CN108008838A - The wide spatial displacements identifying system of array architecture - Google Patents

Abstract

An array structured light large space action recognition system, including an array infrared emitter, multiple structured light sensors, a control subsystem and a positioning subsystem; In a space with a predetermined shape, it is arranged in sequence according to a predetermined spatial arrangement, and receives the signal from the transmitter at a predetermined time interval; the control subsystem judges that no tracking object is recognized according to the signal received by the structured light sensor, and the signal When the fluctuation is within the predetermined threshold, the collected signal will not be transmitted to the channel, otherwise the collected signal will be transmitted to the channel; the positioning subsystem is used to ensure that the position of the array infrared emitter and the structured light sensor are in each use Stay within the allowable margin of error. The present invention significantly increases the effective area of motion tracking, reduces the cost of large-space motion tracking applications, and improves the efficiency of arranging motion tracking systems.

Description

Array Structured Light Large Space Action Recognition System

technical field

The invention relates to a spatial motion tracking system based on structured light scanning technology, which belongs to the field of motion tracking, and in particular to an array structured light large space motion recognition system.

Background technique

Existing motion tracking systems based on structured light are usually composed of infrared emitters, depth sensors, and large-scale integrated circuits. The effect meets the requirements for home use, but there is a problem that the tracking area is too small. Such as Microsoft's kinect (a somatosensory sensor released by Microsoft in 2013) tracker, its maximum effective tracking range is only a 120-degree fan-shaped area of 3-5 meters. Under this technical limitation, its usage scenarios are greatly reduced. Generally, it can only be used for entertainment, games, and interaction of simple scenes.

Motion tracking for large spaces usually uses motion tracking solutions based on inertial sensors. Not only does the tracked person need to wear complex and heavy equipment, but the cost of tracking equipment is also very high. And in terms of initializing equipment, customizing recognition areas, etc., it is quite difficult to use because it involves the collaborative calibration of dozens or even hundreds of sensors. Therefore, the motion tracking system based on the inertial sensor solution, its high cost of use and the need to wear tracking equipment, make it almost impossible to decentralize its technology to civilian and commercial applications.

Contents of the invention

The present invention provides an array structured light large space action recognition system to solve the problem that the tracking area of the structured light based action tracking system in the prior art is too small, while for action tracking in a large space, an action tracking solution based on an inertial sensor is usually used , not only the tracked person needs to wear complex and heavy equipment, but also the operating cost is high, and it is quite difficult to use due to the collaborative calibration involving dozens or even hundreds of sensors in terms of initializing the equipment and customizing the identification area.

In order to solve the above technical problems, the present invention provides an array structured light large space action recognition system, which includes an array infrared emitter, multiple structured light sensors, a control subsystem and a positioning subsystem; the multiple structured light sensors and the The emitters in the array infrared emitters are arranged one by one in a space with a predetermined shape according to a predetermined spatial arrangement, and receive signals from the emitters at predetermined time intervals; When the signal received by the structured light sensor determines that no tracking object is recognized and the signal fluctuation is within a predetermined threshold, the collected signal is not transmitted to the channel; otherwise, the collected signal is transmitted to the channel. Channel transfer: the positioning subsystem is used to ensure that the positions of the array infrared emitter and the structured light sensor are kept within the allowable error range each time they are used.

Preferably, the arrayed structured light large space action recognition system further includes a data transmission subsystem, which is used to send the collected signal to the host computer through the channel.

Preferably, the positioning subsystem includes two base stations and a positioning unit, one positioning unit is installed on each of the structured light sensors, and when the positioning unit locates a certain structured light sensor, according to The relative positional relationship between the positioning units on all other structured light sensors other than the certain structured light sensor and the two base stations is used to position the certain structured light sensor.

Preferably, the array infrared emitter and the plurality of structured light sensors are sequentially and correspondingly arranged along the tracking motion channel in the cuboid space.

Preferably, the recognition areas of the array infrared emitter and the plurality of structured light sensors overlap each other in the parallel area and/or the depth area of the motion tracking channel.

Preferably, the refresh rate gap of the array infrared emitter and the plurality of structured light sensors is greater than the moving speed of the tracked object.

Preferably, each emitter in the array of infrared emitters emits signals of different frequencies in the same phase.

Preferably, the array infrared emitter and the plurality of structured light sensors are sequentially and correspondingly arranged along the tracking motion channel in the annular space.

