CN115990334A - Motion capture measurement system and measurement method - Google Patents

Abstract

The invention relates to a motion capture measurement system and a measurement method, comprising: a first motion measurement module, a second motion measurement module, a pressure measurement module and a processor unit; The micro-magnetometer measures the acceleration, angular velocity and magnetic force of the sports equipment and the human body synchronously, and can accurately obtain the orientation and attitude information of the movement. At the same time, the force information of the human body can be obtained through pressure measurement, which can comprehensively evaluate the state of exercise.

Description

A motion capture measurement system and measurement method

technical field

The invention relates to motion measurement technology, in particular to a motion capture measurement system and measurement method.

Background technique

In recent years, motion capture measurement technology has been widely used in motion capture and analysis of sports. To help athletes improve their technique, motion measurement capture technology digitally records the movement of a subject. Currently commonly used motion capture technologies include optical motion capture and inertial sensor-based motion capture.

Optical motion measurement technology mainly uses cameras and other equipment to shoot athletes, so as to obtain information such as athletes' posture and speed. information to analyze. Its system has high complexity and high cost.

Motion capture based on inertial sensors mainly uses sensors to directly obtain the posture information of the athlete, such as the developed micro-electromechanical system (MEMS), which can make the sensor smaller in size, thereby reducing the impact on motion during measurement. For example, the Chinese patent (CN215572987 U) discloses a micro-carrier attitude measurement system, wherein the micro-inertial navigation system mainly includes a gyroscope, an accelerometer, and a microprocessor, which have a smaller size and have a millimeter-level size. US patent (US7689378 B2) discloses a highly miniaturized motion capture measurement system including MEMS sensors realized by 3D printing, which can be embedded in sports equipment without affecting the motion characteristics of the sports equipment itself. Its motion capture module includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, among which the three-dimensional accelerometer and the three-dimensional gyroscope can monitor the three-dimensional position and three-dimensional displacement of the module relative to the external fixed coordinate system For measurement, the three-dimensional magnetometer combined with the three-dimensional accelerometer can measure the absolute space of the module according to the local geomagnetic vector and gravity field. The implementation of this solution is to integrate a single sensor module into the golf club, so as to capture the movement track of the sports equipment and send it to the receiving device wirelessly.

The above method is used to better understand the movement state of the sports equipment, but it cannot understand the movement posture of the athlete at the same time, that is, although the movement posture of the sports equipment meets the requirements, the actual operation posture of the operator is not. standard case. And can not accurately reflect the operator's applied force size situation at the same time. In addition to the position and posture information of the human body and exercise equipment, the criteria for commenting on the operator's motion posture also need to consider the information on the magnitude of the force applied.

As in ball games such as tennis and badminton, hitting technique is one of the most important techniques. When the athlete hits the ball, he must find the best hitting point for each type of shot and apply the appropriate force at the same time, so that he can hit the most powerful and accurate shot at the moment of hitting the ball. Therefore, it is necessary to fully understand the orientation and posture information of the sports equipment and the human body, as well as the force information of the human body.

Therefore, there is an urgent need for a motion capture measurement system and method to solve the above problems.

Contents of the invention

In order to alleviate or solve at least one aspect or at least one point of the above-mentioned problems, the present invention is proposed.

According to one aspect of the present invention, a motion capture measurement system is proposed, comprising: a first motion measurement module, a second motion measurement module, a pressure measurement module, and a processor unit; the first motion measurement module, the pressure measurement module are fixed to the sports equipment connection; the second motion measurement module is fixedly connected with the human body;

The first motion measurement module includes a first sensor, a first microprocessor, and a first wireless transmission module. The first sensor is used to measure the acceleration and angular velocity information of the sports equipment, and the first microprocessor is used to receive the acceleration and angular velocity information measured by the first sensor. Angular velocity information, and send the above information to the processor unit through the first wireless transmission module;

The second motion measurement module includes a second sensor, a second microprocessor, and a second wireless transmission module, the second sensor is used to measure the acceleration and angular velocity information of the human body, and the second microprocessor is used to receive the acceleration and angular velocity measured by the second sensor information, and send the above information to the processor unit through the second wireless transmission module;

The pressure measurement module is used to measure the pressure exerted by the human body on the sports equipment, and transmit the pressure information to the processor unit.

