TWM563585U - Motion capture system for virtual reality environment - Google Patents

Abstract

A motion capture system for virtual reality environment is provided. The system includes at least two electromagnetic wave sources, 8 spatial position calculation modules, a host and a head-mounted display. Only 8 spatial position calculation modules for capturing motions and a virtual image displayed in the head-mounted display is provided by the host form architecture with low cost, low hardware resource consumption. The architecture is also free from light pollution in the surroundings. Meanwhile, the present invention has completed the hardware and software integration of motion capture system and virtual reality imaging. It solves many problems faced in the prior arts.

Description

Motion capture system for virtual reality environments

This creation relates to a motion capture system, and more particularly to a motion capture system for a virtual reality environment.

Motion capture is a technique for recording and processing the movements of people or other objects. It is widely used in military, entertainment, sports, medical, computer vision, and robotics. Traditionally, motion capture systems have two main technical routes, inertial and optical, while optical is divided into calibration and non-calibration. No matter which kind of conventional technology, there are some shortcomings. In the case of an inertial motion capture system, inertial sensor devices such as accelerometers, gyroscopes, and magnetometers are required to be worn on the object to be tested. These devices are expensive and easily block the motion of the object to be tested. The calibration inertial motion capture system is similar to the former. Many objects need to be installed on the object to be tested. The camera uses the camera to detect the mark points from different angles in real time and calculate the space coordinates, and then derive the motion state of the object to be tested. Although Mark Point does not block the motion of the object to be tested, the disadvantage is that the image calculation of this technique is very resource intensive and the equipment cost is not cheap. The non-calibrated optical motion capture system is based on the principle of computer vision, and is a technique for capturing motion by monitoring and tracking target feature points from different angles by a plurality of high speed cameras. Although this technology does not require any monitoring equipment to be installed on the object to be tested, it is affected by the external environment. Large, such as lighting conditions, background, obstructions, and camera quality, this method is completely ineffective in non-visual environments such as fire scenes and mines.

On the other hand, the application of Virtual Reality technology in the current life has begun to develop rapidly. Virtual reality is the use of computer simulation to generate a virtual world in a three-dimensional space, providing users with simulations of visual, auditory, tactile and other senses, so that users feel as if they are immersed in the environment, and can observe things in three-dimensional space in a timely and unrestricted manner. And then interact with it. In a virtual reality environment, the interaction of the user with the virtual object or the movement in the virtual reality depends on the observation and judgment of the sensor on the user's limb movement. In short, to have a good virtual reality interaction, there is no need for a precise motion capture system. However, as mentioned above, the existing motion capture system has some shortcomings. If applied to virtual reality, it is necessary to consider the difficulty of soft and hard integration development of the two technologies. Therefore, the motion capture system used in the virtual reality environment has always been the object of research and development in the relevant industry.

This paragraph of text extracts and compiles certain features of this creation. Other features will be revealed in subsequent paragraphs. The intention is to cover various modifications and similar arrangements in the spirit and scope of the appended claims.

The purpose of this creation is to propose a motion capture system for a virtual reality environment. The foregoing system may include: at least two electromagnetic wave emission sources, each electromagnetic wave emission source is configured to emit electromagnetic waves in at least one specific wavelength range; eight spatial position calculation modules, each spatial position calculation module includes: at least one electromagnetic wave sense The detector is configured to respectively receive electromagnetic wave signals from the at least two electromagnetic wave transmitting sources; a computing unit is connected to the at least one electromagnetic wave sensor, and uses the received time difference or energy difference of the received electromagnetic wave signals to calculate the relative position of the position Spatial position and six degrees of freedom of movement; The material transfer unit is connected to the computing unit for transmitting the relative spatial position and the six degrees of freedom motion to the outside; wherein the six main spatial position calculation modules are respectively detachably fixed to a user's extremities The head and the waist are two auxiliary space position calculation modules respectively for detachably fixing to the elbow or the knees of the user; a working host comprising: a communication module, and the transmission unit Signal connection to receive the relative spatial position of the spatial calculation module and the six degrees of freedom motion; a motion calculation module is connected to the communication module, with a reverse motion algorithm, by receiving from 8 The relative spatial position of the spatial position calculation module and the six degrees of freedom motion amount are input as inputs, and the virtual space position of each part of the user body is calculated; and a virtual character presentation module is connected to the action calculation module and the communication module. And connecting the relative spatial position of the eight spatial position calculation modules to the virtual space position of the corresponding part of the virtual character, and generating the virtual character change. Responding to the change of the user's body in the physical space position, and transmitting, via the communication module, a virtual image of a virtual character from a first perspective of the virtual character to the outside; and a head-mounted display, and the communication a module communication connection for receiving the virtual image and presenting the virtual image to a user wearing the head mounted display, wherein a direction of a parallel user's line of sight of the main spatial position calculation module fixed to the user's head is the first A viewing angle.

