CN110038291A - A kind of motion information acquisition system of boatman - Google Patents
A kind of motion information acquisition system of boatman Download PDFInfo
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- CN110038291A CN110038291A CN201910441459.8A CN201910441459A CN110038291A CN 110038291 A CN110038291 A CN 110038291A CN 201910441459 A CN201910441459 A CN 201910441459A CN 110038291 A CN110038291 A CN 110038291A
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- boatman
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/06—Training appliances or apparatus for special sports for rowing or sculling
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
Abstract
The present invention discloses the motion information acquisition system of boatman a kind of, including acquisition module, first communication module, second communication module, main control module, intelligent terminal；The acquisition module is used to acquire the motion information of sportsman, and motion information is sent to main control module through first communication module；The information parsing that the main control module is used to receive is reduced into the athletic posture information of sportsman, and communicates through second communication module and intelligent terminal.The system only needs sportsman to dress acquisition module, can acquire the motion information of sportsman, and then without reequiping to equipment such as hull, quants, reduces cost.Invention additionally discloses the athletic posture restoring method of boatman a kind of.The motion information of collected sportsman can be parsed to the athletic posture information for being reduced into sportsman by this method, its Method And Principle is simple and efficient, and it can be able to over long distances, critically be monitored sportsman by intelligent terminal real-time display athletic posture information.
Description
Technical field
The present invention relates to Athletess field of information acquisition more particularly to a kind of motion information acquisitions of boatman
System.
Background technique
Boating aquatics programme is the key research projects of the State Physical Culture and Sports Commission " 119 " engineering, has been specifically included: racing boat, skin
Ship, canoe, sailing boat, windsurfing etc..And the effect that boatman slides in water, it is that coach examines training athlete quality
Core, it mainly passes through sliding speed, the sportsman's drawing paddle speed, the drawing phases such as paddle amplitude and loom stress size of hull in water
Athletic posture is closed to be reacted.And the general two ways that passes through of the acquisition and analysis to above-mentioned athletic posture of routine is completed:
1) coach carries out subjective analysis by viewing movement video recording；
2) by installing load cell and infrared linear movement pick-up additional at hull, slide, rowlock, motion process is collected
In because sportsman has an effect and elastic deformation signal or displacement signal caused by quant, rowlock fulcrum, and then export movement
The relative motion posture information (including curve of having an effect, drawing paddle rate curve etc.) of member.
The above two conventional acquisition mode to athletic posture information has following shortcoming:
1) signal for needing significantly to reequip the other equipment such as hull, quant, and collecting is based on old-fashioned biography
The analog signal of sensor cannot export analysis in real time, can not carry out complete, accurate monitoring to paddling over long distances；
2) multiple sensors are needed, and sensor type is various, mutual signal interference, signal stabilization are poor；
3) motion information that sensor acquires is modified and is parsed the method for being reduced into Athletess posture information
Very complicated, reduction efficiency are low；
Summary of the invention
The object of the present invention is to provide the motion information acquisition system of boatman a kind of, which only needs sportsman
Wearing is equipped with the intelligent wearable device of acceleration transducer at wrist, can acquire the associated motion information of sportsman, in turn
Without reequiping to other equipment such as hull, quants, the acquisition of multiport, multisensor, multi-channel analog information is changed
Regular motion information collection mode, reduce cost；The present invention also provides the athletic posture restoring method of boatman a kind of,
Motion information parsing is reduced into the athletic posture information of sportsman by the athletic posture restoring method, this method principle is simple
Efficiently, and supervising to sportsman over long distances, critically can be able to by intelligent terminal real-time display athletic posture information
Control, it is practical.
To achieve the above object, using following technical scheme:
A kind of motion information acquisition system of boatman, including acquisition module, first communication module, the second communication mould
Block, main control module, intelligent terminal；The acquisition module be used to acquire the acceleration information of sportsman, attitude angle change information,
Hull displacement information and hull course information, and above- mentioned information are sent to main control module through first communication module；The master control
The information parsing that module is used to receive is reduced into the athletic posture information of sportsman, and eventually through second communication module and intelligence
End communication；The intelligent terminal is used to show the athletic posture information of sportsman.
Further, the acquisition module includes acceleration transducer, GPS, electronic compass；The acceleration transducer is used
In acceleration information of the acquisition sportsman in three axis directions and around the attitude angle change information of three axis rotation；The GPS
For acquisition vessel body displacement information, electronic compass is for acquiring hull course information.
Further, the first communication module includes the first wifi communication unit, first movement communication unit, the first indigo plant
Tooth communication unit；The second communication module includes the 2nd wifi communication unit, the second mobile comm unit, the second Bluetooth communication
Unit.