Preferably, the first sensor is also used to measure the magnetic force information of the sports equipment, and the second sensor is also used to measure the magnetic force information of the human body.

Preferably, the pressure measurement module includes a miniature pressure sensor, a signal line, the pressure sensor is connected to the first microprocessor through the signal line, and the first microprocessor receives the pressure signal and transmits the pressure information to the processor unit through the first wireless transmission module .

Preferably, the processor unit includes a fourth wireless transmission module and a fourth microprocessor, the fourth wireless transmission module is used to receive the acceleration, angular velocity information, and pressure information sent by the first wireless transmission module and the second wireless transmission module, and Convert it into position information, attitude information and force information.

Preferably, the processor unit controls the first motion measurement module, the second motion measurement module, and the pressure measurement module to simultaneously perform multiple measurements, and record time information during the measurements.

Preferably, it also includes a camera measurement module, the first motion measurement module and the second motion measurement module are provided with reflective marks, and the camera measurement module is used to measure the position information of the first motion measurement module and the second measurement module.

Preferably, the processor unit calculates the attitude information according to the acceleration and angular velocity information, and calculates the position information by combining the information measured by the camera measurement module, and combines the attitude information and the position information with the time information to generate motion information.

Preferably, the measurement system is used for measuring ball games, and further includes a ball machine control unit, which is connected to the processor unit for control.

Preferably, both the first sensor and the second sensor include: a three-axis MEMS micro-accelerometer, a three-axis MEMS micro-gyroscope and a three-axis MEMS micro-magnetometer.

In addition, the present invention also provides a measurement method of the aforementioned motion capture measurement system, comprising the following steps:

The first motion measurement module, the second motion measurement module, and the pressure measurement module are fixed on the human body and the sports equipment;

The first motion measurement module, the second motion measurement module, and the pressure measurement module perform time synchronization and start measurement;

The first motion measurement module, the second motion measurement module, and the pressure measurement module perform real-time measurement and transmit measurement information to the processor unit in real time;

The processor unit converts the measurement information into position and attitude information and force information;

The processor unit compares and analyzes the position and attitude information and the applied force information with the standard information.

Preferably, the following steps are also included: setting reflective marks on the first motion measurement module and the second motion measurement module, and the processor unit starts the camera measurement module for measurement, and acquires the positions of the first motion measurement module and the second motion measurement module information.

Preferably, a reflective mark is set on a predetermined position of the sports equipment and on the second motion measurement module, and the processor unit starts the camera measurement module to perform measurement, and obtains the position information of the above-mentioned predetermined position and the second motion measurement module; the processor unit The position information of the first motion measurement module is calculated according to the posture information of the sports equipment and the relative positional relationship between the predetermined position and the first motion measurement module.

The present invention measures the acceleration and angular velocity information through the first sensor and the second sensor, and then simultaneously obtains the attitude and orientation information of the human body and the sports equipment. At the same time, the pressure is used to obtain the force information of the human body, which can comprehensively evaluate the state of exercise.

The present invention can further reduce the quality and volume of the pressure measurement module by sharing the first microprocessor with the micro pressure sensor of the pressure measurement module and the first motion measurement module, and reduce the impact on movement during measurement. By adopting the method of simultaneous and synchronous measurement, the present invention can see whether the motion state of the human body is correct at any moment, whether the state of the corresponding exercise equipment is correct, and whether the applied force is correct at this time, so that the motion state can be comprehensively monitored. evaluate.

The present invention acquires the position information at the first motion measurement module and the second motion measurement module by using the camera measurement module, which can improve the measurement accuracy of the position; at the same time, only the camera measurement module is used to obtain the position information, since there is no need to calculate its attitude information, can greatly reduce the image processing time and reduce the cost. The attitude information is obtained by detecting the acceleration and angular velocity information. That is, through the above method, the accuracy can be ensured and the cost can be reduced at the same time.

In the present invention, the position of the first motion measurement module can be indirectly measured to avoid the problem that the location of the first motion measurement module is not convenient for shooting. Through the above method, the first motion measurement module can be installed in the position where the measurement is not affected, such as inside or at the end of the sports equipment.

Description of drawings

FIG. 1 is a schematic diagram of a motion capture measurement system according to an exemplary embodiment of the present invention.

