Motion capture device time synchronization method and system, networking method, device and medium

Abstract

The invention relates to a time synchronization method and system of motion capture equipment, a networking method, equipment and a medium. The multiple motion capture sensors are in communication connection with the relay device. The motion capture device time synchronization method comprises a synchronous pairing operation. The synchronous pairing operation comprises the following steps: in a communication period, the relay equipment sends synchronous clock reference values of corresponding time points to all the connected motion capture sensors according to communication time particles and a preset sequence; and the motion capture sensor performs clock synchronization operation based on the synchronous clock reference value, and updates a local clock value of the motion capture sensor. Accumulative errors generated by a time window are optimized and solved, time alignment of collector equipment is ensured, the communication success rate of multi-node equipment is improved, and the problem of data packet loss is reduced.

Description

Technical Field

[0001] The present invention relates to the field of motion capture and data processing, and particularly to a method for time synchronization of motion capture devices, a system, a networking method, a device, and a medium. Background Art

[0002] Motion capture technology can be widely applied to various fields, such as medical, film and television, industry, Internet of Things, virtual reality, interactive games, sports training, etc., to capture scenes with high motion accuracy and restore visual depth, achieving an immersive feeling.

[0003] In existing motion capture systems, communication methods such as 2.4GHz wireless communication and wired 485 communication are generally used. The motion capture system usually adopts an architecture of one terminal for multiple motion capture sub-devices. In the one-to-many communication process, when using the traditional point-to-point communication method, there will be data conflicts and data interference when each motion capture sub-device communicates with the terminal device. Currently, in order to avoid data conflicts and interference, multiple motion capture sub-devices will send data at staggered times to avoid conflicts in the data sending timing and interference in frequencies. However, there are certain defects in the time synchronization method of staggering times, which is prone to time error accumulation, resulting in alignment problems in the time window and reducing the packet reception rate of the device. Summary of the Invention

[0004] In view of the deficiencies of the above-mentioned prior art, one of the purposes of the present invention is to provide a method for time synchronization of motion capture devices, which is used to solve the problem that the existing time synchronization method is prone to time error accumulation, resulting in alignment problems in the time window.

[0005] Another purpose of the present invention is to provide a time synchronization system for motion capture devices.

[0006] Another purpose of the present invention is to provide a networking method for a motion capture system.

[0007] Another purpose of the present invention is to provide an electronic device.

[0008] Another purpose of the present invention is to provide a computer-readable medium.

[0009] In order to achieve the above purposes, the present invention adopts the following technical solutions:

[0010] On the one hand, the present invention provides a method for time synchronization of motion capture devices, where multiple motion capture sensors are respectively communicatively connected to a relay device, including a synchronization pairing operation;

[0011] The synchronization pairing operation includes:

[0012] During the communication cycle, the relay device sends the synchronous clock reference value at the corresponding time point to all the connected motion capture sensors in a predetermined order according to the communication time granularity;

[0013] The motion capture sensors perform clock synchronization operations based on the synchronous clock reference value and update the local clock value of the motion capture sensors; the clock synchronization operations include:

[0014] Obtaining a calculation reference value based on the synchronous clock reference value, the local clock value, and the data transmission delay value;

[0015] The motion capture sensors input the calculation reference value into a PID control algorithm to obtain a system synchronization value, and use the system synchronization value as the updated local clock value of the motion capture sensors.

[0016] Furthermore, after obtaining the calculation reference value, the motion capture sensors also perform:

[0017] The motion capture sensors determine the result status of the synchronization pairing based on the calculation reference value and send the result status to the relay device; the result status includes excellent, good, and poor; among them,

[0018] When the calculation reference value is within the first range interval, the result status is excellent;

[0019] When the calculation reference value is within the second range interval, the result status is good;

[0020] When the calculation reference value is within the third range interval, the result status is poor.

[0021] Furthermore, when the relay device receives the result status feedback from the motion capture sensors as poor, it sends the synchronous clock reference value to the corresponding motion capture sensors again;

[0022] The corresponding motion capture sensors perform the clock synchronization operations again after receiving the resend synchronous clock reference value.

[0023] Furthermore, it also includes real-time synchronization operations; the real-time synchronization operations include:

[0024] During the process of transmitting sensing data between the relay device and the motion capture sensors, when the relay device transmits a control command to the motion capture sensors, it attaches the synchronous clock reference value at the current time point;

[0025] When the motion capture sensors receive the synchronous clock reference value, they perform the clock synchronization operations and execute the work tasks according to the control command.