The at least two electromagnetic wave emitting sources may be an LED light source, a laser light source, an infrared and laser hybrid light source, a Bluetooth signal source, or a Wi-Fi wireless access point. The two main spatial position calculation modules fixed on the distal ends of the upper limbs may further comprise a touch panel.

According to the present invention, when the avatar starts to be linked and positioned, the avatar presentation module fixes the spatial position of the avatar in the virtual human limbs, the head, the waist, and the elbow or the knees in the virtual image. The positions in the middle form a calibration image, and the positioning images of the extremities, the head, the waist, and the elbows or the knees of the user representing the position of each spatial position calculation module are formed in the virtual space. The display presents all or part of the calibration image and the positioning image in the virtual image, and when any spatial position calculation module moves, its corresponding positioning image corresponds to the virtual character When the calibration images overlap, the user operates the touch panel or the work host to complete the joint positioning of the spatial position calculation modules.

If the connection position of the spatial position calculation module causes the virtual character to be unable to act due to the movement of the user's body in the virtual space position or the generated action is not smooth, the user can operate the touch panel to release the existing link positioning record to re- Perform link positioning, or use the work host to adjust the length of the limbs of the avatar.

The work host may further include a recording module coupled to the avatar presentation module for recording avatar changes and forming an output file. The two main spatial position calculation modules fixed at the distal end of the upper limb may further comprise a trigger for turning on or off the recording of the avatar change.

According to the creation, if the signal connection between the communication module and the data transmission unit, or the communication connection between the head display and the communication module is a wireless communication connection, Bluetooth communication, 2.4G band wireless communication or 5G frequency band is adopted. Wireless communication; if the signal connection between the communication module and the data transmission unit, or the communication connection between the head display and the communication module is a wired communication connection, the communication specification conforms to the USB specification or the Thunderbolt specification.

Moreover, the spatial position calculation module may further include: a stabilization plate for contacting the user's skin or clothing over a large area without causing shaking of the spatial position calculation module; and a strap set for binding The space location calculation module is attached to the user's body.

This creation uses only 8 spatial position calculation modules for motion capture, and the virtual image is presented to the head mounted display by the host computer. Such an architecture has low cost, low hardware computing resource requirements and is immune to environmental light. At the same time, the creation has completed the soft and hard integration of the motion capture system and the virtual reality image, and solved many of the problems faced by the aforementioned prior art.

