CN108762488A - A kind of single base station portable V R system based on wireless human body motion capture and optical alignment - Google Patents
A kind of single base station portable V R system based on wireless human body motion capture and optical alignment Download PDFInfo
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- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/211—Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes
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- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/212—Input arrangements for video game devices characterised by their sensors, purposes or types using sensors worn by the player, e.g. for measuring heart beat or leg activity
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/213—Input arrangements for video game devices characterised by their sensors, purposes or types comprising photodetecting means, e.g. cameras, photodiodes or infrared cells
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
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- A—HUMAN NECESSITIES
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- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/837—Shooting of targets
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/105—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals using inertial sensors, e.g. accelerometers, gyroscopes
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- A—HUMAN NECESSITIES
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- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8082—Virtual reality
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Abstract
A kind of single base station portable V R system based on wireless human body motion capture and optical alignment, including:Motion sensor module monitors the three dimensional orientation of human body limb;Optical alignment module monitors human body and VR aobvious absolute spatial positions;Computing module calculates according to the data of motion sensor module and optical alignment module and obtains human body and limbs in the position of three dimensions and the motion change track in orientation;VR terminal devices, it is aobvious including smart mobile phone and VR, wherein, VR programs built in smart mobile phone, refreshed according to the variation track in position and orientation and shows content, and by including both hands position and azimuth information be applied in VR programs, output VR images aobvious receive viewing by VR by user.The present invention has good portability, is limited without space and place, need not fix using area.An optical tracking base station is only used, can realize the location tracking to 360 ° of gamuts of human body, and human action is introduced into VR systems.
Description
Technical field
It is the invention belongs to VR applied technical fields, more particularly to a kind of based on wireless human body motion capture and optical alignment
Single base station portable V R system.
Background technology
Current VR technologies and equipment are broadly divided into three classes:
1, the professional VR of the optical alignment based on timestamp
Typical products are HTC VIVE VR.Aobvious, 1~2 handle and 2 locating base stations including 1 VR.Locating base station
Sent with certain frequency and include the laser of timestamp information, head show and handle on have multiple laser pickoffs, according to laser pick-off
The timestamp information in laser that device receives can calculate VR and show at a distance from locating base station.It may thereby determine that VR show
And the position of handle.Because of the VR aobvious laser that must directly receive base station with handle.So need to be equipped with 2 base stations, and
And base station needs to be mounted on ceiling position, could position VR aobvious and handle positions within the scope of 360 ° in this way.
2, the professional VR of the optical alignment based on binocular camera
Typical products are Oculus RIFT VR and Sony PlayStation VR.Aobvious, 1~2 hand including 1 VR
Handle and at least two locating base station.VR aobvious and handle on have multiple infrared lasers or a visible light emitter, in locating base station
Contain binocular camera.Binocular camera by track that VR aobvious and handle on infrared ray or visible light, calculate VR and show
And the spatial position of handle.2 locating base stations are needed, VR aobvious and handle positions could be positioned within the scope of 360 °.
3, the VR helmets without optical alignment
Such typically no display unit of the VR helmets, main composition is lens.Mobile phone is inserted into the VR helmets as display unit
Part, user are VR videos or the game content that may be viewed by mobile phone.Because there is no the position of optical tracking unit, the VR helmets and both hands
Setting can not learn, therefore the not displacement at visual angle in VR contents.Such VR helmets are generally come using the IMU units in mobile phone
Before and after to the VR helmets and left and right inclination angle and rotation, and VR contents are updated therewith.
Invention content
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide one kind is caught based on wireless human body action
Catch single base station portable V R system with optical alignment.
To achieve the goals above, the technical solution adopted by the present invention is:
A kind of single base station portable V R system based on wireless human body motion capture and optical alignment, which is characterized in that packet
It includes:
Motion sensor module monitors the three dimensional orientation of human body limb;
Optical alignment module monitors human body and VR aobvious absolute spatial positions;
Computing module calculates according to the data of motion sensor module and optical alignment module and obtains human body and limb
Body is in the position of three dimensions and the motion change track in orientation;
VR terminal devices, including smart mobile phone and VR are aobvious, wherein VR programs built in smart mobile phone, according to the position
And orientation variation track refresh show content, and by including both hands position and azimuth information be applied to VR programs
In, output VR images are watched by VR aobvious received by user.
