Optical and inertial fusion positioning device
By using an optical and inertial fusion positioning device and combining IMU sensors with visual recognition, the problems of inaccurate inertial motion capture systems under environmental influences and low camera recognition accuracy are solved, achieving high-precision motion capture effects.
Patent Information
- Application Number
- CN202422516504.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-17
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2034-10-17
AI Technical Summary
The existing inertial motion capture system has inaccurate measurement accuracy under environmental influences, and ordinary consumer-grade cameras have low recognition accuracy and high error rate.
It uses an optical and inertial fusion positioning device, uses the IMU sensor to provide acceleration and rotation information, and combines it with the coordinate position fusion calculation of visual recognition, combines three-color RGB lights to mark human body parts, and uses a consumer-grade camera array for high-precision motion capture.
The accuracy and stability of motion capture are improved, the impact of the environment on measurement is reduced, and high-precision motion recognition is achieved.
Smart Images
Figure CN223362593U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of inertial motion capture equipment, in particular to an optical and inertial fusion positioning device. Background Art
[0002] Inertial motion capture, also known as inertial motion capture, is a motion capture system based on inertial sensors. It mainly relies on the ubiquitous earth's gravity and magnetic field, calculates the position of human joints through the principle of inverse kinematics, and applies the data to the corresponding bones. It uses inertial sensors to measure the movement of the main skeletal parts of the human body in real time, and can continuously collect real-time motion information of various parts of the human body without being restricted by time and space. In the field of inertial motion capture, at least 6 inertial sensor modules are generally used to achieve simple full-body motion capture, such as Figure 5 As shown, they are the head, left wrist, right wrist, waist, left ankle, and right ankle. If more inertial sensors are attached to the body, human body movements can be more accurately calculated.
[0003] Inertial motion capture systems typically integrate body posture information to derive spatial position. This integration operation can lead to varying degrees of integral drift, meaning that over time, the system's position calculation will gradually deviate from the true value. Some sensors may also be affected by the surrounding magnetic field, which can affect their measurement accuracy. To prevent the accuracy of inertial motion capture from being affected by the surrounding environment, the commercial animation industry has begun to utilize another common motion capture method, which uses infrared camera arrays. This method offers high capture accuracy but requires a dedicated motion capture suit and a large number of markers to be attached to the performer, making it expensive.
[0004] Therefore, people began to study relatively cheap and environmentally adaptable inertial motion capture solutions. They use ordinary consumer-grade cameras to capture color images and use AI technology to identify key points of the human body to solve character movements. They have high environmental adaptability and can effectively control costs. However, this method has low camera recognition accuracy and a relatively high probability of recognition errors. Utility Model Content
[0005] In response to the shortcomings of the existing technology, the present invention aims to provide an optical and inertial fusion positioning device to solve the problem in the existing technology that color images collected by ordinary consumer-grade cameras have low recognition accuracy and a relatively high probability of recognition errors. The specific technical solution is as follows:
[0006] An optical and inertial fusion positioning device includes a mounting plate and a strap disposed on the back of the mounting plate. The mounting plate is provided with a protective cover on the front side. A main control board and an IMU sensor communicating with the main control board are mounted within the protective cover. A protective cover is detachably mounted on the end of the protective cover.
[0007] A plurality of three-color RGB lights are also installed on the front of the mounting plate, and the three-color RGB lights are evenly distributed around the protective cover;
[0008] A battery is provided in the protective cover for electrically connecting to the main control board and the IMU sensor. A power supply interface for charging the battery is provided on the mounting plate. A wire entry slot is provided on the side of the protective cover for inserting the power supply interface.
[0009] As a preferred embodiment: a fixing plate is installed on the back of the mounting plate, a gap is set between the fixing plate and the mounting plate, and the binding belt is inserted into the gap between the mounting plate and the fixing plate.
[0010] As a preferred embodiment: a threaded hole is provided in the mounting plate, and the power supply interface is fixed to the mounting plate by a bolt threadedly connected to the threaded hole.
[0011] As a preferred embodiment: the side surface of the protective cover is provided with an external thread, the inner side surface of the protective sleeve is provided with an internal thread, and the protective cover is threadedly connected to the protective sleeve.
[0012] As a preferred implementation manner: the main control board is an ESP core board, which is connected to the host computer via a WiFi or Bluetooth module.
[0013] As a preferred embodiment: the IMU sensor is communicatively connected to the ESP core board via an IC interface, so as to transmit the acceleration and angular velocity information collected by the IMU sensor to the ESP core board.