Further, the intelligent terminal is smart phone, tablet computer or other intelligent display devices.
A kind of athletic posture restoring method of boatman, comprising the following steps:
S1: by acquisition module obtain sportsman using its own as reference frame under initial 3-axis acceleration information with
Around the attitude angle change information of three axis rotation, and using the extreme direction of earth magnetic north as the hull course information and hull of reference
Displacement information；
S2: the initial 3-axis acceleration information of the S1 sportsman obtained is modified, obtains sportsman with earth magnetic north
Extreme direction is the practical 3-axis acceleration information of reference；
S3: Fourier transformation is carried out based on the practical 3-axis acceleration information of sportsman that S2 is obtained, obtains the fortune of sportsman
Dynamic posture information.
Further, three axis is respectively X-axis, Y-axis, Z axis.
Further, the initial 3-axis acceleration information of sportsman of described pair of acquisition, which is modified, specifically includes following step
It is rapid:
S21: based on S1 acquisition using the extreme direction of earth magnetic north as the hull course information of reference, to sportsman's attitude angle
Change information is modified, and then is obtained with the attitude angle change information of earth magnetic north extremely X-axis reference；
S22: the attitude angle change information obtained based on S21 repairs the initial 3-axis acceleration information of sportsman
Just, it obtains with sportsman's 3-axis acceleration information of earth magnetic north extremely X-axis reference；
S23: the hull displacement information obtained based on S1, derivation obtain the velocity information and acceleration information of hull；
S24: based on S1 obtain hull course information the hull acceleration information that S23 is obtained is modified, obtain with
The hull 3-axis acceleration information of earth magnetic north extremely X-axis reference；
S25: sportsman's 3-axis acceleration information S22 obtained based on the hull 3-axis acceleration information that S24 is obtained into
Row amendment, obtains filtering out the practical 3-axis acceleration information of sportsman after hull 3-axis acceleration information.
Further, the athletic posture information of the sportsman include sportsman draw paddle amplitude information, draw paddle velocity information,
Draw paddle frequency information, loom by force information.
Further, the athletic posture information for obtaining sportsman specifically includes the following steps:
S31: the integral property based on Fourier carries out in Fu the practical 3-axis acceleration information of sportsman that S25 is obtained
Leaf once integrates, and to filter out interference information, then obtains sportsman by inverse Fourier transform and draws paddle velocity information；
S32: the integral property based on Fourier carries out in Fu the practical 3-axis acceleration information of sportsman that S25 is obtained
Leaf quadratic integral to filter out interference information, then obtains sportsman by inverse Fourier transform and draws paddle amplitude information；
S33: paddle velocity information is drawn based on the sportsman that S31 is obtained and according to the periodicity for drawing paddle speed, obtains sportsman
Draw paddle frequency information；
S34: the fortune that the sportsman of the hull velocity information, S31 acquisition that are obtained based on S23 draws paddle velocity information, S32 to obtain
Mobilize the basic parameter information for drawing paddle amplitude information and system, then according to Newton's second law, obtain loom by force information.
Further, the basic parameter information of the system includes hull mass information, quant quality information, sportsman's matter
Measure information.
Using the above scheme, the beneficial effects of the present invention are:
1) system only needs sportsman to dress the intelligent wearable device equipped with acceleration transducer at wrist, can adopt
Collect the associated motion information of sportsman and motion information parsing is reduced into the movement of sportsman by athletic posture restoring method
Posture information, and then without being reequiped to other equipment such as hull, quants, and then reduce cost；
2) acceleration transducer is only needed, and signaling pathway is single, avoids the phase of sensor information transmitting
Mutually interference, transmitting information efficiency height, signal stabilization；
3) athletic posture restoring method is simple and efficient, and can be believed by the athletic posture of intelligent terminal real-time display sportsman
Breath is able to being monitored to sportsman over long distances, critically, practical.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is athletic posture restoring method flow chart of the invention；
Fig. 3 is the relational graph of sportsman drawing the paddle speed and time in a wherein embodiment of the invention；
Fig. 4 averagely draws the relational graph of paddle speed and time for the sportsman in the present invention wherein an embodiment；
Fig. 5 is the relational graph of sportsman drawing the paddle amplitude and time in a wherein embodiment of the invention；
Fig. 6 is that the sportsman in a wherein embodiment of the invention draws paddle amplitude and draws the relational graph of paddle speed；
Fig. 7 is the loom stress and the relational graph of time in a wherein embodiment of the invention；
Fig. 8 is the relational graph of the sportsman acting and time in a wherein embodiment of the invention；
Fig. 9 is the swivel torque and the relational graph of time in a wherein embodiment of the invention；
Wherein, description of drawing identification:
1-acquisition module；2-first communication modules；
3-second communication modules；4-main control modules；
5-intelligent terminals；6-clouds；
11-acceleration transducers； 12—GPS；
13-electronic compass；21-the one wifi communication unit；
22-first movement communication units；23-the first bluetooth-communication unit；
31-the two wifi communication unit；32-the second mobile comm unit.