The motion sensor module includes node and finger ring, contains accelerometer, gyro in interior joint and finger ring
Instrument and magnetometer, node are attached at each major joint of human body, and to capture major joint in the orientation of three dimensions, finger ring is worn
It is worn over the first joint of human body index finger, to obtain the first joint of index finger in the orientation of three dimensions.
The finger ring has VR to manipulate load button towards thumb side, facilitates click or long-press for thumb;The section
Point is attached to by dressing bandage at each major joint of human body.
The optical alignment module includes being equipped with the hinge storage charging of binocular infrared camera and infrared LED laser lamp
Box and the infrared external reflection scraps of paper being arranged on human body back and VR terminal modules, wherein hinge storage charging box are built-in with microprocessor
Device;The infrared external reflection scraps of paper described in the infrared LED laser light irradiation, form and highlight pattern, and the binocular infrared camera passes through
Camera shooting captures and positions the highlighted pattern, realizes optical alignment.
Base station of the hinge storage charging box as VR systems.
The hinge storage charging box storage node and finger ring, and built-in charging module charges to node and finger ring.
The computing module is run in microprocessor, and absolute spatial position data and all bearing datas converge to Wei Chu
It manages in device, calculates the spatial position in each joint, and then introduce time factor, the movement for tracking human body and limbs becomes
Change track.
The spatial position in the joint calculates as follows:
1), human body towards or when lateral binocular infrared camera
With VR aobvious position P0(x0,y0,z0) it is foundation, if 1,2 ..., J is the from the beginning joint list to joint J, then
It is calculated by the following formula out joint J coordinates PJ:
I=1 to J computes repeatedly Pi-1(xi-1,yi-1,zi-1)–(0,hi-1,0)*Qi-1
Wherein, hi-1It is the length of the close head side limbs of joint i, Qi-1It is the close head side limbs of joint i
Dimensional orientation quaternary number, as i=J, you can calculate PJCoordinate;
2) when, human body is backwards to binocular infrared camera
If 1,2 ..., J is the from the beginning joint list to joint J, then is calculated by the following formula out joint J coordinates PJ:
I=1 to J computes repeatedly Pi-1(xi-1,yi-1,zi-1)–(0,hi-1,0)*Qi-1
Wherein, hi-1It is the length of the close back side limbs of joint i, Qi-1It is the close back side limbs of joint i
Dimensional orientation quaternary number, when joint J is more than back, h1It is distance of the back pattern to neck;When joint J back with
Under, h1It is distance of the back pattern to waist;
As i=J, you can calculate PJCoordinate.
Addition accelerometer, angular speed meter and magnetometer in the hinge storage charging box, are melted using SensorFusion
Hop algorithm calculates the three dimensional orientation Q of hinge storage charging box itselfHinge, QHingeIt is quaternary number, to the position of binocular positioning
P1 uses formula P first0'=P0*QHinge -1It corrects, to obtain coordinate when hinge storage charging box is horizontal, then carries out again
Subsequent arithmetic, wherein QHinge -1It is QHingeInverse quaternion.
Compared with prior art, the present invention monitors the three dimensional orientation of human body limb by motion sensor, and utilizes
Optical alignment monitors human body change in displacement, integrate can detect human body and limbs in the position of three dimensions and
The variation track in orientation, and human body movement data is input in real time in VR or 3D virtual worlds.It is relative to traditional VR systems
System is limited with good portability, without space and place, need not fix using area.And relative to traditional VR systems
An optical tracking base station is only used, can realize positioning and tracking to 360 ° of gamuts of human body, and by human action
Introduce VR systems.
Description of the drawings
Fig. 1 is present system general structure schematic diagram.
Fig. 2 be human body towards or position calculates schematic diagram when lateral binocular infrared camera.
Fig. 3 be human body backwards to binocular infrared camera when position calculate schematic diagram.
Specific implementation mode
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, portable V R system of the present invention mainly comprises the following steps:
Hinge stores charging box (Hub) 100, several nodes (Node), and finger ring (Ring) dresses bandage 400, and VR aobvious
500 and smart mobile phone 600.