10‧‧‧ Motion capture system for virtual reality environments

100‧‧‧Electromagnetic wave source

200a‧‧‧Electromagnetic wave sensor

200b‧‧‧Computation unit

200c‧‧‧data transmission unit

200d‧‧‧ touch tablet

200e‧‧‧ trigger

200f‧‧‧shell

200g‧‧‧stabilizer

200h‧‧‧Tie band

201‧‧‧ Left hand main space position calculation module

202‧‧‧ Right hand main space position calculation module

203‧‧‧ Left foot main space position calculation module

204‧‧‧The main space position calculation module for the right foot

205‧‧‧ Main space position calculation module for the waist

206‧‧‧ Head main space position calculation module

211‧‧‧ Left elbow auxiliary space position calculation module

212‧‧‧Right elbow auxiliary space position calculation module

300‧‧‧Homework

310‧‧‧Communication Module

320‧‧‧Action Computing Module

330‧‧‧Virtual Character Presentation Module

340‧‧‧recording module

350‧‧‧ screen

400‧‧‧ head-mounted display

500‧‧‧Users

521‧‧‧Left hand positioning image

522‧‧‧Right hand positioning image

523‧‧‧left foot positioning image

524‧‧‧Right foot positioning image

525‧‧‧Low positioning image

526‧‧‧ head positioning image

527‧‧‧ Left elbow positioning image

528‧‧‧Digital elbow positioning image

600‧‧‧Snowman

601‧‧‧ left hand

602‧‧‧ right hand

603‧‧‧ left foot

604‧‧‧ right foot

605‧‧‧ waist

606‧‧‧ eyes

607‧‧‧left elbow

608‧‧‧right elbow

621‧‧‧ Left hand calibration image

622‧‧‧right hand calibration image

623‧‧‧ Left foot calibration image

624‧‧‧Right foot calibration image

625‧‧‧ waist calibration image

626‧‧‧ head calibration image

627‧‧‧ Left elbow calibration image

628‧‧‧Right elbow calibration image

1 is a schematic structural diagram of a motion capture system for a virtual reality environment according to the present invention; FIG. 2 is a schematic structural diagram of another motion capture system for a virtual reality environment according to the present invention; FIG. Figure 4 is a block diagram of the components of a computing host; Figure 5 is a block diagram of a virtual character and its corresponding operational relationship with a user; Figure 6 is the main spatial position calculation module or right hand of the left hand. FIG. 7 is a schematic diagram of a side view of a spatial position calculation module; FIG. 8 is a schematic diagram showing a spatial distribution of a calibration image and a positioning image; FIG. 9 illustrates the virtual character in a virtual space. Mirror in.

This creation will be more specifically described by reference to the following embodiments.

Please refer to FIG. 1, which is a schematic diagram of the architecture of a motion capture system 10 for a virtual reality environment according to the present invention. The motion capture system 10 for a virtual reality environment includes at least two electromagnetic wave emission sources 100, eight spatial position calculation modules, a work host 300, and a head mounted display 400. The function of each electromagnetic wave source 100 is to emit electromagnetic waves in at least a specific wavelength range, such as a wireless microwave having a wavelength of 120 mm to 130 mm (corresponding to a frequency of about 2.4 G) or an infrared light having a wavelength of 760 nm to 1000 nm. These electromagnetic waves provide each spatial position calculation module to calculate its relative position and amount of motion in a particular space.

The appearance of each spatial position calculation module may be different according to the position fixed to a user 500, or may be the same. Please refer to FIG. 3, which is a block diagram of the components of the spatial position calculation module. Each spatial position calculation module basic component includes at least one electromagnetic wave sensor 200a, a calculation unit 200b and a data transmission unit 200c. In one embodiment, the number of electromagnetic wave sensors 200a is seven; in other embodiments, the number of electromagnetic wave sensors 200a may be more, less, or even only one. The function of the electromagnetic wave sensor 200a is to receive electromagnetic wave signals from the at least two electromagnetic wave transmitting sources 100, respectively. Because of the action of the user 500 or the presence of the obstacle, the single electromagnetic wave sensor 200a may not be able to effectively receive the electromagnetic wave signal in time for the subsequent operation or the calculation of the multiple degrees of freedom of motion, and the multiple electromagnetic wave sensors 200a operate in parallel to ensure the operation. The electromagnetic wave signal can be received under any action of the user 500, thereby ensuring a good user experience. The calculating unit 200b is connected to the at least one electromagnetic wave sensor 200a, and can use the received time difference or energy difference of the received electromagnetic wave signal to calculate the relative spatial position of the position and the six degrees of freedom motion, and the related applications will be described later. technology. The data transmission unit 200c is connected to the calculation unit 200b for transmitting the aforementioned relative spatial position and the six degrees of freedom motion amount to the outside for subsequent application.