FIG. 2 is a schematic diagram of a motion capture measurement system according to another exemplary embodiment of the present invention.

FIG. 3 is a schematic diagram of a motion capture measurement system according to yet another exemplary embodiment of the present invention.

FIG. 4 is a schematic diagram of a motion capture measurement system according to yet another exemplary embodiment of the present invention.

FIG. 5 is a schematic diagram of a motion capture measurement method according to an exemplary embodiment of the present invention.

FIG. 6 is a schematic diagram of a motion capture measurement method according to another exemplary embodiment of the present invention.

Fig. 7 is a schematic diagram of a motion capture measurement system applied to a badminton racket according to an exemplary embodiment of the present invention.

Among them: 1-first installation place, 2-second installation place, 3-connecting line, 4-handle part, 5-transition part, 6-rod part, 7-outer ring, 8-network cable.

Implementation

The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the general inventive concept of the present invention, but should not be construed as a limitation of the present invention. In the present invention, the same reference numerals denote the same or similar components.

The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. On the contrary, the examples described herein have been provided to illustrate but a few of the many possible ways of implementing the methods, apparatuses and/or systems described herein that would be useful after understanding the present disclosure. clearly.

Although terms such as "first", "second" and "third" may be used herein to describe various members, components, regions, layers or sections, these members, components, regions, layers or sections should not be referred to as These terms are limited. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section.

In the specification, when an element (such as a layer, region, or substrate) is described as being "on," "connected to," or "bonded to" another element, that element may be directly "on" another element. directly on, "connected to" or "coupled to" another element, or one or more other elements may be present therebetween. In contrast, when an element is described as being "directly on," "directly connected to," or "directly coupled to" another element, there may be no intervening elements present.

The terms used herein are for describing various examples only and will not be used to limit the disclosure. Singular forms are also intended to include plural forms unless the context clearly dictates otherwise. The terms "comprising", "comprising" and "having" indicate the presence of stated features, quantities, operations, components, elements and/or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components , components and/or combinations thereof.

In order to enable those skilled in the art to use the content of the present invention, the following exemplary embodiments may be given in combination with specific application scenarios, specific system, device and component parameters, and specific connection modes. However, for those skilled in the art, these embodiments are only examples, and the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present invention.

According to an exemplary embodiment of the present invention: as shown in Figure 1: the motion capture measurement system of the present invention includes: a first motion measurement module, a second motion measurement module, a pressure measurement module and a processor unit; the first motion measurement The module is fixedly connected with the sports equipment; the pressure measurement module is fixedly connected with the sports equipment; and the second motion measurement module is fixedly connected with the human body.

The first motion measurement module includes a first sensor, a first microprocessor, and a first wireless transmission module. The first sensor is used to measure the acceleration and angular velocity information of the sports equipment, and the first microprocessor is used to receive the acceleration and angular velocity information measured by the first sensor. Angular velocity information, and send the above information to the processor unit through the first wireless transmission module; the second motion measurement module includes a second sensor, a second microprocessor, a second wireless transmission module, and the second sensor is used to measure the acceleration of the human body , Angular velocity information, the second microprocessor is used to receive the acceleration and angular velocity information measured by the second sensor, and send the above information to the processor unit through the second wireless transmission module. Wherein, optionally, the first microprocessor and the second microprocessor may also process the received acceleration and angular velocity information into orientation information, and transmit the above information to the processor unit, and the processor unit generates motion information.

The pressure measurement module is used to measure the pressure exerted by the human body on the sports equipment, and transmit the pressure to the processor unit. Optionally, the pressure measurement module includes a pressure sensor, a third microprocessor and a third wireless transmission module, and the third microprocessor is used to receive information from the pressure sensor and transmit it to the processor unit through the third wireless transmission module.

According to an exemplary embodiment of the present invention: as shown in Figure 1, the processor unit includes a fourth microprocessor, a fourth power supply module, a storage module, a display, a fourth wireless transmission module, a human-computer interaction module, a fourth microprocessor The processor is used for processing the information transmitted by each measurement module, and displaying the above information through the display after processing the above information.

The first motion measurement module includes a first power module, the second motion measurement module includes a second power module, and the pressure measurement module includes a third power module. Each of the first to third power supply modules may include a dry battery and a voltage conversion module for providing electric energy.

