Human-robot virtual reality interactive control system based on inertial motion capture

Abstract

The invention discloses a man-robot virtual reality interaction control system based on inertia motion capture. The man-robot virtual reality interaction control system comprises a motion measuring method based on MSP430 and a nine-axis sensor, and a virtual reality technology robot interactive interface module. According to the motion measuring method based on the MSP430 and the nine-axis sensor, a wearable inertia action capture node is designed so that a real-time posture of a human body can be collected, posture information is calculated with a kalman filter, then, the posture is converted into a data package and fed back to a host system through a wireless transceiver, a host analyses and processes data, generates a command to control a built three-dimensional human body model to respond and meanwhile generates a command to control a humanoid entity robot to move, and the robot feeds back the response condition of the robot to the host. According to the virtual reality technology robot interactive interface module, a set of virtual human parts are designed through SolidWorks mainly, then, a virtual environment is built through Labview to conduct action restoring, and interaction is achieved.

Description

technical field [0001] The invention relates to the field of virtual-real interaction control systems, in particular to a human-robot virtual-real interaction control system based on inertial motion capture. The MPU9250 inertial motion capture sensor is used to realize the capture and reproduction of actions in human-computer interaction, and is suitable for various applications. Actions are captured in the environment to control robot motion. Background technique [0002] Since the end of the last century, research on human motion capture technology has been carried out abroad. Among them, the motion capture technology based on the principles of acoustics, optics, machinery, electromagnetic and micro-electromechanical technology has gradually emerged. Inertial human motion capture equipment appears. Compared with some developed countries, there is still a certain gap in the research of motion capture system in my country, but it has attracted the attention of scientists. S...

AI Technical Summary

Problems solved by technology

[0004] 1. High equipment cost

[0005] Foreign commercial motion capture systems based on inertial sensors are easy to install, easy to operate, easy to wear and extremely flexible, so they are widely favored by the industry. About 500,000, which greatly increases the construction cost of the digital body tracking research platform

[0006] 2. The development interface is difficult to control

[0007] Since foreign commercial motion capture systems only have an open interface platform, key source codes cannot be obtained after purchase, which increases the difficulty of integration with the original digital body tracking research platform, and the development interface is not easy to control

[0008] 3. Poor accuracy

[0009] Domestic research on inertial motion capture systems is still in the exploratory stage, and there are only a handful of inertial motion capture systems that have reached the application level, and the application accuracy still needs to be improved

[0010] 4. The price / performance ratio is very low

[0011] Compared with foreign motion capture systems, although the MMocap system has been launched on the market, its capture accuracy is still far behind that of foreign commercial motion capture systems, and it is not cost-effective in terms of overall cost performance.

[0012] Based on the above findings, there are still many problems in the domestic inertial motion capture system. It is not as good as the foreign commercial motion capture system in terms of cost performance and accuracy. However, the foreign motion capture system is relatively expensive, and the open interface is not easy to control. The cost of the basic research platform of mechanics, the motion capture system with low cost, easy to use, fast calibration, and accurate posture will be our exploration direction of inertial motion capture

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