The spatial position calculation module can be subdivided into six main spatial position calculation modules and two auxiliary space position calculation modules. The difference between "main" and "auxiliary" is only whether the position of the spatial position calculation module is replaceable for the position of the data source node of a reverse motion algorithm, such as the position of the elbows can be changed to the position of the knees. The situation is replaceable, and the spatial position calculation module at its position is called the auxiliary space position calculation module. The main spatial position calculation modules are respectively detachably fixed to the distal end, the head and the waist of the user's 500 limbs, and the auxiliary space position calculation modules are respectively detachably fixed to the user's 500 elbow or double The knee (in this embodiment, it is chosen to be fixed on the elbows of the hands). For convenience of description, in this embodiment, the six main spatial position calculation modules are set as a left-hand main spatial position calculation module 201, a right-hand main spatial position calculation module 202, and a left-foot main spatial position calculation module. Group 203, a right foot main space position calculation module 204, a waist main space position calculation module 205, And a head main space position calculation module 206. The two auxiliary space position calculation modules are a left elbow auxiliary space position calculation module 211 and a right elbow auxiliary space position calculation module 212.

There is a technical pairing relationship between the electromagnetic wave source 100 and the spatial position calculation module. In one embodiment, the electromagnetic wave source 100 can employ Lighthouse technology. Lighthouse technology does not require a camera, but laser and infrared sensors to determine the position of moving objects. The two electromagnetic wave sources 100 are placed at opposite corners to form a square area of about 5 meters by 5 meters, which can be adjusted according to the actual space. Infrared light is emitted by several fixed LED lights inside the electromagnetic wave source 100 several times per second. Each of the electromagnetic wave source 100 is designed with two laser scanning modules, which respectively rotate the horizontal and vertical directions to the positioning space to emit a horizontal and vertical laser scanning space of 5 meters x 5 meters. Therefore, the electromagnetic wave sensor 200a of the spatial position calculation module must be capable of synchronously receiving infrared rays and laser light, so that the calculation unit 200b can calculate the relative spatial position of the position of the received electromagnetic wave signal and the relative spatial position of the position. The amount of freedom of movement. In another embodiment, the electromagnetic wave emitting source 100 can be arranged in an array above the user, each emitting an electromagnetic wave signal with its specific ID (such as Mac Address), as shown in FIG. Such an electromagnetic wave emitting source 100 may be an LED light source, a laser light source, a Bluetooth signal source (iBeacon signal transmitter), or a Wi-Fi wireless access point. In contrast, the electromagnetic wave sensor 200a of the spatial position calculation module is a light sensor, a laser sensor, a Bluetooth module or a Wi-Fi signal receiving module. At this time, the calculating unit 200b can calculate the relative spatial position of the position and the six degrees of freedom motion by using the energy difference or the phase difference of the received electromagnetic wave signal. If necessary, the spatial position calculation module may further include an inertial sensor (such as a G sensor) to obtain a rotational message in the space.

