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公开(公告)号：KR101214227B1
公开(公告)日：2012-12-20
申请号：KR1020110049804
申请日：2011-05-25
Applicant: 한국과학기술연구원
CPC classification number: G01B5/004 , A61B5/1114 , A61B5/6822 , A61B5/6823 , A61B5/6824 , A61B5/6825 , A61B5/6828 , A61B5/6829 , A61B5/6831 , A61B2503/10 , A61B2505/09 , G06F3/011
Abstract: 본발명은동작추적방법에관한것으로서, 관절과상기관절에대하여회전하는하나이상의골격들과, 상기골격들각각에부착되어상기골격의회전운동을각각측정하는복수개의관성센서들을구비하는모델의동작을추적하는방법에있어서, 상기골격에각각부착된관성센서로부터측정된그 관성센서의신호를이용하여, 지상에고정된관성좌표계에대하여상기관성센서에고정된센서좌표계의회전행렬을구하는센서자세측정단계; 상기센서자세측정단계에서구한센서좌표계의회전행렬값을이용하여, 상기골격각각에고정된골격좌표계에대하여상기센서좌표계의회전행렬을구하는회전행렬변환단계; 상기회전행렬변환단계에서계산된상기센서좌표계의회전행렬을이용하여, 상기관성좌표계에대하여상기골격좌표계각각의회전행렬을구하는골격자세계산단계를구비하는것을특징으로한다.본발명에따르면, 상기회전행렬변환단계를구비하고있으므로, 상기골격좌표계의방향과상기관성센서들각각이가지는센서좌표계의방향을서로정확히일치시킬필요가없어, 인체에관성센서를임의의방향으로부착하더라도정확한동작추적이가능하다는효과가있다.
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公开(公告)号：KR1020120131344A
公开(公告)日：2012-12-05
申请号：KR1020110049431
申请日：2011-05-25
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A bicycle simulator system and a method thereof are provided to correct the posture of the bicycle rider by measuring and providing bicycle posture information, rider posture information, posture correction information and road surface topology data. CONSTITUTION: A bicycle simulator system comprises a bicycle motion measuring unit(10), a passenger motion measuring unit(20), a control unit(40), and an output unit(50). The bicycle posture measuring unit measures the location, speed and posture of the bicycle. The passenger posture measuring unit measures the posture of the bicycle rider. The control unit analyzes the operation information by using the location, speed, posture information of the bicycle and the posture information of the bicycle rider. The output unit provides the analyzed bicycle operation information to the user. The bicycle simulation system additionally includes a ground shape measuring unit(30). The bicycle posture measuring unit comprises one or more of speed meter, motion sensor, and GPS module which are attached to the bicycle. [Reference numerals] (10) Bicycle motion measuring unit; (20) Passenger motion measuring unit; (30) Road shape measuring unit; (40) Control unit; (50) Output unit
Abstract translation: 目的：提供一种自行车模拟器系统及其方法，通过测量和提供自行车姿势信息，骑手姿势信息，姿势校正信息和路面拓扑数据来校正自行车骑手的姿势。 构成：一种自行车模拟器系统，包括自行车运动测量单元（10），乘客运动测量单元（20），控制单元（40）和输出单元（50）。 自行车姿势测量单元测量自行车的位置，速度和姿势。 乘客姿态测量单元测量自行车骑手的姿势。 控制单元通过使用自行车的位置，速度，姿势信息和自行车骑手的姿势信息来分析操作信息。 输出单元向用户提供分析的自行车操作信息。 所述自行车模拟系统还包括地面形状测量单元（30）。 自行车姿势测量单元包括附接到自行车的一个或多个速度计，运动传感器和GPS模块。 （附图标记）（10）自行车运动测量单元; （20）乘客运动测量单元; （30）道路形状测量单元; （40）控制单元; （50）输出单元
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公开(公告)号：KR1020120131342A
公开(公告)日：2012-12-05
申请号：KR1020110049429
申请日：2011-05-25
Applicant: 한국과학기술연구원
CPC classification number: A63B24/0075 , A63B24/0006 , A63B71/12 , A63B2071/1283 , A63B2220/806 , A63B2220/836 , A63B2225/50