Wherein, hinge stores charging box 100, binocular infrared camera 101 and infrared LED laser lamp 102 is equipped with, in people
The infrared reflection scraps of paper 702 there are one special shape are pasted at body back, and it is special to be pasted on VR aobvious 500 box bodys and bandage
The infrared reflection scraps of paper 701 of shape, meeting strong reflection infrared ray are formed highlighted under the irradiation of infrared LED laser lamp 102
Pattern.These reflection scraps of paper can be captured and positioned by binocular infrared camera 101, can also position VR aobvious 500 and people
Body back.This hinge is provided with node and finger ring storage charging slot 103 simultaneously, can store node and finger ring, and can give
Node and finger ring charging.Hinge, which stores charging box 100, has the base station functions of tradition VR systems.
Node can be attached at the major joint of human body, with capture joint space orientation.Contain acceleration in node
Degree meter, gyroscope and magnetometer can obtain node in the orientation of three dimensions after the data of 3 sensors are by fusion.
Finger ring is worn on the first joint of human body index finger.Contain accelerometer, gyroscope and magnetometer, 3 biographies in finger ring
After the data of sensor are by fusion, the first joint of index finger can be obtained in the orientation of three dimensions.Meanwhile finger ring is towards thumb
There is button in side, facilitates click or long-press for thumb, carries out game input, such as this system is applied to gunbattle VR game
In when, transmitting ammunition can be controlled by pressing the button on ring with thumb.
Operation has a Sensor Fusion data fusion programs in node/finger ring, i.e., by accelerometer, angular speed meter and
The data of magnetometer carry out fusion calculation, obtain node/finger ring in the orientation of 3 dimension spaces.Node/finger ring is attached to human body
On, the three dimensional orientation of node/finger ring just represents the three dimensional orientation of corresponding human body.
Magic tape structure can be used in wearing bandage 400, can node be easily attached to each position of human body, while just
In dismounting.
Node is attached on most 19 positions of human body by dressing bandage 100, is opened up in figure with reference to figure 1 by usage scenario
Show hindbrain node 201, posterior neck node 202, right shoulder node 203, back node 204, right large arm node 205, vertebra node
206, waist/buttocks node 207, right forearm node 208, the right hand back of the body node 209, right thigh node 210, right leg node 211,
Right crus of diaphragm node 212, left foot node 213, left leg node 214, left thigh node 215, left hand back of the body node 216, left forearm node
217, left large arm node 218, left shoulder node 219, while left index finger carries left index finger finger ring 302, right hand index finger is with the right side
Hand index finger finger ring 301.
The infrared reflection scraps of paper 702 there are one special shape, VR aobvious 500 box bodys and bandage are pasted in human body back
On be pasted with the infrared reflection scraps of paper 701 of special shape, in the present embodiment, the infrared reflection scraps of paper 702 are connected to left shoulder
Node 219 and back node 204, right shoulder node 203 and back node 204 and back node 204 and vertebra node 206, but
This is not necessarily.The shape of the infrared reflection scraps of paper 701 and the infrared reflection scraps of paper 702 has no particular/special requirement, as long as can expire
Foot easily identifies.
Smart mobile phone 600 is put into VR aobvious 500, and head is worn over by VR aobvious 500.Hinge is placed on by the side of 2
~5 meters of place, binocular infrared camera 101 is against human body.Same picture is taken with two cameras, according to two width head portraits
In same pattern pixel difference away from and two cameras physical distance, come calculate pattern apart from binocular camera away from
From, that is, pattern is in the position in space.Pattern is in the position in space, that is, head or back are in the position in space.
All nodes, finger ring three dimensional orientation data fortune is real-time transmitted to by the wireless mode of bluetooth or WiFI
Calculate module.Hinge storage charging box 100 passes through the positioning in real time of binocular infrared camera 101 VR aobvious 500 and human body back simultaneously.
Using this two groups of data, the computing module that hinge carries can calculate the position of both hands and all limbs.Then by wireless
The position of all human bodies and azimuth information are transferred to smart mobile phone 600 by mode.VR programs in smart mobile phone 600 according to
The positioning on head and orientation, which refresh, shows content, while position including both hands and azimuth information can also be applied to VR
In program, and finally it is by a user by VR aobvious 500 and is received.
VR aobvious 500 and human body back are positioned above by binocular infrared camera 101, and merge human body limb three-dimensional side
Position, it is as follows to calculate the method for position of all limbs:
One, human body towards or when lateral binocular infrared camera 101
Binocular infrared camera 101 can take VR aobvious 500 always, that is, hinge storage charging box 100 can be determined always
Position is to VR aobvious 500.