33-the second bluetooth-communication unit.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Shown in referring to Fig.1, the present invention provides the motion information acquisition system of boatman a kind of, including acquisition module 1,
First communication module 2, second communication module 3, main control module 4, intelligent terminal 5；The acquisition module 1 is for acquiring sportsman's
Acceleration information, attitude angle change information, hull displacement information and hull course information, and will be upper through first communication module 2
It states information and is sent to main control module 4；The information parsing that the main control module 4 is used to receive is reduced into the movement appearance of sportsman
State information, and communicated through second communication module 3 and intelligent terminal 5；The intelligent terminal 5 is used to show the athletic posture of sportsman
Information.
Wherein, the acquisition module 1 includes acceleration transducer 11, GPS12, electronic compass 13；The acceleration sensing
The acceleration information that device 11 is used to acquire sportsman in three axis directions and the attitude angle change information around the rotation of three axis；Institute
GPS12 is stated for acquisition vessel body displacement information, electronic compass 13 is for acquiring hull course information；The first communication module 2
Including the first wifi communication unit 21, first movement communication unit 22, the first bluetooth-communication unit 23；The second communication module
3 include the 2nd wifi communication unit 31, the second mobile comm unit 32, the second bluetooth-communication unit 33；The intelligent terminal 5 is
Smart phone, tablet computer or other intelligent display devices.
Referring to shown in Fig. 2 to 9, the present invention also provides the athletic posture restoring method of boatman a kind of, including with
Lower step:
S1: by acquisition module 1 obtain sportsman using its own as reference frame under initial 3-axis acceleration information
With the attitude angle change information around the rotation of three axis, and using the extreme direction of earth magnetic north as the hull course information and ship of reference
Body displacement information；
S2: the initial 3-axis acceleration information of the S1 sportsman obtained is modified, obtains sportsman with earth magnetic north
Extreme direction is the practical 3-axis acceleration information of reference；
S3: Fourier transformation is carried out based on the practical 3-axis acceleration information of sportsman that S2 is obtained, obtains the fortune of sportsman
Dynamic posture information.
Wherein, three axis is respectively X-axis, Y-axis, Z axis；The athletic posture information of the sportsman includes that sportsman draws paddle
Amplitude information draws paddle velocity information, draws paddle frequency information, loom by force information.
Described pair acquisition the initial 3-axis acceleration information of sportsman be modified specifically includes the following steps:
S21: based on S1 acquisition using the extreme direction of earth magnetic north as the hull course information of reference, to sportsman's attitude angle
Change information is modified, and then is obtained with the attitude angle change information of earth magnetic north extremely X-axis reference；
S22: the attitude angle change information obtained based on S21 repairs the initial 3-axis acceleration information of sportsman
Just, it obtains with sportsman's 3-axis acceleration information of earth magnetic north extremely X-axis reference；
S23: the hull displacement information obtained based on S1, derivation obtain the velocity information and acceleration information of hull；
S24: based on S1 obtain hull course information the hull acceleration information that S23 is obtained is modified, obtain with
The hull 3-axis acceleration information of earth magnetic north extremely X-axis reference；
S25: sportsman's 3-axis acceleration information S22 obtained based on the hull 3-axis acceleration information that S24 is obtained into
Row amendment, obtains filtering out the practical 3-axis acceleration information of sportsman after hull 3-axis acceleration information.
The athletic posture information for obtaining sportsman specifically includes the following steps:
S31: the integral property based on Fourier carries out in Fu the practical 3-axis acceleration information of sportsman that S25 is obtained
Leaf once integrates, and to filter out interference information, then obtains sportsman by inverse Fourier transform and draws paddle velocity information；
S32: the integral property based on Fourier carries out in Fu the practical 3-axis acceleration information of sportsman that S25 is obtained
Leaf quadratic integral to filter out interference information, then obtains sportsman by inverse Fourier transform and draws paddle amplitude information；
S33: paddle velocity information is drawn based on the sportsman that S31 is obtained and according to the periodicity for drawing paddle speed, obtains sportsman
Draw paddle frequency information；
S34: the fortune that the sportsman of the hull velocity information, S31 acquisition that are obtained based on S23 draws paddle velocity information, S32 to obtain
Mobilize the basic parameter information for drawing paddle amplitude information and system, then according to Newton's second law, obtain loom by force information.