[0026] Furthermore, the calculation formula of the calculation reference value is:

[0027] dt = tref + tdelay – tlocal;

[0028] Wherein, dt is the calculation reference value; tref is the input reference value; tdelay is the data transmission delay value, and tlocal is the local clock value of the motion capture sensor.

[0029] Furthermore, the data transmission delay value is obtained through the following steps:

[0030] Perform communication experiments on multiple motion capture sensors of the same model and relay devices to obtain the data transmission delay values of the motion capture sensors of the corresponding model;

[0031] Store the data transmission delay value in the motion capture sensor.

[0032] Furthermore, the relay device triggers the synchronization pairing operation in response to a predetermined operation; the predetermined operation includes receiving a synchronization pairing command from a host computer or a mainframe, the first power-on behavior, and a trigger operation in response to a function control of a user; the function control includes a software function control or a hardware function control.

[0033] Furthermore, after the relay device triggers the synchronization pairing operation, it first executes:

[0034] Set a communication cycle, and obtain the communication time granularity based on the communication cycle and the number of motion capture sensors.

[0035] On the other hand, the present invention provides a motion capture device time synchronization system, including a relay device and a plurality of motion capture sensors;

[0036] In the synchronization pairing operation:

[0037] The relay device sends the synchronization clock reference value of the corresponding time point to all the connected motion capture sensors in a predetermined order according to the communication time granularity within the communication cycle;

[0038] The motion capture sensor performs clock synchronization operation based on the synchronization clock reference value and updates the local clock value of the motion capture sensor; the clock synchronization operation includes:

[0039] Obtain a calculation reference value based on the synchronization clock reference value, the local clock value, and the data transmission delay value;

[0040] The motion capture sensor inputs the calculation reference value into a PID control algorithm to obtain a system synchronization value, and uses the system synchronization value as the updated local clock value of the motion capture sensor.

[0041] On the other hand, the present invention provides a method for networking a motion capture system, which realizes time synchronization by using any one of the time synchronization methods described above.

[0042] On the other hand, the present invention provides an electronic device, comprising:

[0043] a memory storing a computer program;

[0044] a processor, which realizes time synchronization by executing the computer program to implement any one of the time synchronization methods described above.

[0045] On the other hand, the present invention provides a computer-readable medium storing a computer program, which realizes time synchronization by executing the computer program to implement any one of the time synchronization methods described above.

[0046] Compared with the prior art, the motion capture device time synchronization method, system, networking method, device and medium provided by the present invention have the following beneficial effects:

[0047] 1. The relay device sends the synchronous clock reference value according to the communication time granularity, providing a stable clock reference for the motion capture sensors. Each motion capture sensor can adjust its clock based on this reference, avoiding system fluctuations caused by the drift or inaccuracy of the local clock, and enabling the entire motion capture system to maintain a stable working state during long-term operation.

[0048] 2. The motion capture sensor obtains the calculation reference value based on the synchronous clock reference value, local clock value and data transmission delay value, and then obtains the system synchronization value through the PID control algorithm and updates the local clock value. This can ensure the high synchronization of the clocks of each motion capture sensor. When performing motion capture, it can more accurately record the motion data at the same moment, reducing errors caused by clock asynchronization. Optimize and solve the cumulative error generated by the time window, ensure the time alignment of each collector device, improve the communication success rate of multi-node devices, and reduce the data packet loss problem.

[0049] 3. For a system composed of multiple motion capture sensors, due to clock synchronization, the data collected by the motion capture sensors is more regular on the time axis. Accurate clock synchronization helps to accurately match the motion information obtained by different sensors at the same time point when integrating data, thereby constructing a more real and accurate motion model. In the subsequent data processing and analysis process, it can reduce data fluctuations caused by clock asynchronization, thereby improving the stability of the system and reducing the risk of incorrect data or data loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a flowchart of the motion capture device time synchronization method provided by the present invention.

[0051] Figure 2 It is a block diagram of the time synchronization system of the motion capture device provided by the present invention.

[0052] Figure 3 It is a block diagram of an embodiment of the time synchronization system of the motion capture device provided by the present invention.

[0053] Figure 4 It is a flowchart of the time synchronization method for the operation of the relay device provided by the present invention.

[0054] Figure 5 It is a flowchart of the time synchronization method for the operation in the motion capture sensor provided by the present invention.

[0055] Figure 6 It is a flowchart of the time synchronization method for an implementation manner of the time synchronization system provided by the present invention.