Please refer to FIG. 4, which is a block diagram of the components of the work host 300. The work host 300 includes a communication module 310, an action calculation module 320, a virtual character presentation module 330, and a recording module 340. The communication module 310 is connected to each of the transmission units 200c to receive the relative spatial position and the six degrees of freedom motion of each spatial position calculation module. Here, the communication module 310 should have the same communication specifications as the data transmission unit 200c in each spatial position calculation module. That is to say, if the communication connection between the communication module 310 and the data transmission unit 200c is a wireless communication connection, Bluetooth communication, 2.4G band wireless communication or 5G band wireless communication may be used; if it is a wired communication connection, the communication specification may be Compliant with USB specifications or Thunderbolt specifications. The motion calculation module 320 is connected to the communication module 310 by a reverse motion algorithm to calculate the body of the user 500 by receiving individual relative spatial positions and six degrees of freedom motions from the eight spatial position calculation modules. The virtual space location of each part. There are many kinds of inverse motion algorithms available, such as an iterative method and distributed algorithm proposed by Reginer in 1997. Jun et al. proposed in 2009 to convert the vacancy problem of workspace speed input into solving robot. reverse movement algorithms, Roland and others in 2009 for the optimization method based on genetic algorithm parallel manipulators, and even packaged in a software package, the software vendors to develop reverse motion algorithms, such as the Final inverse Kinematics ^TM The skeletal animation solution can be the reverse motion algorithm used in this creation. However, the focus of this creation is to perform effective inverse motion calculations with the least number of observation nodes (eight spatial position calculation modules), reduce hardware resource consumption and save on acquisition costs, and therefore do not emphasize the most in these algorithms. Good performance. The relative spatial position of the spatial position calculation module referred to above refers to the relative position coordinate of each spatial position calculation module in the space defined by at least two electromagnetic wave emission sources 100; the virtual space position is the work host 300 itself. Definition, a space coordinate used to present the orientation of the virtual object in the human eye. For example, the relative spatial position coordinates calculated by the head main space position calculation module 206 are (873.283, 23.532, 101.990), but the corresponding virtual space position coordinates are (24.83, 99.13, 10.45), and the coordinate systems of the two are different. It should be noted that because each link positioning (designating the relative spatial position coordinates calculated by the spatial position calculation module as a virtual space position coordinate) is to recalculate the relative position coordinates and the virtual space position, the corresponding result is not the same every time. .

The virtual character presentation module 330 is connected to the motion calculation module 320 and the communication module 310 for using the relative spatial position of the eight spatial position calculation modules and the virtual space position of the corresponding part of a virtual character. Linking the location, generating the avatar change to reflect the physical space position change of the user 500 body, and transmitting the virtual character change from a first perspective of the avatar to the outside through the communication module 310 . In the present embodiment, the virtual character is a snowman 600 shown in FIG. 5, and the screen displayed by the user 500 in the head mounted display 400, that is, the picture seen by the eye 606 of the snowman 600; the body of the user 500 Part, the spatial position calculation module on the left hand, the right hand, the left foot, the right foot, the waist, the head, the left elbow and the right elbow (the left main space position calculation module 201, the right hand main space position calculation module 202, the left The foot main space position calculation module 203, the right foot main space position calculation module 204, the waist main space position calculation module 205, the head main space position calculation module 206, the left elbow auxiliary space position calculation module 211 and the right elbow The relative spatial position of the auxiliary space position calculation module 212) is respectively linked to the left hand 601, the right hand 602, the left foot 603, the right foot 604, the waist 605, the eye 606, the left elbow 607 and the right elbow 608 of the snowman. In this way, the user 500 changes in the physical space position, that is, the change of the virtual character 600 can be reflected. For example, the user 500 swings in the left hand, and the left hand of the virtual character 600 also swings. At the same time, such interactions also show the results of motion capture. The direction of the first viewing angle is the direction of the line of sight of the parallel user 500 of the head main space position calculation module 206 fixed to the head of the user 500. That is, where the user 500 looks, the snowman 600 looks where it is. Since the picture displayed on the head mounted display 400 may be pre-set with a virtual background, the virtual image will contain the virtual background seen by the snowman 600 eye 606 at a specific angle and the body of the part of the snowman 600, corresponding to the main spatial position of the head of the user 500 at that time. The spatial orientation of the computing module 206 is presented in the eyes of the user 500.