The first wireless transmission module, the second wireless transmission module, the third wireless transmission module, and the fourth wireless transmission module may be RF modules for sending and receiving information. The present invention cooperates with the first and second motion measurement modules through the pressure measurement module, not only can accurately obtain the movement posture of the equipment or the human body, but also can obtain the pressure exerted by the human body on the equipment, and can obtain the position of important positions such as the hitting position. Position and posture information of equipment and human body. The attitude information may include deflection angle information, and may also include speed information. Wherein, the velocity information includes velocity information in x, y, and z directions, and angular velocity information corresponding to x, y, and z axes.

According to an exemplary embodiment of the present invention: the first sensor and the second sensor of the present invention both include: a three-axis micro-accelerometer and a three-axis micro-gyroscope. Preferably, the first and second sensors also include a three-axis magnetometer. Preferably, both the first sensor and the second sensor include a three-axis MEMS micro-accelerometer, a three-axis MEMS micro-gyroscope and a three-axis MEMS micro-magnetometer. The static three-dimensional attitude angle of the motion measurement module can be calculated and generated according to the gravitational acceleration vector measured by the three-axis micro-accelerometer and the magnetic force vector measured by the three-axis magnetometer. Calculating and generating the dynamic three-dimensional attitude angle of the motion measurement module according to the angular velocity measured by the three-axis micro-gyroscope; using the static three-dimensional attitude angle to correct the dynamic three-dimensional attitude angle to obtain the position of the motion measurement module information.

According to an exemplary embodiment of the present invention: as shown in Figure 1, the processor unit includes a fourth wireless transmission module and a fourth microprocessor, the fourth wireless transmission module is used to receive the first wireless transmission module, the second wireless transmission module The acceleration, angular velocity information, and pressure information sent by the module are converted into position information, attitude information, and force information.

According to an exemplary embodiment of the present invention, the processor unit also includes a time control module, and the time control module controls the first motion measurement module, the second motion measurement module, and the pressure measurement module to perform multiple measurements simultaneously, and records the time of measurement. time information. Through the above synchronous measurement, the relationship between the human body movement and the apparatus movement can be reflected more accurately. Taking badminton and tennis as an example, the grip strength of the human hand is constantly changing at different stages of hitting the ball. maximum grip strength. By analyzing the pressure and the hitting posture of the human body at the same time, the correct posture at the moment of hitting the ball and the correct posture during the swing process can be analyzed, which is conducive to improving the training level of athletes.

According to another exemplary embodiment of the present invention, as shown in FIG. 2 , since both the first motion measurement module and the pressure measurement module are fixed on the sports equipment, in order to further reduce the influence of the measurement system on the sports equipment, the weight is reduced. The pressure measurement module includes a miniature pressure sensor and a transmission line, and the pressure sensor is connected to the first motion measurement module through the transmission line. Specifically, the pressure sensor is connected with the microprocessor control. The first microprocessor can accept the pressure information of the pressure sensor, and send the pressure information to the processor unit through the first wireless transmission module. Optionally, the first power supply module can supply power to the pressure sensor at the same time. Through the above settings, the pressure measurement module can not be provided with a power supply module, a processor and a wireless transmission module separately, thereby reducing the volume and weight of the pressure measurement module. The impact of sports equipment is reduced.

According to yet another exemplary embodiment of the present invention, as shown in Figure 3, considering that when using an accelerometer to measure specific position information, due to the need for cumulative measurement, it will cause cumulative errors, which will lead to low accuracy when measuring the position . In order to further improve the measurement accuracy, the present invention also includes a camera measurement module, the camera measurement module includes a binocular camera, a fifth microprocessor, and a fifth wireless transmission module, and the fifth microprocessor receives the information captured by the binocular camera, and passes The fifth wireless transmission module sends to the processor unit. Preferably, reflective marks are pasted on the first motion measuring module and the second measuring module, and the binocular camera captures the reflective marks to obtain the position information of the first measuring module and the second measuring module. The optional camera measurement module adopts a binocular camera to obtain the position information of the first measurement module and the second measurement module at different times. Of course, the existing two separate cameras at different positions can also be used to measure the position information of the reflective sign, one of which is used to obtain the horizontal and vertical positions, and one camera is used to obtain the vertical and vertical positions , so as to generate the three-dimensional position information of the reflective logo, which are all within the protection scope of the present invention.