As shown in Fig. 2, indicating human body with 19 rigid body joint linked systems.Its Oxford gray is main portions, light gray
It is auxiliary position.
The position that binocular infrared camera 101 navigates to VR aobvious 500 is:P0, P0Detailed coordinate be (x0,y0,z0)。
With VR aobvious position P0(x0,y0,z0) it is foundation, if 1,2 ..., J is the from the beginning joint list to joint J, then
It is calculated by the following formula out joint J coordinates PJ:
I=1 to J computes repeatedly Pi-1(xi-1,yi-1,zi-1)–(0,hi-1,0)*Qi-1
Wherein, hi-1It is the length of the close head side limbs of joint i, Qi-1It is the close head side limbs of joint i
Dimensional orientation quaternary number, as i=J, you can calculate PJCoordinate;
Specifically, if head length is h0, the three dimensional orientation on head is Q0(Q0It is quaternary number).
Then head and neck connecting portion J1Position it is available as under type calculates.
Pass through the vectorial V of origin0(0,h0, 0) and there is length same as head.
V0'=V0*Q0It indicates vectorial V0Rotate to the vectorial V completely the same with head orientation0', and V0' still pass through
Origin.
If V0' arrive P0Translation be S0That is S0=P0–V0'
Then J1Coordinate PJ1=(0,0,0)+S0=P0–V0'=P0–V0*Q0。
Assuming that the length of other known position limbs can calculate other position limbs two according to same computational methods
The position at end.
Two, when human body is backwards to binocular infrared camera 101
When human body is backwards to binocular infrared camera 101, under normal circumstances, binocular infrared camera 101 is still it can be seen that VR
The bandage of head aobvious 500 can also position VR aobvious 500 positions.According to above-mentioned calculating, the position of other position limbs can be calculated
It sets.
In some cases, binocular infrared camera 101 cannot take VR aobvious 500.But at this point, under normal circumstances,
Binocular infrared camera 101, which is appointed, can so take human body back.
The position that binocular infrared camera 101 navigates to back echo area is P0, P0Detailed coordinate be (x0,y0,z0).The back of the body
The three dimensional orientation of portion, that is, trunk is Q0(Q0It is quaternary number).
If 1,2 ..., J is the from the beginning joint list to joint J, then is calculated by the following formula out joint J coordinates PJ:
I=1 to J computes repeatedly Pi-1(xi-1,yi-1,zi-1)–(0,hi-1,0)*Qi-1
Wherein, hi-1It is the length of the close back side limbs of joint i, Qi-1It is the close back side limbs of joint i
Dimensional orientation quaternary number, when joint J is more than back, h0It is distance of the back pattern to neck;When joint J back with
Under, h0It is distance of the back pattern to waist;
As i=J, you can calculate PJCoordinate.
Specifically, if P0To J1Length be h0u, P0To J2Length be h0d。
If V0u(0,h0u, 0), V0d(0,h0d, 0) and it is vector by origin respectively.
Then J1Coordinate be:PJ1=P0+V0u*Q0
J2Coordinate be:PJ2=P0–V0d*Q0
Wherein * representing matrixes multiplication.
Node can only obtain dimensional orientation, but not have location information.But because human body is the articular system of a connection.Example
If large arm is motionless, forearm is moving.Forearm end then can be calculated i.e. according to the Orientation differences of forearm and the length of forearm
Relative position variation at wrist.Assuming that the length of other known position limbs can calculate every according to same computational methods
The position at a position limbs both ends.For example, if it is known that large arm (such as elbow joint) in the absolute position in space, then can be counted
Calculate the absolute position variation at wrist.
In above-mentioned one and two calculating, it is assumed that it is horizontal positioned always that hinge, which stores charging box 100,.
If improving this system, accelerometer, angular speed meter and magnetometer can be added in hinge stores charging box 100,
Using SensorFusion blending algorithms, the three dimensional orientation Q of hinge storage charging box 100 itself is calculatedHinge, (QHingeIt is
Quaternary number).
Then for the position P of binocular positioning0, need to correct with the following method first, charging box stored to obtain hinge
100 coordinate when being horizontal.
P0'=P0*QHinge - 1,Wherein QHinge -1It is QHingeInverse quaternion.
Then P is used0' continue above-mentioned calculating.
The estimation of each position limbs length of human body.