[0056] Figure 7 It is a logic diagram combining the PID control algorithm provided by the present invention. Detailed implementation manners

[0057] To make the objectives, technical solutions and effects of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0058] Those skilled in the art should understand that the foregoing general description and the following detailed description are exemplary and illustrative specific embodiments of the present invention and are not intended to limit the present invention.

[0059] As used herein, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process or method including a list of steps not only includes those steps but may also include other steps not expressly listed or inherent to such process or method. Throughout the specification, the appearances of the phrases "in one embodiment", "in another embodiment" and similar language may, but do not necessarily, all refer to the same embodiment.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0061] Please refer to Figures 1-6, the present invention provides a method for time synchronization of an action capture device. A plurality of motion capture sensors are respectively communicatively connected to a relay device, including a synchronization pairing operation. Specifically, the motion capture sensors are preferably IMU (Inertial Measurement Unit) sensors and communicate with the relay device through 2.4GHz or 485 bus or other means. In some embodiments, the motion capture sensors can be referred to as IMU data acquisition nodes.

[0062] Generally, an action capture system consists of a host computer, a relay device, and a plurality of motion capture sensors. The motion capture sensors are used to detect action data. The host computer is used to process the action data detected by the motion capture sensors. The relay device functions as data reception and forwarding, and is respectively connected to a plurality of motion capture sensors and the host computer. After summarizing the action data transmitted by the plurality of motion capture sensors, the summarized action data is forwarded to the host computer.

[0063] Furthermore, in some embodiments, the host computer includes a dedicated action data processing device, or a PC host computer, or a server host computer, or a smart mobile device, etc. The relay device is connected to the host computer in a wired or wireless manner.

[0064] The synchronization pairing operation includes:

[0065] S11. During the communication cycle, the relay device sends the synchronization clock reference values at corresponding time points to all the connected motion capture sensors in a predetermined order according to the communication time granularity.

[0066] In some embodiments, the predetermined order can be the device number order, or a randomly shuffled order, or the order according to the docking sequence.

[0067] In some embodiments, as a preferred solution, after the relay device triggers the synchronization pairing operation, it first executes:

[0068] Set the communication cycle, and obtain the communication time granularity based on the communication cycle and the number of motion capture sensors. Specifically, in order to enable all motion capture sensors to be synchronized with the reference clock in time (i.e., the coordinate time axis of the relay device), it is necessary for the relay device to align the time with each of the plurality of motion capture sensors respectively. Considering that the relay device can only communicate point-to-point with all motion capture sensors, therefore, the communication time between the relay device and all motion capture sensors is defined as a communication cycle T (i.e., communicate with all motion capture sensors once within the communication cycle T to complete time alignment), then the communication time with each motion capture sensor is t = T / N (at this time, the communication time is evenly distributed according to the number of motion capture sensors), where N is the number of motion capture sensors.

[0069] In some embodiments, during the synchronous pairing operation, after the relay device starts sending the synchronous clock reference value to the motion capture sensors according to the communication time granularity, for each communication interaction with a motion capture sensor, a timer periodic interrupt is started - that is, the periodic interrupt of the MCU. In the MCU periodic interrupt, the associated control item of the current motion capture sensor is set and cleared (the periodic interrupt is enabled) to prevent the cumulative error caused by the system execution running time.

[0070] In some embodiments, as a preferred solution, the relay device triggers the synchronous pairing operation in response to a predetermined operation; the predetermined operation includes receiving a synchronous pairing command from a host computer or a host, the first power-on behavior, and responding to a trigger operation of a user's function control; the function control includes a software function control or a hardware function control. Therefore, the user only needs to trigger the synchronous operation through a tablet, a mobile phone or a PC to achieve the automatic synchronization of multiple motion capture sensors based on the reference clock of the relay device.

[0071] S12. The motion capture sensor performs a clock synchronization operation based on the synchronous clock reference value to update the local clock value of the motion capture sensor; the clock synchronization operation includes:

[0072] S121. Obtain a calculation reference value based on the synchronous clock reference value, the local clock value, and the data transmission delay value;

[0073] In some embodiments, as a preferred solution, the calculation formula for the calculation reference value is:

[0074] dt = tref + tdelay – tlocal;

[0075] Where, dt is the calculation reference value; tref is the input reference value; tdelay is the data transmission delay value, and tlocal is the local clock value of the motion capture sensor.