As shown in Figure 3, in order to reduce the impact on the sports equipment, the first motion measurement module may be installed at the bottom of the sports equipment and other positions that are not easily captured by the binocular camera. The position information of the first motion measurement module is obtained by means of a reflective mark.

As a preferred alternative, the present invention sticks the reflective logo on a predetermined position of the sports equipment, and the predetermined position is a position that is easy to be photographed by a binocular camera; the processor unit communicates with the first motion measurement module through the predetermined position The relative positional relationship between them, and the posture information measured by the first sensor, calculate the position information of the first motion measurement module. Preferably, the processor unit calculates the attitude information according to the acceleration and angular velocity information measured by the first motion measurement module, and calculates the position information in combination with the information measured by the camera measurement module, and combines the attitude information and position information with time information to generate motion information .

According to yet another exemplary embodiment of the present invention, as shown in FIG. 4 , it differs from the embodiment in FIG. 3 in that the pressure measurement module is different, and the others are the same as those in FIG. 3 , which will not be repeated here.

According to an exemplary embodiment of the present invention, the present invention is used for the measurement of the motion of ball games in sports, and also includes a serving machine, the serving machine includes a serving machine control unit and a serving mechanism, and the serving machine control unit includes a sixth microprocessor and a sixth microprocessor. Sixth wireless transmission module, the sixth microprocessor transmits the information when the ball machine serves the ball to the processor unit through the sixth wireless transmission module. When receiving the ball serving information from the ball machine, the processor unit controls the first motion measurement module, the second motion measurement module, and the pressure measurement module to perform synchronous measurement.

According to an exemplary embodiment of the present invention, as shown in FIG. 5, the measurement method of the present invention includes the following steps: start measurement;

S1 The first motion measurement module, the second motion measurement module, and the pressure measurement module are fixed on the human body and the sports equipment; wherein, the first motion measurement module and the pressure measurement module are fixed on the sports equipment, and the second motion measurement module is fixed on the human body .

S2 The processor unit determines the initial position and posture information of the first motion measurement module and the second motion measurement module. For example, in the specific measurement, the method of extending the hand at a specific position can be used as the initial position and initial posture.

S3 The first motion measurement module, the second motion measurement module, and the pressure measurement module perform time synchronization and start measurement;

S4 The first motion measurement module, the second motion measurement module, and the pressure measurement module perform real-time measurement and transmit the measurement information to the processor unit in real time;

The S5 processor unit converts the measurement information into position and attitude information and force information;

The S6 processor unit compares and analyzes the position and posture information and force information with the standard information, and displays the differences.

Optionally, the standard information can be pre-input through the human-computer interaction module, or, after multiple measurements, the position, attitude information and force information of the measurements that meet the conditions can be selected as the standard information.

According to another exemplary embodiment of the present invention, as shown in Figure 6, the present invention also provides another measurement method, which is different from the measurement method shown in Figure 5 in that it adds a camera measurement module to perform Auxiliary measurement.

It comprises the following steps: measurement start;

Judging whether to start the camera measurement module for auxiliary measurement, if not, only by measuring the angular velocity, acceleration information, and pressure information of the human body and sports equipment to obtain the posture information and force information of the human body and sports equipment. Optionally, the foregoing steps S1-S6 may be performed.

If yes, it is further judged whether the first motion measurement module can be directly captured by the camera.

If yes, execute steps M1-M4, S5, S6; if no, execute steps N1-N4, S5, S6.

Among them, M1: the first motion measurement module and the pressure measurement module are fixed on the sports equipment, and the second motion measurement module is fixed on the human body; the reflective logo is attached to the first motion measurement module and the second motion measurement module.

M2: The processor unit determines the attitude information of the first motion measurement module and the second motion measurement module; the processor unit determines the initial position information of the reflective marker.

M3: The first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module perform time synchronization and start measurement;

M4: The first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module perform real-time measurement and transmit the measurement information to the processor unit in real time;

Among them, N1: the first motion measurement module and the pressure measurement module are fixed on the sports equipment, and the second motion measurement module is fixed on the human body; the reflective logo is pasted on the sports equipment where it is easy to shoot and on the second motion measurement module;

N2: The processor unit determines the initial posture information of the first motion measurement module and the second motion measurement module; the processor unit determines the initial position information of the reflective logo; the processor unit determines the relative positional relationship between the reflective logo and the first motion measurement module ;

N3: The first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module perform time synchronization and start measurement;

N4: The first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module perform real-time measurement and transmit the measurement information to the processor unit in real time.