Preferably, multiple layers of the array infrared emitter and multiple structured light sensors are sequentially arranged in the annular space along the height direction.

Preferably, the control subsystem adopts a digital signal processor.

The present invention significantly increases the effective area of motion tracking, reduces the cost of large-space motion tracking applications, broadens the application scenarios of low-cost motion tracking, and improves the efficiency of arranging motion tracking systems.

Description of drawings

Figure 1 is a schematic diagram of an embodiment of the present invention.

Detailed ways

The present invention provides an array structure light large space action recognition system, comprising an array infrared emitter, a plurality of structured light sensors, a control subsystem and a positioning subsystem; the plurality of structured light sensors and the array infrared emitter The emitters are arranged one by one in a space with a predetermined shape in a predetermined spatial arrangement, and receive signals from the emitters at predetermined time intervals; the control subsystem receives When it is judged from the signal that no tracking object is identified and the signal fluctuation is within a predetermined threshold, the collected signal is not transmitted to the channel, otherwise the collected signal is transmitted to the channel; the positioning The subsystem is used to ensure that the positions of the array infrared emitter and the structured light sensor are kept within the allowable error range each time they are used. The array infrared emitter and multiple structured light sensors are combined to realize frequency division asynchronous array structured light generation and reception. After digital signal processing, three-dimensional point cloud data in different frequency bands are generated. Preferably, the control subsystem adopts a digital signal processor.

Since there is no possibility of more than three sensors working in the array at the same moment, the processing program in the digital signal chip sets a time interval to sample data to judge data fluctuations. When no person is identified and the data fluctuation is within the threshold, the sensor data is not transmitted to the channel. After this process, the data transfer efficiency in the main channel of the control system has been significantly improved.

The present invention can realize large-space motion tracking through an array infrared transmitter. After combining traditional motion tracking sensors, relying on independent space superposition technology, high-frequency structured light anti-interference technology, and channel distribution technology can significantly improve continuous large-space motion tracking. Stability and accuracy, and theoretically infinitely increase the area of the motion tracking area.

Preferably, the arrayed structured light large space action recognition system further includes a data transmission subsystem, which is used to send the collected signal to the host computer through the channel. The data transmission subsystem unifies the array signals into the centralized control system, and is composed of three parts: the main control chip, the cable, and the PCIE (high-speed serial computer expansion bus standard) conversion circuit. The first part is composed of USB3.0 (Universal Serial Bus 3.0) protocol. The independent digital signal of each sensor converts the data into USB data stream through the USB master chip and transmits it in the transmission cable. When it arrives at the PC (personal computer) port, the master control circuit converts the multi-channel USB standard into the PCIE standard and enters the computer processing flow. Preferably, the present invention also includes a power supply system responsible for the power supply of sensors, transmitters and control systems. In the case of USB3.0, the connecting device on the PC side is powered by AC (alternating current), and then the USB main control chip distributes the power to each sensor.

Through the cooperation of the above systems, the signal of the identified unit is transmitted to the computer for backup, and after processing by the computer, it is restored to human motion information. The hardware used in the system includes a universal serial bus control and transmission device (USB3.0 standard), a structured light sensor, an infrared emitter, and a laser locator.

The present invention is especially used for the tracking of three-dimensional space movements. In the prior art, actors need to wear special professional tracking clothes. After adopting the present invention, actors can wear their own performance clothes and use this patent to track, thus reducing the cost.

Due to the adoption of the above technical solution, the present invention significantly increases the effective area of motion tracking, reduces the cost of large-space motion tracking applications, broadens the application scenarios of low-cost motion tracking, and improves the efficiency of deploying motion tracking systems.

Preferably, the positioning subsystem includes two base stations and a positioning unit, one positioning unit is installed on each of the structured light sensors, and when the positioning unit locates a certain structured light sensor, according to The relative positional relationship between the positioning units on all other structured light sensors other than the certain structured light sensor and the two base stations is used to position the certain structured light sensor. Compared with the traditional method of using absolute position for calibration, which results in high cost, difficult operation, long time consumption, and low calibration efficiency, the present invention uses relative position for calibration, so the cost of calibration is relatively low, and the calibration is convenient and quick.

In one embodiment, the present invention can perform motion tracking on a space within a cuboid volume. Therefore, the array infrared emitter and the plurality of structured light sensors are sequentially and correspondingly arranged along the tracking motion channel in the cuboid space. In this embodiment, the invention can be placed on the ground and scanned upwards.