Abstract: PURPOSE: A system and a method for coaching sports motions are provided to coach a trainee using voice information, video information, and vibrotactile information. CONSTITUTION: A system for coaching sports motions comprises a motion capture unit(10), a control unit(20), and a motion feedback unit(30). The motion capture unit captures the motion of a trainee. The control unit analyzes the motion of the captured trainee and generates a motion correction command of the trainee. The motion feedback unit delivers a feedback signal to the trainee in real time. The motion capture unit is a vision recognition camera for taking a photograph of the trainee. [Reference numerals] (10) Motion capture unit; (20) Control unit; (30) Motion feedback unit
Abstract translation: 目的：提供用于指导体育运动的系统和方法，以使用语音信息，视频信息和振动信息信息来教练学员。 构成：用于辅导运动运动的系统包括运动捕捉单元（10），控制单元（20）和运动反馈单元（30）。 运动捕捉单元捕获受训者的运动。 控制单元分析被捕获的受训者的运动并产生受训者的运动校正命令。 运动反馈单元将实时的反馈信号传送给受训者。 运动捕捉单元是用于拍摄受训者的照片的视觉识别摄像机。 （附图标记）（10）运动捕捉单元; （20）控制单元; （30）运动反馈单元
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公开(公告)号：KR101438028B1
公开(公告)日：2014-09-04
申请号：KR1020130030147
申请日：2013-03-21
Applicant: 한국과학기술연구원
IPC: A63B69/36
CPC classification number: A63B69/3658 , A63B71/0622 , A63B2024/0028 , A63B2220/40 , A63B2220/80
Abstract: According to an aspect of the present invention, provided is an approach shot coaching system including: a target plane unit where a plurality of acceleration sensors are disposed; a trajectory estimation unit that uses the plurality of acceleration sensors so as to estimate a post-collision trajectory of a ball colliding with the target plane unit; a virtual golf field generation unit that generates a virtual golf field where a movement of the goal is displayed after the collision; and a simulation unit that generates simulation information showing the movement of the ball according to the estimated trajectory in the generated virtual golf field, and a method using the system.
Abstract translation: 根据本发明的一个方面，提供了一种接近镜头辅助系统，包括：设置有多个加速度传感器的目标平面单元; 轨迹估计单元，其使用所述多个加速度传感器来估计与所述目标平面单元碰撞的球的碰撞后轨迹; 产生虚拟高尔夫球场的虚拟高尔夫球场发生单元，其中在碰撞之后显示目标的移动; 以及模拟单元，其根据生成的虚拟高尔夫球场中的估计轨迹生成示出球的移动的模拟信息，以及使用该系统的方法。
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公开(公告)号：KR1020130060441A
公开(公告)日：2013-06-10
申请号：KR1020110126498
申请日：2011-11-30
Applicant: 한국과학기술연구원
CPC classification number: G01C25/00 , A61B5/11 , A61B2562/0219 , G01P21/00
Abstract: PURPOSE: A calibrating method of a motion sensor for tracking motions is provided to accurately calibrate the motion sensor with a simple motion rotating a body portion where the motion sensor is attached. CONSTITUTION: A calibrating method of a motion sensor for tracking motions comprises: a step(120) of calculating a rotation matrix of the motion sensor when a user rotates a body portion where the motion is attached; a step(130) of calculating a rotation matrix of the body portion where the motion sensor is attached; a step(140) of calculating a conversion-rotation matrix converted into the calculated rotation matrix of the body portion based on the rotation sensor of the motion sensor; and a step(150) of calibrating the motion sensor by coinciding a coordinate system of the motion sensor and a coordinate system of the body portion where the motion sensor is attached by using the calculated conversion-rotation matrix. [Reference numerals] (110) Attach a motion sensor to a body portion of a user; (120) Rotate the body portion about a certain axis; (130) Calculate rotation matrices of the motion sensor and the body portion; (140) Calculate a conversion-rotation matrix; (150) Execute calibration of the motion sensor; (AA) Start; (BB) End
