into the form of quaternion respectively, to obtain the human body posture, to describe the rotation angle of the first human body part relative to the human body and the second the rotation angle of the human body part relative to the first human body part; Lower limb posture correction module: used to determine the posture of the lower limbs according to the current foot position and the posture of the human body, wherein the posture of the lower limbs includes the position of the center of mass; determine the current step length according to the preset leg length and the current height of the center of mass; according to the current step length and the position of the centroid, and the posture of the lower limb is corrected by inverse kinematics posture fitting; Action presentation module: used for presenting human actions according to the human body posture and the corrected lower limb posture. 8. A motion capture device based on inertial sensors and fabric electronics, comprising: Memory: used to store computer programs; Processor: for executing the computer program to implement the motion capture method based on inertial sensors and textile electronics according to any one of claims 1-6. 9. A readable storage medium, characterized in that, a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the computer program is used to implement the method according to any one of claims 1-6. A motion capture method with inertial sensors and fabric electronics.

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