The recording module 340 is connected to the avatar presentation module 330 for recording the avatar (snowman 600) variation and forming an output file. The output file may be in the first view mode or the third view mode. A 350 or other mobile device screen (not shown) reproduces the continuous variation (motion capture) image of the snowman 600. Of course, according to the spirit of the present creation, if the output file is not created, the presentation screen of the head mounted display 400 can be simultaneously presented on the screen 350. Thus, if the user 500 has an operation assistant to assist in operating the system, he can simultaneously know what the image currently received by the user 500 is and when he needs help. The recording operation (start recording and stop recording) of the output file can be performed by the work host 300 through a set of input devices (such as a mouse and keyboard group, not shown), or can be operated by the user 500. At this time, the two main spatial position calculation modules (left-hand main spatial position calculation module 201 and right-hand main spatial position calculation module 202) fixed to the upper limb distal end (left hand, right hand) need to further include some special designs. Please refer to FIG. 6 , which is another block diagram of the left hand main space position calculation module 201 or the right hand main space position calculation module 202 . The main difference between the left-hand main spatial position calculation module 201 or the right-hand main spatial position calculation module 202 and the hardware components of the other main spatial position calculation modules is that the touch panel 200d and the trigger 200e are added. The function of the touch panel 200d will be described later. A trigger 200e, such as a physical button, can be used to turn the change (body) of the recorded snowman 600 on or off.

It should be noted that the components of the aforementioned spatial position calculation module are slightly different according to the fixed parts to which they belong, but these components are required for the internal operation functions of the system; in order to provide better user experience, spatial position calculation The module may further include some means for securing to the human body. Please refer to FIG. 7 , which is a schematic diagram of a side view of the spatial position calculation module. In FIG. 7, all of the aforementioned components of the spatial position calculation module may be integrated into an outer casing 200f (top), and additionally include a stabilizing plate 200g and a strap set 200h. The stabilizing plate 200g is used to make a large area contact with the user's skin or clothing without causing the space position calculation module to shake. The material may be thermoplastic plastic, thermosetting plastic, wood board, bamboo or metal. The strap group 200h is characterized by its elastic expansion and contraction to attach the spatial position calculation module to the body of the user 500, such as the head, the hand, the foot, and the like. If the attachment part is too large, such as the waist, the strap group can have one more connection opening. In operation, the opening is first opened, and when the strap group 200h is wrapped around the abdomen, the ends of the opening are connected to complete the fixing.

The head mounted display 400 is in communication with the communication module 310 for receiving a virtual image and presenting the virtual image to a user 500 wearing the head mounted display 400. There are quite a few models of the head-mounted display 400 currently available on the market, and the creation does not limit the specifications used. However, it must be noted that the head mounted display 400 The communication connection specifications with the communication module 310 must be the same. If the communication connection is a wireless communication connection, Bluetooth communication, 2.4G band wireless communication or 5G band wireless communication may be used; if it is a wired communication connection, the communication specifications shall comply with the USB specification or the Thunderbolt specification.

According to this creation, the avatar's link positioning has a specific operation. First, the avatar presentation module 330 fixes the spatial position of each part of the snowman 600 at the position of the limbs, the head, the waist, and the elbows or the knees of the snowman 600 in the virtual image when the avatar starts to be linked and positioned. Each of the calibration images is formed, and a positioning image of the extremities, the head, the waist, and the elbows or the knees of the user 500 representing the position of each spatial position calculation module is formed in the virtual space. For a better understanding, please see Figure 8, which is a schematic diagram of the spatial distribution of the calibration image and the positioning image. The snowman 600 cannot be manipulated by the user 500 before the connection positioning of all the spatial position calculation modules has been completed, that is, the motion capture cannot be performed. At this time, the virtual character presentation module 330 forms a left-hand calibration image 621 representing the left hand 601 of the snowman 600 in the virtual space, a right-hand calibration image 622 representing the right hand 602 of the snowman 600, and a left foot representing the snowman 600. A left foot calibration image 623 of 603, a right foot calibration image 624 representing the snowman 600 right foot 604, a waist calibration image 625 representing the snowman 600 waist 605, and a head representing the snowman 600 head (eye 606) A portion of the calibration image 626, a left elbow calibration image 627 representing the snowman 600 left elbow 607, and a right elbow calibration image 628 representing the snowman 600 left elbow 608. In contrast, the virtual character presentation module 330 also forms a positioning image that can be moved in accordance with the position change of the corresponding spatial position calculation module in the virtual space, such as a left-hand positioning image corresponding to the left-hand main spatial position calculation module 201. (hand shape), a right hand positioning image 522 (hand shape) corresponding to the right hand main space position calculation module 202, a left foot positioning image 523 (foot shape) corresponding to the left foot main space position calculation module 203, corresponding to the main space of the right foot A right foot positioning image 524 (foot shape) of the position calculation module 204, a waist positioning image 525 (diamond shape) corresponding to the waist main space position calculation module 205, and a head of the corresponding head main space position calculation module 206 Positioning image 526 (face shape), corresponding left elbow auxiliary space position calculation module 211 A left elbow positioning image 527 (diamond) and a right elbow positioning image 528 (diamond) corresponding to the right elbow auxiliary space position calculation module 212.