[0014] As a preferred embodiment: a slot is provided on the side edge of the mounting plate, and a buckle is provided on the side edge of the fixing plate for being snapped into the slot.
[0015] As a preferred embodiment: the back side of the fixing plate is threadedly connected with a hexagon socket bolt, and the binding strap is pressed and fixed to the back side of the mounting plate by tightening the hexagon socket bolt.
[0016] Compared with the prior art, the beneficial effects of the present invention are:
[0017] The utility model sets a plurality of three-color RGB lights on the front of the mounting plate, and sends different labels to the positioning devices set at different parts of the human body through the host computer, so that the three-color RGB lights at different parts can display different colors by mixing the colors of the three colors, thereby making it easier for the camera to distinguish the parts of the human body to which different devices belong;
[0018] On the other hand, the acceleration and rotation quaternion information provided by the IMU sensor can be fused with the coordinate position of visual recognition to obtain higher-precision results for later human posture calculation. When visual occlusion occurs in the short term, the information provided by the IMU sensor can be used to predict the position of the device, thereby improving the stability of motion calculation. Using this device in combination with a consumer-grade color camera array can achieve high-precision motion capture. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is a schematic diagram of the structure of the optical and inertial fusion positioning device disclosed in the present utility model without the protective cover;
[0020] Figure 2 This is a schematic diagram of the overall structure of the optical and inertial fusion positioning device disclosed in the present utility model;
[0021] Figure 3 This is a structural diagram of the mounting plate in the optical and inertial fusion positioning device disclosed in the present utility model;
[0022] Figure 4 This is a schematic structural diagram of a fixed plate in the optical and inertial fusion positioning device disclosed in the present utility model;
[0023] Figure 5 This is a schematic diagram of wearing the optical and inertial fusion positioning device disclosed in the present utility model.
[0024] In the figure, 1. Mounting plate; 2. Fixing plate; 3. Strap; 4. Main control board; 5. IMU sensor; 6. Protective cover; 7. Three-color RGB light; 8. Bolt; 9. Power supply port; 10. Wire feed slot; 11. Protective cover; 12. Buckle; 13. Slot; 14. Hexagon socket bolt. DETAILED DESCRIPTION
[0025] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
[0026] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.
[0027] Example 1
[0028] The drawings in the embodiments of the present invention: The different types of section lines in the drawings are not marked according to national standards, nor do they impose any requirements on the materials of the components. Instead, they are used to distinguish the cross-sectional views of the components in the drawings.
[0029] Combine Figures 1 to 4 As shown, an optical and inertial fusion positioning device includes a mounting plate 1. The mounting plate 1 has any shape. In this embodiment, a mounting plate 1 with a circular cross-section is used. A plurality of slots 13 are provided on its side. A fixing plate 2 is provided in the gap on the back of the mounting plate 1. A plurality of buckles 12 corresponding to the plurality of slots 13 are provided on the side of the fixing plate 2. The buckles 12 can be engaged with the slots 13 to fix the fixing plate 2 to the back of the mounting plate 1. The gap between the mounting plate 1 and the fixing plate 2 is used to insert a strap 3. The strap 3 can be provided with a Velcro or a press-fit buckle structure for binding to a specified part of the human body. The fixing plate 2 is also threaded with a hexagon socket bolt 14. By tightening the hexagon socket bolt 14, it is pressed toward the mounting plate 1 to fix the strap 3. When the strap 3 needs to be adjusted, the hexagon socket bolt 14 can be loosened to adjust the strap 3. After adjustment, the hexagon socket bolt 14 is tightened again.
[0030] A protective sleeve 6 is integrally mounted in the center of the front face of the mounting plate 1. This sleeve is roughly cylindrical and houses the main control board 4 and the IMU sensor 5. The end of the sleeve is internally threaded for threaded connection to a protective cover 11 with external threads. The IMU sensor 5 is an ESP32 core board, and the main control board 4 and the ESP32 core board are connected via an I2C interface. The accelerometer and angular velocity meter are separated into position change information and angle change information, respectively. The acceleration and rotation information (rotation quaternions) provided by the IMU sensor 5 can be fused with the visually recognized coordinate position to obtain a more accurate result for later human posture calculation.