In above-mentioned calculating, it is both needed to the length it is to be understood that each position limbs of human body.Such as head length, neck are long
Degree, shoulder length, upper body torso length and back node are in position of upper body trunk etc..These parameters can enable user input.
One simple estimation mode is:According to the height of user, age and gender, according to human body ratio, estimation
Go out the length of required limbs, and estimates the height of back echo area.
Site error amendment
Portable V R system of the present invention only uses an optical alignment base station to position VR and shows 500 or back position,
On the basis of this position, coordinate human body attitude, calculates the position of partes corporis humani position.Since each limbs used in system are long
Degree (such as head, neck, shoulder breadth, back of the body length, size brachium, thigh and calf length etc.) is obtained by height, age, gender estimation,
Inevitably there is error.Meanwhile human body is reduced to 19 bone rigid body joint systems by this system, also brings along error.Therefore it needs
Want error correcting technology.
In VR systems, the positioning on head is particularly critical, because the position on head and angle determine VR image contents.Such as
There is saltus step in fruit head position, and VR image contents have apparent pause, saltus step sense, influence usage experience.Therefore this is portable
VR systems eliminate error, enhancing experience using the technology of smooth head position.Specifically logic is:
A, when hinge (base station) can navigate to VR aobvious 500, that is, can navigate to head position, with head position
It is set to benchmark, calculates the position of other body parts such as both hands.
B, as hinge (base station) last moment tn-1VR aobvious 500 can be navigated to, this moment tnVR cannot be navigated to show
500, but when can navigate to human body back.According to human body back position, t is calculatednMoment head, both hands and other body parts
Position.If calculated head position and tn-1Head position it is inconsistent, then use tn-1Head positioning.If tn's
Back position and tn-1The back position of calculating is different, it tries 1:Use tnThe back position at moment, while adjusting light grey limb
The orientation of body, so that tnMoment and tn-1The head at moment and the position all same at back.If trial 1 is unsuccessful, use
tn-1The back position at moment records tnMoment back position and tn-1The offset of moment back position is ShiftBack, subsequently make
When with the optical alignment at back, this offset is applied.
C, as hinge (base station) last moment tn-1VR aobvious 500 cannot be positioned, this moment tnVR aobvious 500 can be navigated to
When, while hinge can also navigate to human body back.If tn-1Moment calculated head position, with tnWhat the moment navigated to
Head position is different, then uses tn-1The head position at moment, the offset for recording the two are ShiftHead, fixed subsequently using optics
When the head position that position is arrived, this offset is applied.On the basis of revised head position, both hands and other people body regions are calculated
Position.
The infrared external reflection scraps of paper are used in this portable V R system, it is infrared double to facilitate to form the highlight bar of infrared imaging
Ocular head following reflex area.The use of the reason of the method is that general can be shown on 500 to different VR heads.
Infrared or visible LED lamp can also be used, to replace the reflection scraps of paper, but the VR heads of customization can only be used aobvious in this way
500。
The absolute spatial position for being determined the helmet or back in this system using optical alignment is connected further according to the joint of human body
Relationship, the length and orientation of each joint limbs are connect, the absolute position at each position of whole body is calculated, to accomplish that tracking whole body is each
The orientation and change in location at a position.
Claims (10)
1. a kind of single base station portable V R system based on wireless human body motion capture and optical alignment, which is characterized in that including:
Motion sensor module monitors the three dimensional orientation of human body limb;
Optical alignment module monitors human body and VR aobvious absolute spatial positions;
Computing module calculates acquisition human body and limbs exists according to the data of motion sensor module and optical alignment module
The position of three dimensions and the motion change track in orientation;
VR terminal devices, including smart mobile phone and VR are aobvious, wherein VR programs built in smart mobile phone, according to the position and side
Position variation track refresh show content, and by including both hands position and azimuth information be applied in VR programs,
VR images are exported to watch by VR aobvious received by user.
2. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 1,
It is characterized in that, the motion sensor module includes node and finger ring, contains accelerometer, gyro in interior joint and finger ring
Instrument and magnetometer, node are attached at each major joint of human body, and to capture major joint in the orientation of three dimensions, finger ring is worn
It is worn over the first joint of human body index finger, to obtain the first joint of index finger in the orientation of three dimensions.
3. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 2,
It is characterized in that, the finger ring has VR to manipulate load button towards thumb side, facilitates click or long-press for thumb;The section
Point is attached to by dressing bandage at each major joint of human body.
4. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 2,
It is characterized in that, the optical alignment module includes being equipped with the hinge storage of binocular infrared camera and infrared LED laser lamp to fill
Electric box and the infrared external reflection scraps of paper being arranged on human body back and VR terminal modules, wherein hinge storage charging box are built-in with micro- place
Manage device;The infrared external reflection scraps of paper described in the infrared LED laser light irradiation, form and highlight pattern, and the binocular infrared camera is logical
It crosses camera shooting and captures and position the highlighted pattern, realize optical alignment.
5. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 4,
It is characterized in that, base station of the hinge storage charging box as VR systems.
6. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 4,
It is characterized in that, the hinge storage charging box storage node and finger ring, and built-in charging module charges to node and finger ring.
7. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 4,
It is characterized in that, the computing module is run in microprocessor, and absolute spatial position data and all bearing datas converge to micro-
In processor, the spatial position in each joint is calculated, and then introduce time factor, track the movement of human body and limbs
Variation track.
8. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 7,
It is characterized in that, the spatial position calculating in the joint is as follows:
1), human body towards or when lateral binocular infrared camera
With VR aobvious position P0(x0,y0,z0) be foundation, if 1,2 ..., J is the from the beginning joint list to joint J, then by with
Lower formula calculates joint J coordinates PJ:
I=1 to J computes repeatedly Pi-1(xi-1,yi-1,zi-1)–(0,hi-1,0)*Qi-1
Wherein, hi-1It is the length of the close head side limbs of joint i, Qi-1It is the sky of the close head side limbs of joint i
Between orientation quaternary number, as i=J, you can calculate PJCoordinate;
2) when, human body is backwards to binocular infrared camera
If 1,2 ..., J is the from the beginning joint list to joint J, then is calculated by the following formula out joint J coordinates PJ:
I=1 to J computes repeatedly Pi-1(xi-1,yi-1,zi-1)–(0,hi-1,0)*Qi-1
Wherein, hi-1It is the length of the close back side limbs of joint i, Qi-1It is the sky of the close back side limbs of joint i
Between orientation quaternary number, when joint J is more than back, h0It is distance of the back pattern to neck;When joint J at back hereinafter, h0It is
Distance of the back pattern to waist;
As i=J, you can calculate PJCoordinate.
9. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 8,
It is characterized in that, addition accelerometer, angular speed meter and magnetometer in the hinge storage charging box are melted using SensorFusion
Hop algorithm calculates the three dimensional orientation Q of hinge storage charging box itselfHinge, QHingeIt is quaternary number, to the position of binocular positioning
P0Formula P is used first0'=P0*QHinge -1It corrects, to obtain coordinate when hinge storage charging box is horizontal, after then carrying out again
Reforwarding is calculated, wherein QHinge -1It is QHingeInverse quaternion.
10. single base station portable V R system based on wireless human body motion capture and optical alignment according to claim 8,
It is characterized in that, carry out site error amendment using the method for smooth head position, specific method is:
A shows when hinge can navigate to VR, then on the basis of head position, calculates the position of other body parts;
B, as hinge last moment tn-1VR can be navigated to show, this moment tnVR cannot be navigated to show, but human body can be navigated to
When back, according to human body back position, t is calculatednMoment head, both hands and other body parts position;If calculated
Head position and tn-1Head position it is inconsistent, then use tn-1Head positioning;If tnBack position and tn-1It calculates
Back position it is different;Then attempt 1:Use tnThe back position at moment, while the orientation at body auxiliary position is adjusted, so that
tnMoment and tn-1The head at moment and the position all same at back;If trial 1 is unsuccessful, t is usedn-1The back at moment
It sets, records tnMoment back position and tn-1The offset of moment back position is ShiftBack, fixed subsequently using the optics at back
When position, this offset is applied;
C, as hinge last moment tn-1VR cannot be positioned to show, this moment tnCan navigate to VR it is aobvious when, while hinge can also
Navigate to human body back;If tn-1Moment calculated head position, with tnThe head position that moment navigates to is different, then makes
Use tn-1The head position at moment, the offset for recording the two are ShiftHead, in the head position subsequently arrived using optical alignment,
This offset is applied, on the basis of revised head position, calculates the position at other positions.
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