[0076] In some embodiments, as a preferred solution, the data transmission delay value is obtained through the following steps:

[0077] Perform communication experiments on multiple motion capture sensors of the same model and the relay device to obtain the data transmission delay value of the corresponding model of the motion capture sensor;

[0078] Store the data transmission delay value in the motion capture sensor.

[0079] Specifically, the relay device starts to enter the communication synchronization pairing state during communication time granules t1, t2, t3... (where the cumulative sum of t1, t2, t3... = T); successively send the current synchronization clock reference value to motion capture sensors 1 to n. After receiving the synchronization clock reference value, the motion capture sensor will automatically obtain the local clock value of the motion capture sensor, and then calculate the calculation reference value between the local clock of the motion capture sensor and the synchronization clock reference value, and through the corresponding PID control algorithm, obtain a new clock value for time alignment. Further, considering that there is a certain delay in the point-to-point communication process, it is necessary to introduce a delay value in the calculation. At this time, the data transmission delay value can be obtained through a large number of data statistics, and finally the calculation formula of the calculation reference value is obtained.

[0080] Further, please also participate Figure 7 , import the calculation reference value into the PID algorithm to obtain a new clock value, and use this new clock value as the clock value of the local motion capture sensor.

[0081] S122. The motion capture sensor inputs the calculation reference value into the PID control algorithm to obtain a system synchronization value, and uses the system synchronization value as the updated local clock value of the motion capture sensor.

[0082] The relay device sends the synchronization clock reference value according to the communication time granule, providing a stable clock reference for the motion capture sensor. Each motion capture sensor can adjust the clock based on this reference, avoiding system fluctuations caused by the drift or inaccuracy of the local clock, and enabling the entire motion capture system to maintain a stable working state during long-term operation.

[0083] The motion capture sensor obtains the calculation reference value based on the synchronization clock reference value, local clock value, and data transmission delay value, then obtains the system synchronization value through the PID control algorithm and updates the local clock value. This can ensure that the clocks of each motion capture sensor are highly synchronized. When performing motion capture, it can more accurately record the motion data at the same moment, reducing errors caused by clock asynchronization.

[0084] For a system composed of multiple motion capture sensors, due to clock synchronization, the data collected by the motion capture sensors is more regular on the time axis. Accurate clock synchronization helps to accurately match the motion information obtained by different sensors at the same time point when integrating data, thereby constructing a more real and accurate motion model. In the subsequent data processing and analysis process, it can reduce data fluctuations caused by clock asynchronization, thereby improving the stability of the system and reducing the risk of incorrect data or data loss.

[0085] In some embodiments, the PID control algorithm adopts the conventional usage method in the art, and specifically can refer toFigure 7 , where \(K_p\), \(K_i\), and \(K_d\) are the proportional, integral, and derivative coefficients respectively. After the error value \(dt\) enters the PID control algorithm for calculation, the local \(t_{local}\) value is obtained, and the output is updated to the local clock value; at the same time, \(t_{local}\) is fed back and the error calculation is performed again with the next reference value.

[0086] On the other hand, this method simultaneously realizes the software synchronization of all collector devices based on the reference clock, providing the alignment of the reference clock for improving the position movement generated in the motion capture device. This method can be applied not only in wireless communication but also in motion capture devices using communication methods such as wired 485 buses.

[0087] In some embodiments, as a preferred solution, after obtaining the calculated reference value, the motion capture sensor further performs:

[0088] S123. The motion capture sensor determines the result status of the synchronization pairing based on the calculated reference value and sends the result status to the relay device; the result status includes excellent, good, and poor; where

[0089] when the calculated reference value is within the first range interval, the result status is excellent;

[0090] when the calculated reference value is within the second range interval, the result status is good;

[0091] when the calculated reference value is within the third range interval, the result status is poor.

[0092] That is, while updating the local clock, the result status of the synchronization is fed back to the relay device, which can also be understood as the current synchronization quality level - the quality level is divided into three levels: excellent, good, and poor. In this embodiment, the quality level is determined by the dead time value.

[0093] Furthermore, the dead time \((t_{min}, t_{max})\) is the evaluation interval of the calculated reference value, and the judgment basis is that the calculated reference value approaches a certain range of dead time. For example, if the calculated reference value is within the interval \((-20\ \mu s, +20\ \mu s)\), the synchronization quality level is excellent; if the calculated reference value is outside \((-20\ \mu s, +20\ \mu s)\) and within the interval \((-80\ \mu s, +80\ \mu s)\), the synchronization quality level is good; when the calculated reference value is not within the interval \((-80\ \mu s, +80\ \mu s)\), the synchronization quality level is poor.