Abstract translation: 目的：提供用于跟踪运动的运动传感器的校准方法，以通过旋转运动传感器附接的身体部分的简单运动来精确校准运动传感器。 构成：用于跟踪运动的运动传感器的校准方法包括：当用户旋转运动附加的身体部分时计算运动传感器的旋转矩阵的步骤（120）; 计算安装有运动传感器的主体部分的旋转矩阵的步骤（130）; 基于所述运动传感器的旋转传感器，计算转换成所计算的所述身体部分的旋转矩阵的转换旋转矩阵的步骤（140） 以及通过使用所计算的转换旋转矩阵使运动传感器的坐标系与运动传感器所附着的身体部分的坐标系重合的步骤（150）来校准运动传感器。 （附图标记）（110）将运动传感器附接到用户的身体部分; （120）围绕某个轴旋转主体部分; （130）计算运动传感器和主体部分的旋转矩阵; （140）计算转换旋转矩阵; （150）执行运动传感器的校准; （AA）开始; （BB）结束
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Patent Agency Ranking
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公开(公告)号：KR101503046B1
公开(公告)日：2015-03-24
申请号：KR1020130099881
申请日：2013-08-22
Applicant: 한국과학기술연구원
Abstract: 본 발명은 다축 감지 장치의 교정 방법에 관련된 것이다. 본 발명의 다축 감지 장치의 교정 방법은 다축 감지 장치의 가속도 센서 또는 지자계 센서에 대해서 교정을 자동으로 수행하고, 그에 따라 교정된 가속도 센서 또는 지자계 센서의 측정값을 자이로 센서의 교정에 활용함으로써 다축 감지 장치의 교정을 별도의 교정 장치 없이 자동으로 수행할 수 있다.
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18.发明授权자세 측정 장치의 교정 방법, 자세 측정 장치의 교정 장치, 이를 구비한 휴대용 단말기, 이동 물체의 제어 시스템 및 컴퓨터 판독 가능한 기록 매체 有权用于校准方向测量传感器的方法，用于校准方向测量传感器的装置，包括其的移动电子设备和程序记录介质
公开(公告)号：KR101418873B1
公开(公告)日：2014-07-17
申请号：KR1020130033086
申请日：2013-03-27
Applicant: 한국과학기술연구원
CPC classification number: G01P21/025 , G01B11/272 , G01P15/14 , G06T7/68
Abstract: The present invention relates to a method of calibrating an orientation measurement sensor. A method of calibrating an orientation measurement apparatus according to an embodiment of the present invention comprises the steps of: (a) obtaining a first orientation value corresponding to a relative orientation of a first orientation measurement sensor with respect to a first reference coordinate system; (b) obtaining a second orientation value corresponding to a relative orientation of a second orientation measurement sensor with respect to a second reference coordinate system; and (c) calculating a third orientation value corresponding to the relative orientation of the second orientation measurement sensor with respect to the first orientation measurement sensor and a fourth orientation value corresponding to a relative orientation of the second reference coordinate system with respect to the first reference coordinate system, using the first orientation value and the second orientation value, with a calculation apparatus. The step (c) corresponds to the step of calculating the third orientation value and the fourth orientation value, which minimize an error between a fifth orientation value corresponding to a relative orientation of the second orientation measurement sensor with respect to the first reference coordinate system calculated from the first orientation value and the third orientation value, and a sixth orientation value corresponding to a relative orientation of the second orientation measurement sensor with respect to the first reference coordinate system calculated from the second orientation value and the fourth orientation value.