Through the above measuring method, when acquiring the position information, the position information is acquired through the camera measurement module, which can avoid accumulative errors in the acceleration measurement and improve the accuracy of the measurement. In view of the fact that the first motion measurement module may not be easily captured by the camera, the position information of the first motion measurement module is calculated by setting the reflective logo on the sports equipment where it is easy to observe, and by comprehensively utilizing the position information and attitude information , effectively solving the situation that the first motion measurement module is not easy to be photographed.

As shown in FIG. 6 , the working process of the present invention will be described below by taking the motion capture measurement of a badminton racket as an example.

The badminton racket includes: a first installation place 1, a second installation place 2, a connecting wire 3, a handle part 4, a transition part 5, a rod part 6, an outer ring 7, and a network cable 8. Wherein, the connecting wire 3 may be a signal wire and/or a power wire. The first motion measurement module is installed at the first installation place 1 , and the pressure measurement module is installed at the second installation place 2 . The first motion measurement module is installed at the bottom of the handle portion, which can minimize the impact on the badminton racket, and the first motion measurement module can be connected with the pressure measurement module through the connecting line 3, so that the two can share the first microprocessor, The first wireless transmission module and the first power supply module make the pressure measurement module have a smaller size and reduce the impact on the badminton racket.

Since the first motion measurement module is installed at the bottom of the handle part 4, it is not convenient for the binocular camera to take pictures. Therefore, the reflective logo is pasted on the shaft of the badminton racket. And the relative positional relationship between the two is input into the processor unit through the human-computer interaction module of the processor unit.

There are two second motion measurement modules, one of which is fixed on the wrist of the human body, and the other is fixed on the big arm of the human body.

The player stands at the position of receiving the ball and holds a badminton racket, and the processor unit determines the initial position and posture information of the first motion measurement module and the second motion measurement module.

The processor unit is connected to the control unit of the ball machine at the same time, and the processor unit sends an instruction to make the control unit of the ball machine synchronize with the first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module;

The badminton automatic serving machine sends out the shuttlecock, the processor unit sends out the measurement command, and the first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module measure synchronously;

The first motion measurement module, the second motion measurement module, the pressure measurement module, and the camera measurement module perform real-time measurement, and send the measurement information to the processor unit;

The processor unit converts the measurement information into position and attitude information and pressure information, and stores them; the above position and attitude information is displayed in the form of images for easy observation.

According to factors such as the result of hitting the ball, the position, posture information and pressure information with good hitting effect are selected and stored as standard information.

During the athlete's subsequent training process, the motion capture measurement system captures the athlete's position, posture information, and pressure information, and compares them with the above-mentioned standard information to improve the training effect.

Focus on when the pressure is the greatest (usually when the badminton racket hits the shuttlecock, the hand exerts the greatest pressure on the racket), the position and posture information of the hand bowl; the position and posture information of the badminton racket; Hitting point, hitting style and hitting power.

The processor unit can display the target motion information (the motion track of the racket and the human arm) on the display screen in the form of three-dimensional graphics, and the athletes follow the above-mentioned motion track to make their actual motion overlap and coincide with the target motion information on the screen . In this way, an accurate exercise method can be established to achieve a good training effect.

The present invention measures the acceleration and angular velocity information through the first sensor and the second sensor, and then simultaneously obtains the attitude and orientation information of the human body and the sports equipment. At the same time, the pressure is used to obtain the force information of the human body, which can comprehensively evaluate the state of exercise. By sharing the first microprocessor with the miniature pressure sensor of the pressure measurement module and the first motion measurement module, the quality and volume of the pressure measurement module can be further reduced, and the influence on motion during measurement can be reduced. By adopting the method of simultaneous and synchronous measurement, it can be seen at any time whether the motion state of the human body is correct, whether the state of the corresponding exercise equipment is correct, and whether the force is applied correctly at this time, so that an all-round evaluation of the motion state can be carried out. By using the camera measurement module to obtain the position information at the first motion measurement module and the second motion measurement module, the measurement accuracy of the position can be improved; at the same time, only the camera measurement module is used to obtain the position information, since there is no need to calculate its attitude information, It can greatly reduce the time of image processing and reduce the cost. The attitude information is obtained by detecting the acceleration and angular velocity information. That is, through the above method, the accuracy can be ensured and the cost can be reduced at the same time. By indirectly measuring the position of the first motion measurement module, the problem that the location of the first motion measurement module is inconvenient for shooting can be avoided. Through the above method, the first motion measurement module can be installed in the position where the measurement is not affected, such as inside or at the end of the sports equipment. The invention can significantly improve the accuracy of sports training, and the cost is controllable.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that changes and combinations of elements can be made to these embodiments without departing from the principle and spirit of the present invention. The scope is defined by the claims appended hereto and their equivalents.