[0094] Furthermore, in some embodiments, as long as the calculated reference value satisfies that the synchronization quality level is excellent, it means that the time alignment of the motion capture sensor has been completed.

[0095] In some other embodiments, as long as the calculated reference value meets the requirement that the synchronization excellent level is good, it can represent that the motion capture sensor has completed time alignment.

[0096] Of course, in some embodiments, the specific steps of evaluating the synchronization excellent level can be carried out in the relay device. At this time, the motion capture sensor only needs to send the calculated reference value to the repeater.

[0097] In some embodiments, as a preferred solution, when the result status fed back by the motion capture sensor received by the relay device is poor, the relay device sends the synchronization clock reference value to the corresponding motion capture sensor again;

[0098] S13. After receiving the synchronization clock reference value sent again, the corresponding motion capture sensor performs the clock synchronization operation again. That is, if the synchronization pairing operation for a certain motion capture sensor does not reach a good or excellent result status, a synchronization pairing operation is performed again. This synchronization pairing operation is only for the motion capture sensor with a poor result status.

[0099] In some embodiments, as a preferred solution, a real-time synchronization operation is further included; the real-time synchronization operation includes:

[0100] S21. During the process of transmitting sensing data between the relay device and the motion capture sensor, when the relay device transmits a control command to the motion capture sensor, it attaches the synchronization clock reference value of the current time point;

[0101] S22. When the motion capture sensor receives the synchronization clock reference value, it performs the clock synchronization operation and executes the work task according to the control command.

[0102] That is, after completing the clock synchronization pairing operation, it can enter the data acquisition synchronization communication state. At the same time, during the data acquisition synchronization communication state, the relay device needs to ensure that the synchronization clock reference value and the command are sent to the motion capture sensor simultaneously each time during the command sending process, maintaining real-time time synchronization calculation. During the real-time synchronization process, corrections are made by tracking the calculation at all times in terms of time, ensuring that the local clocks of all motion capture sensors are synchronized with the reference clock, and further effectively improving the packet rate of data communication.

[0103] Correspondingly, the present invention further provides a motion capture device time synchronization system, including a relay device and a plurality of motion capture sensors;

[0104] In the synchronization pairing operation:

[0105] During the communication cycle, the relay device sends the synchronization clock reference values of corresponding time points to all the connected motion capture sensors in a predetermined order according to the communication time granularity;

[0106] The motion capture sensor performs clock synchronization operations based on the synchronous clock reference value to update the local clock value of the motion capture sensor; the clock synchronization operations include:

[0107] Obtaining a calculation reference value based on the synchronous clock reference value, the local clock value, and the data transmission delay value;

[0108] The motion capture sensor inputs the calculation reference value into a PID control algorithm to obtain a system synchronization value, and uses the system synchronization value as the updated local clock value of the motion capture sensor.

[0109] That is, after completing the synchronization pairing operation, the motion capture sensor sorts out the detected motion data to form packaged data, extracts the current local clock value, and reports them to the relay device together. After receiving the packaged data of the motion capture sensor, the relay device extracts the clock value of the motion capture sensor and sends it to the host.

[0110] The time synchronization method provided by the present invention not only synchronizes all motion capture sensors and relay devices in time, but also can greatly improve the packet reception rate of communication.

[0111] In some embodiments, as a preferred solution, in the real-time synchronization operation:

[0112] The relay device is further configured to, during the process of transmitting sensing data between the relay device and the motion capture sensor, attach the synchronous clock reference value of the current time point while transmitting a control command to the motion capture sensor;

[0113] When the motion capture sensor receives the synchronous clock reference value, it performs the clock synchronization operation and executes the work task according to the control command.

[0114] Correspondingly, the present invention also provides a networking method for a motion capture system, which realizes time synchronization by using the time synchronization method described in any embodiment.

[0115] Correspondingly, the present invention also provides an electronic device, including:

[0116] A memory storing a computer program;

[0117] A processor, when executing the computer program, realizes time synchronization by using the time synchronization method described in any embodiment.

[0118] Correspondingly, the present invention also provides a computer-readable medium storing a computer program, and when the computer program is executed by a processor, it realizes time synchronization by using the time synchronization method described in any embodiment.