Preferably, the array infrared emitter and the plurality of structured light sensors overlap each other in the identification areas in the parallel area (horizontal direction) and/or the depth area (height direction) of the tracking motion channel, so as to ensure that they are within the parallel interval There will be no breakage of motion tracking results, and there will be no structured light diffraction interference in the vertical direction due to the recognition boundary of a single sensor.

Preferably, the refresh rate gap of the array infrared emitter and the plurality of structured light sensors is greater than the moving speed of the tracked object. The effectiveness and stability of the identification result of the identified unit can be effectively guaranteed by increasing the refresh rate.

Preferably, each emitter in the array of infrared emitters emits signals of different frequencies in the same phase. When the receiving end receives signals of different frequencies, the corresponding signal channel can be identified, thereby avoiding mutual interference between structured lights and preventing diffraction interference.

Different from the previous embodiment, in another embodiment, the present invention can perform motion tracking on the space in the annular space (such as the stage). Preferably, the array infrared emitter and the plurality of structured light sensors are sequentially and correspondingly arranged along the tracking motion channel in the annular space. Compared with the previous embodiment, the space utilization rate of this embodiment is higher, and the motion tracking on a smaller area can be aimed at, and the number of sensors is minimized. In this embodiment, the invention can be suspended or supported in space.

Preferably, multiple layers of the array infrared emitter and multiple structured light sensors are sequentially arranged in the annular space along the height direction. It can be seen that this embodiment has higher height scalability, and can be expanded in the depth and height dimensions outside the plane.

Claims (10)

1. a kind of wide spatial displacements identifying system of array architecture, it is characterised in that including array RF transmitter, multiple Structured light sensor, control subsystem and positioning subsystem；

The multiple structured light sensor is with the transmitter in the array RF transmitter correspondingly with predetermined The letter for setting gradually by predetermined space arrangement mode in the space of shape and being sent by predetermined time interval reception transmitter Number；

The control subsystem is judged not recognize tracking in the signal received according to the structured light sensor Object and when signal fluctuation is within predetermined threshold value, otherwise will collection not by the signal collected to channel transfer The signal arrived is to channel transfer；

The positioning subsystem is used to ensure the array RF transmitter with the position of the structured light sensor each It is maintained at during use in the error range of permission.

2. the wide spatial displacements identifying system of array architecture according to claim 1, it is characterised in that the array Structure light large space motion recognition system further includes data transmission sub-system, for the signal collected to be passed through the letter Road is sent to host computer.

3. the wide spatial displacements identifying system of array architecture according to claim 1, it is characterised in that the locator System includes two base stations and positioning unit, and a positioning unit, institute are mounted in each structured light sensor Positioning unit is stated when being positioned to some structured light sensor, according to other institutes in addition to some structured light sensor Have the relative position relations of positioning unit in structured light sensor and described two base stations to some structured light sensor into Row positioning.

4. the wide spatial displacements identifying system of array architecture according to claim 1, it is characterised in that the array is red Outside line transmitter and multiple structured light sensors are arranged with being corresponding in turn to along the tracing movement passage in rectangular parallelepiped space.

5. the wide spatial displacements identifying system of array architecture according to claim 4, it is characterised in that the array is red The identification of outside line transmitter and multiple structured light sensors in the parallel zone of the tracing movement passage and/or deep region Region is overlapped mutually.

6. the wide spatial displacements identifying system of array architecture according to claim 4, it is characterised in that the array is red The refresh rate gap of outside line transmitter and multiple structured light sensors is more than the movement velocity for being tracked object.

7. the wide spatial displacements identifying system of array architecture according to claim 4, it is characterised in that the array is red Each transmitter in outside line transmitter is with the signal of same-phase transmitting different frequency.

8. the wide spatial displacements identifying system of array architecture according to claim 1, it is characterised in that the array is red Outside line transmitter and multiple structured light sensors are arranged with being corresponding in turn to along the tracing movement passage in annulus.

9. the wide spatial displacements identifying system of array architecture according to claim 8, it is characterised in that the ring-type is empty It is interior to be sequentially arranged array RF transmitter described in multilayer and multiple structured light sensors along short transverse.

10. the wide spatial displacements identifying system of array architecture according to claim 1, it is characterised in that the control Subsystem uses digital signal processor.