The head mounted display 400 displays all or part of the calibration image and the positioning image in the virtual image. When any spatial position calculation module overlaps with the corresponding calibration image of the virtual character due to movement, The user 500 can operate the touch panel 200d or the work host 300 to complete the joint positioning of the spatial position calculation modules. As shown in FIG. 8 , the left-hand positioning image 521 can be moved downward, that is, the left hand moves downward in the physical space to overlap with the left-hand calibration image 621 , and the user 500 can operate the touch panel 200 to perform the joint positioning. For some of the positioning images that have been overlapped with the calibration image, it is not necessary to move, such as the head calibration image 626 and the head positioning image 526. The motion capture system 10 for the virtual reality environment of the present invention can be configured to perform link positioning when all the positioning images overlap with the corresponding calibration images, or separately. It should be noted that FIG. 8 describes the three-dimensional space in a planar pattern, and that there is also a movement alignment in the direction of the vertical paper. After all the spatial position calculation modules are connected and positioned, the snowman 600 can move according to the capture action of the user 500.

It should be noted that the connection positioning may have a certain tolerance. If the tolerance exceeds the tolerance, the image change of the snowman 600 may not effectively reflect the capture action of the user 500, that is, the connection position of the spatial position calculation module may cause the virtual character to be unable to The movement of the user 500 in the virtual space position causes an action or a malfunction that is not smooth. At this time, the user 500 can operate the touch panel 200d to release the existing link positioning record to re-link the positioning. Another way is to use the work host 300 to adjust the length of the avatar's limbs through a set of input devices (such as a mouse and keyboard group, not shown), so that the control smoothness can be adjusted without re-joining the positioning. For example, the hands and feet of the snowman 600 are bent due to the joint positioning of the extremities, and at this time, the limbs of the user 500 are straight, which makes it difficult to operate the snowman or cause the motion capture to fail. If the "N" key and the "-" key are pressed at the same time, the limbs of the snowman 600 are shortened, so that the limbs of the snowman 600 can be gradually straightened, and thus can be synchronized with the user 500.

In accordance with the spirit of the present creation, the virtual image presented by the head mounted display 400 preferably allows the user 500 to selectively operate to display the four-sided mirror image of the snowman 600 (left, right, front, rear, etc., to see the first perspective forward) You can't see the rear image, you have to look back, as shown in Figure 9. Such an approach can assist the user 500 in performing the joint positioning of the main spatial position calculation module, and also allows the user 500 to view the action of the snowman 600 from different directions to facilitate subsequent application development of the motion capture.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and any person skilled in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of protection of this creation is subject to the definition of the scope of the patent application attached.