[0119] More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0120] It will be understood that those of ordinary skill in the art can make equivalent substitutions or changes according to the technical solutions and inventive concepts of the present invention, and all such changes or substitutions shall fall within the scope of protection of the appended claims of the present invention.

Claims

1. A method for time synchronization of a motion capture device, characterized in that: Multiple motion capture sensors are respectively connected to the relay device for communication, including synchronous pairing operations; The synchronization pairing operation includes: During the communication cycle, the relay device sends the synchronization clock reference value of the corresponding time point to all the connected motion capture sensors in a predetermined order according to the communication time granularity; The motion capture sensor performs a clock synchronization operation based on the synchronization clock reference value to update a local clock value of the motion capture sensor; the clock synchronization operation includes: Obtaining a calculation reference value based on the synchronization clock reference value, the local clock value and the data transmission delay value; The motion capture sensor inputs the calculated reference value into a PID control algorithm to obtain a system synchronization value, and uses the system synchronization value as the updated local clock value of the motion capture sensor.

2. The motion capture device time synchronization method according to claim 1, characterized in that: After obtaining the calculation reference value, the motion capture sensor further executes: The motion capture sensor determines the result status of the synchronization pairing based on the calculated reference value, and sends the result status to the relay device; the result status includes excellent, good, and poor; wherein, When the calculated reference value is within a first range, the result status is excellent; When the calculated reference value is within the second range, the result status is good; When the calculated reference value is within a third range, the result status is poor.

3. The motion capture device time synchronization method according to claim 2, characterized in that: When the result state of the feedback from the motion capture sensor received by the relay device is poor, sending the synchronization clock reference value to the corresponding motion capture sensor again; The corresponding motion capture sensor performs the clock synchronization operation again after receiving the re-sent synchronization clock reference value.

4. The motion capture device time synchronization method according to claim 1, characterized in that: Also included is a real-time synchronization operation; the real-time synchronization operation includes: During the transmission of sensor data between the relay device and the motion capture sensor, the relay device adds a synchronization clock reference value of the current time point while transmitting a control command to the motion capture sensor; When receiving the synchronization clock reference value, the motion capture sensor performs the clock synchronization operation and executes the work task according to the control command.

5. The motion capture device time synchronization method according to claim 1, characterized in that: The calculation formula for the calculation reference value is: dt = tref + tdelay – tlocal; Wherein, dt is the calculation reference value; tref is the input reference value; tdelay is the data transmission delay value, and tlocal is the local clock value of the motion capture sensor.

6. The motion capture device time synchronization method according to claim 1, characterized in that: The data transmission delay value is obtained by the following steps: Conducting communication experiments between multiple motion capture sensors of the same model and relay devices to obtain data transmission delay values ​​of the motion capture sensors of corresponding models; The data transmission delay value is stored in the motion capture sensor.

7. The motion capture device time synchronization method according to claim 1, characterized in that: The relay device triggers the synchronous pairing operation in response to a predetermined operation; the predetermined operation includes receiving a synchronous pairing command from a host computer or a host, an initial power-on behavior, and responding to a triggering operation of a user's function control; the function control includes a software function control or a hardware function control.

8. The motion capture device time synchronization method according to claim 7, characterized in that: After the relay device triggers the synchronous pairing operation, it first executes: A communication cycle is set, and the communication time granules are obtained based on the communication cycle and the number of motion capture sensors.

9. A motion capture device time synchronization system, characterized in that: Includes relay equipment and multiple motion capture sensors; During the sync pairing operation: The relay device sends the synchronization clock reference value of the corresponding time point to all the connected motion capture sensors in a predetermined order according to the communication time granularity within the communication cycle; The motion capture sensor performs a clock synchronization operation based on the synchronization clock reference value to update a local clock value of the motion capture sensor; The clock synchronization operation includes: Obtaining a calculation reference value based on the synchronization clock reference value, the local clock value and the data transmission delay value; The motion capture sensor inputs the calculated reference value into a PID control algorithm to obtain a system synchronization value, and uses the system synchronization value as the updated local clock value of the motion capture sensor.

10. A method for networking a motion capture system, characterized in that: Time synchronization is achieved by using the time synchronization method described in any one of claims 1 to 8.

11. An electronic device, characterized in that: include: a memory storing a computer program; The processor implements the time synchronization method described in any one of claims 1 to 8 to achieve time synchronization when executing the computer program.

12. A computer-readable medium, characterized in that A computer program is stored, and when the computer program is executed by a processor, the time synchronization method according to any one of claims 1 to 8 is implemented to achieve time synchronization.

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