Abstract translation: 本发明涉及一种校准取向测量传感器的方法。 根据本发明的实施例的校准取向测量装置的方法包括以下步骤：（a）获得与第一取向测量传感器相对于第一参考坐标系的相对取向相对应的第一取向值; （b）获得与第二取向测量传感器相对于第二参考坐标系的相对取向相对应的第二取向值; 以及（c）计算与第二取向测量传感器相对于第一定向测量传感器的相对定向对应的第三取向值和对应于第二参考坐标系相对于第一参考的相对定向的第四定向值 使用计算装置使用第一取向值和第二取向值。 步骤（c）对应于计算第三取向值和第四取向值的步骤，其使与第二取向测量传感器相对于第一基准坐标系相对应的第五取向值之间的误差最小化 以及与第二取向测量传感器相对于从第二取向值和第四取向值计算出的第一基准坐标系的相对取向对应的第六取向值。
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公开(公告)号：KR101250247B1
公开(公告)日：2013-04-03
申请号：KR1020110049431
申请日：2011-05-25
Applicant: 한국과학기술연구원
Abstract: 본 발명은 자전거의 위치, 속도 및 자세 정보는 물론 자전거 탑승자의 자세 정보와, 자세 교정 정보 및 지면 형상 정보를 측정 및 제공할 수 있는 바이크 시뮬레이터 시스템 및 방법에 관한 것이다. 이를 위래 본 발명의 일실시예에 따른 바이크 시뮬레이터 시스템은 자전거의 위치와 속도 및 자전거의 자세를 측정하는 자전거 자세 측정부와, 자전거 탑승자의 자세를 측정하는 탑승자 자세 측정부와, 자전거가 운행되는 지면의 형상 정보를 측정하는 지면 형상 측정부와, 자전거 자세 측정부에서 측정된 자전거의 위치, 속도 및 자세 정보와, 탑승자 자세 측정부에서 측정된 자전거 탑승자 자세 정보와, 지면 형상 측정부에서 측정된 지면 형상 정보를 이용하여 자전거 운행 정보를 분석하는 제어부와, 제어부가 분석한 자전거 운행 정보를 출력하여 출력하여 사용자에게 제공하는 출력부를 포함한다.
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公开(公告)号：KR1020120131553A
公开(公告)日：2012-12-05
申请号：KR1020110049804
申请日：2011-05-25
Applicant: 한국과학기술연구원
CPC classification number: G01B5/004 , A61B5/1114 , A61B5/6822 , A61B5/6823 , A61B5/6824 , A61B5/6825 , A61B5/6828 , A61B5/6829 , A61B5/6831 , A61B2503/10 , A61B2505/09 , G06F3/011
Abstract: PURPOSE: A motion estimating method is provided to perform accurate motion tracking although an inertia sensor is adhered to the human body to an arbitrary direction. CONSTITUTION: A rotation matrix of a sensor coordinate system fixed in a gravity sensor is calculated in a gravity coordinate system by using a signal measured from an inertia sensor(S100). The rotation matrix of the sensor coordinate system is calculated in a skeleton coordinate system(S200). The rotation matrix of the skeleton coordinate system is calculated about the inertia sensor by using the rotation matrix of the sensor coordinate(S300). A joint variable is calculated about the inertia(S400). [Reference numerals] (S100) A sensor coordinate is measured; (S200) Rotation matrix of the sensor is converted; (S300) Skeleton coordinate is calculated; (S400) Joint variable is calculated
Abstract translation: 目的：提供一种运动估计方法来执行精确的运动跟踪，尽管惯性传感器被附着到人体任意方向。 构成：通过使用从惯性传感器测量的信号，在重力坐标系中计算固定在重力传感器中的传感器坐标系的旋转矩阵（S100）。 在骨架坐标系中计算传感器坐标系的旋转矩阵（S200）。 通过使用传感器坐标的旋转矩阵，计算关于惯性传感器的骨架坐标系的旋转矩阵（S300）。 关于惯性计算关节变量（S400）。 （附图标记）（S100）测量传感器坐标; （S200）转换传感器的旋转矩阵; （S300）计算骨架坐标; （S400）计算联合变量
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