[0031] At the same time, esp32 core board is connected to the host computer via wifi or bluetooth module, and the host computer distributes different tags to the positioning devices of different parts of the human body. The front of the mounting plate 1 is provided with several three-color RGB lights 7, and the number is 4 in the present embodiment, and is evenly surrounded by the protective cover 6. The esp32 core board arranges the light mixing of different colors according to the tag information received, so that the three-color RGB lights of different parts are emitted different colors, thereby being more easily captured and identified by the camera, and more easily distinguishing the lights of different parts. Wherein, after distributing the character skeleton position tag, the three-color LED7 will be displayed according to the host computer configuration instruction, and the position in the image in combination with the key points of the human body can distinguish which part the luminous point belongs to, such as the left ankle or the right ankle, and status prompts can be performed by the three-color LED7, such as when wifi is not connected or fails to communicate with the host computer, then the red breathing light mode changes.
[0032] In the present utility model, a battery is provided in the protective cover 6, which is used to be electrically connected to the main control board 4 and the IMU sensor 5. The mounting plate 1 is provided with a power supply interface 9 for charging the battery. The power supply interface 9 is fixedly mounted on the mounting plate 1 by bolts 8. A wire entry groove 10 is provided on the side of the protective cover 6 for inserting the power supply interface 9. The power supply interface 9 can charge the battery, and the battery provides power for the positioning device.
[0033] When wearing the positioning device, Figure 5 As shown, after the fixing plate 2 is bound to the corresponding part of the human body through the strap 3 according to the corresponding position, the mounting plate 1 is clamped to the outside of the fixing plate 2 through the cooperation of the buckle 12 and the slot 13 to complete the wearing of the positioning device, thereby being able to obtain real-time movement information at the human joints.
[0034] In the description of the present invention, it should be understood that the terms "middle", "length", "upper", "lower", "front", "back", "vertical", "horizontal", "inner", "outer", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0035] In the present invention, unless otherwise expressly specified or limited, a first feature "on" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. "Multiple" means at least two, such as two or three, unless otherwise expressly specified or limited.
[0036] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.
[0037] The above is only for explaining the implementation mode of the present invention and is not intended to limit the present invention. For those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention without creative work should be included in the scope of protection of the present invention.
Claims
1. An optical and inertial fusion positioning device, comprising a mounting plate (1) and a strap (3) arranged on the back of the mounting plate (1), characterized in that: The front of the mounting plate (1) is provided with a protective cover (6), a main control board (4) and an IMU sensor (5) in communication with the main control board (4) are installed in the protective cover (6), and a protective cover (11) is detachably mounted on the end of the protective cover (6); A plurality of three-color RGB lights (7) are also mounted on the front of the mounting plate (1), and the plurality of three-color RGB lights (7) are evenly distributed around the protective cover (6); A battery is provided in the protective cover (6) for electrically connecting to the main control board (4) and the IMU sensor (5); a power supply interface (9) for charging the battery is provided on the mounting plate (1); and a wire entry slot (10) is provided on the side of the protective cover (6) for inserting the power supply interface (9).
2. The optical and inertial fusion positioning device according to claim 1, characterized in that: A fixing plate (2) is installed on the back of the mounting plate (1), a gap is set between the fixing plate (2) and the mounting plate (1), and the binding belt (3) is inserted into the gap between the mounting plate (1) and the fixing plate (2).
3. The optical and inertial fusion positioning device according to claim 1, wherein: A threaded hole is provided in the mounting plate (1), and the power supply interface (9) is fixed to the mounting plate (1) via a bolt (8) threadedly connected to the threaded hole.
4. The optical and inertial fusion positioning device according to claim 1, wherein: The side surface of the protective cover (11) is provided with an external thread, the inner side surface of the protective sleeve (6) is provided with an internal thread, and the protective cover (11) is threadedly connected to the protective sleeve (6).
5. The optical and inertial fusion positioning device according to claim 1, wherein: The main control board (4) is an ESP core board, which is connected to the host computer via a WiFi or Bluetooth module.
6. The optical and inertial fusion positioning device according to claim 5, characterized in that: The IMU sensor (5) is communicatively connected to the ESP core board via an I2C interface, and is used to transmit the acceleration and angular velocity information collected by the IMU sensor (5) to the ESP core board.
7. The optical and inertial fusion positioning device according to claim 2, characterized in that: A slot (13) is provided on the side edge of the mounting plate (1), and a buckle (12) is provided on the side edge of the fixing plate (2) for being snapped into the slot (13).
8. The optical and inertial fusion positioning device according to claim 2, wherein: The back of the fixing plate (2) is threadedly connected with a hexagon socket bolt (14), and the binding strap (3) is pressed and fixed to the back of the mounting plate (1) by tightening the hexagon socket bolt (14).