Claims (10)

1. A motion capture measurement system, characterized by: comprising the following steps: the device comprises a first motion measurement module, a second motion measurement module, a pressure measurement module and a processor unit; the first motion measuring module and the pressure measuring module are fixedly connected with the sports equipment; the second motion measurement module is fixedly connected with the human body;

the first motion measurement module comprises a first sensor, a first microprocessor and a first wireless transmission module, wherein the first sensor is used for measuring the acceleration and angular velocity information of the sports equipment, and the first microprocessor is used for receiving the acceleration and angular velocity information measured by the first sensor and transmitting the information to the processor unit through the first wireless transmission module;

the second motion measurement module comprises a second sensor, a second microprocessor and a second wireless transmission module, wherein the second sensor is used for measuring the acceleration and angular velocity information of a human body, and the second microprocessor is used for receiving the acceleration and angular velocity information measured by the second sensor and transmitting the information to the processor unit through the second wireless transmission module;

the pressure measuring module is used for measuring the pressure exerted on the sports equipment by the human body and transmitting the pressure information to the processor unit.

2. The measurement system of claim 1, wherein: the first sensor is also used for measuring magnetic force information of the sports equipment, and the second sensor is also used for measuring magnetic force information of a human body.

3. The measurement system according to claim 1 or 2, characterized in that: the pressure measurement module comprises a miniature pressure sensor and a signal wire, the pressure sensor is in control connection with the first microprocessor through the signal wire, and the first microprocessor receives pressure signals and transmits pressure information to the processor unit through the first wireless transmission module.

4. The measurement system according to claim 1 or 2, characterized in that: the processor unit comprises a fourth wireless transmission module and a fourth microprocessor, wherein the fourth wireless transmission module is used for receiving acceleration, angular velocity information and pressure information sent by the first wireless transmission module and the second wireless transmission module and converting the acceleration, angular velocity information and pressure information into position information, attitude information and force application information.

5. The measurement system according to claim 1 or 2, characterized in that: the processor unit controls the first motion measuring module, the second motion measuring module and the pressure measuring module to measure for a plurality of times at the same time, and records time information during measurement.

6. The measurement system according to claim 1 or 2, characterized in that: the camera shooting measuring module is used for measuring the position information of the first motion measuring module and the second measuring module.

7. The measurement system of claim 6, wherein: the processor unit calculates attitude information according to the acceleration and angular velocity information, calculates position information by combining information measured by the camera measurement module, and generates motion information by combining the attitude information and the position information with time information.

8. The measurement system according to claim 1 or 2, characterized in that: the measuring system is used for measuring ball games and further comprises a ball dispenser control unit, and the ball dispenser control unit is in control connection with the processor unit.

9. The measurement system according to claim 1 or 2, characterized in that: the first sensor and the second sensor both comprise: a tri-axial MEMS micro-accelerometer, a tri-axial MEMS micro-gyroscope and a tri-axial MEMS micro-magnetometer.

10. A method of measurement of a motion capture measurement system according to any one of claims 1 to 9, wherein: the method comprises the following steps:

the first motion measuring module, the second motion measuring module and the pressure measuring module are fixed on the human body and the sports equipment;

the first motion measuring module, the second motion measuring module and the pressure measuring module are used for time synchronization and starting measurement;

the first motion measuring module, the second motion measuring module and the pressure measuring module are used for measuring in real time and transmitting measurement information to the processor unit in real time;

the processor unit converts the measurement information into position and posture information and force application information;

the processor unit compares and analyzes the position and posture information and the force application information with the standard information.

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