Claims (10)

A motion capture system for a virtual reality environment, comprising: at least two electromagnetic wave emission sources, each electromagnetic wave emission source for transmitting electromagnetic waves in at least one specific wavelength range; eight spatial position calculation modules, each spatial position calculation The module includes: at least one electromagnetic wave sensor for respectively receiving electromagnetic wave signals from the at least two electromagnetic wave transmitting sources; and a calculating unit connected to the at least one electromagnetic wave sensor, using the received time difference of the received electromagnetic wave signals or The energy difference is used to calculate the relative spatial position of the location and the six degrees of freedom motion; and a data transmission unit is coupled to the computing unit for transmitting the relative spatial position and the six degrees of freedom motion to the outside; 6 of the main The space position calculation module is respectively detachably fixed to a user's limbs, the head and the waist, and two auxiliary space position calculation modules are respectively detachably fixed to the user's elbow or a double lap; a work host comprising: a communication module connected to the data transmission unit signal to receive each The relative spatial position of the position calculation module and the six degrees of freedom motion; a motion calculation module is coupled to the communication module, and a reverse motion algorithm is used to receive relatives from the eight spatial position calculation modules. Calculating the virtual space position of each part of the user's body by using the spatial position and the six degrees of freedom motion as input; a virtual character presentation module is connected to the motion calculation module and the communication module, and is configured to link the relative spatial position of the eight spatial position calculation modules to the virtual space position of the corresponding part of the virtual character, and generate the virtual The character changes to reflect the change of the user's body in the physical space position, and the virtual character is instantly transmitted to the outside by a virtual image of the virtual character through a first perspective of the virtual character; and a display is worn Communicating with the communication module for receiving the virtual image and presenting the virtual image to a user wearing the head mounted display, wherein the main space position of the user's head is calculated by the parallel user's line of sight direction For the first viewing angle direction. The motion capture system for a virtual reality environment, as claimed in claim 1, wherein the at least two electromagnetic wave sources are an LED light source, a laser light source, an infrared and laser hybrid light source, a Bluetooth signal source, or a Wi-Fi Wireless access point. The motion capture system for a virtual reality environment of claim 1, wherein the two main spatial position calculation modules fixed to the distal extremities further comprise a touch panel. The motion capture system for a virtual reality environment, in the third aspect of the patent application, wherein the virtual character presentation module fixes the spatial position of the virtual character when the virtual character starts to be linked, and the limbs of the virtual character are fixed at the periphery of the virtual character. The head, the waist, and the positions of the elbows or the knees in the virtual image form a calibration image, and the limbs and the head of the user representing the position of each spatial position calculation module are formed in the virtual space. The positioning image of the waist and the elbows or the knees, the head mounted display presents all or part of the calibration images and the positioning images in the virtual image, and any spatial position calculation module moves the corresponding positioning image When the corresponding calibration image overlaps with the virtual character, the user operates the touch panel or the work host to complete the joint positioning of the spatial position calculation modules. The motion capture system for a virtual reality environment according to claim 4, wherein if the spatial position calculation module is connected, the virtual character cannot be acted upon or generated due to the change of the user's body in the virtual space position. The motion is not smooth, and the user can operate the touch panel to release the existing link positioning record to re-link the positioning, or use the work host to adjust the length of the limb of the virtual character. The motion capture system for a virtual reality environment, wherein the work host further includes a recording module connected to the virtual character presentation module for recording a virtual character change and forming an output. files. For example, in the motion capture system for the virtual reality environment, the two main spatial position calculation modules fixed at the distal end of the upper limb further comprise a trigger for turning on or off the recorded virtual character change. For example, in the motion capture system for the virtual reality environment of claim 1, the signal connection between the communication module and the data transmission unit, or the communication connection between the head mounted display and the communication module is a wireless communication connection. , using Bluetooth communication, 2.4G band wireless communication or 5G band wireless communication. For example, in the motion capture system for the virtual reality environment of claim 1, the signal connection between the communication module and the data transmission unit, or the communication connection between the head mounted display and the communication module is a wired communication connection. The communication specifications conform to the USB specification or the Thunderbolt specification. The motion capture system for a virtual reality environment of claim 1, wherein the spatial position calculation module further comprises: a stabilization plate for contacting the user's skin or clothing over a large area without causing the The sway of the spatial position calculation module; and a strap set for attaching the spatial position calculation module to the user's body.