Motion capturing system and method based on CAN bus and inertial sensor

Abstract

The present invention provides a motion capturing system and method based on a CAN bus and an inertial sensor, for tracking and capturing motion information of a human body in a real-time manner. The system comprises an inertial sensing node combination, a data aggregation node, and a central computer. The inertial sensing node combination contains 18 inertial sensing nodes, collects an accelerated speed, an angular speed, and geomagnetic information data of each bone point part in a real-time manner, and performs attitude estimation by using a complementary integration filtering algorithm, so as to obtain data, such as a quaternion and an euler angle, of an three-dimensional attitude of the current bone point. The data aggregation node is connected to the 18 inertial sensing nodes, is configured to collect, in a time-sharing manner, three-dimensional attitude data of each bone point obtained by the 18 inertial sensing nodes, and send the collected data to the central computer by using a wireless wifi module. A main task of the central computer is to complete functions of collecting motion data transmitted from the data aggregation node and driving a virtual 3D person model by using the motion data.

Description

technical field [0001] The invention relates to the fields of human kinematics, sensor technology, health care and the like, and in particular to a motion capture system based on CAN bus and inertial sensors. Background technique [0002] Motion capture technology is a new type of human-computer interaction technology, which has broad application prospects in rehabilitation medicine, film and television, animation, games and other fields. Using human motion capture technology, in rehabilitation medicine, it can assist patients who have lost their limbs or other specific body parts due to disease or traffic accidents to perform rehabilitation treatment; in addition, motion capture technology can also be applied to film and television production, which can simplify movies. The difficulty of production improves the fidelity of film and television characters. For example, the virtual characters in the movie "Avatar" are made using motion capture technology. The application of m...

AI Technical Summary

Problems solved by technology

[0006] (1) Using the wireless solution, each inertial sensing node must be equipped with a lithium battery for power supply alone. When a single node or several nodes are insufficient to work, the entire system becomes unusable

[0007] (2) In the motion capture system using the SPI scheme, each inertial sensor node must be connected to a chip selection signal line, which will directly lead to the increase of the number of inertial sensor nodes, and the connection of the data sink node connected to the motion capture system The number of wires increases, and the distribution of wires in the entire system is complicated;

[0008] (3) Using the wireless solution, the size and weight of each node are not easy to reduce, which will hinder the movement to a certain extent

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