The basic parameter information of the system includes hull mass information, quant quality information, sportsman's quality information.
Working principle of the present invention:
In the present embodiment, acquisition module 1 is a kind of intelligent wearable device being worn at sportsman's wrist, this is intelligently dressed
Equipment is equipped with the acceleration transducer 11, GPS12, electronic compass 13 of 3 axis or 3 axis or more, and (or other can acquire movement course
The equipment of information), including but not limited to the smartwatch, bracelet and customized development of various brands are specifically for the usage scenario
Professional wearable device；Sportsman only needs to have dressed equipment at hand or hands and the APP log-on data by that can load is received
Collection/analytic function, system will automatically begin to work, without carrying out any transformation to other equipment such as hull, quants；According to intelligence
Can 11 model of acceleration transducer built in wearable device it is different, acquire the rates of data from 60-150hz etc.；Acceleration passes
What sensor 11 acquired in real time can be by first movement communication unit by the original acceleration information of reference frame of sportsman itself
First 22 (3/4/5G communication units) or the first wifi communication unit 21 or 23 real-time transmission of the first bluetooth unit are to main control module 4；
Main control module 4 is believed the posture that the acceleration information received parsing is reduced into sportsman by sportsman's posture restoring method
Breath, and through the second mobile comm unit 32 (3/4/5G communication unit) or the 2nd wifi communication unit or the second bluetooth-communication unit
The posture information is sent to cloud 6 by 33, which is visualized by cloud 6 and exported by intelligent terminal 5.
Acquisition module 1 can match interior other of hull by the first bluetooth-communication unit 23 or the first wifi communication unit 21 and set
It is standby, and then the information of other equipment acquisition is collected, and the integration of this information is sent to cloud 6, by intelligent terminal 5 by the information
Visualization output；Between more intelligent wearable devices can by the first bluetooth-communication unit 23 or the first wifi communication unit 21 into
Row interconnection is synchronous with data, and then realizes while monitoring the athletic posture information of multiple sportsmen；Intelligent terminal 5 is intelligent hand
Machine, tablet computer or other intelligent display devices.
Athletic posture restoring method specifically includes the following steps:
Firstly, the intelligent wearable device of acceleration transducer 11 is equipped at sportsman's wrist by being worn on, acquisition movement
The acceleration information and attitude angle change information that member generates in hull paddle motion process, and form the vector number of information
Group.
Wherein:
When to correspond to time t, the collected vector acceleration matrix of acceleration transducer 11, Ax, Ay, AzBe respectively with
It (at the wearing corresponding to acceleration transducer 11) is the X under reference frame at sportsman's wrist, Y, the acceleration in Z-direction
Degree；RtWhen to correspond to time t, acceleration transducer 11 is collected around axis attitudes vibration angle vector matrix, Rroll, Rpitch,
RyawBe respectively using at sportsman's wrist as reference frame under around X, Y, the attitude angle change information of Z axis；
Meanwhile it is ginseng based on earth magnetic north extreme direction that the electronic compass 13 in intelligent wearable device, which can be acquired with timestamp,
The hull course data D examinedt, wherein DtThe shape between intelligent wearable device direction of displacement (i.e. hull direction of travel) and magnetic north pole
At horizontal sextant angle, for correct attitude angle variation in RyawNumerical value, then have:
R′yaw=Ryaw+Dt
R′t=[Rroll Rpitch R′yaw]
Wherein, R 'tWhen to correspond to time t, with earth magnetic north extremely X-axis (assuming that earth magnetic north pole is X at sportsman's wrist
Axis positive direction, earth magnetic south extremely X-axis negative direction) X, Y, the attitude angle change information of Z axis.
Then, pass through spin matrix and R obtained abovet', it obtains at sportsman's wrist of earth magnetic north extremely X-axis
3-axis acceleration information, specifically:
It enables
Rroll=φ, Rpitch=θ, R 'yaw=ψ,
Different time t is then corresponded to, has spin matrix as follows:
To using at sportsman's wrist as reference frame under vector acceleration matrixCarry out matrix multiplication operation:
When to correspond to time t, with the vector acceleration of earth magnetic north extremely X-axis at sportsman's wrist, wherein
By GPS12 (or BEI-DOU position system), the exercise data of hull itself can be obtained, wherein comprising hull with
Velocity information V of the earth magnetic north extremely X-axis with reference underB, t(being learnt by the displacement information calculating of hull), in which: VB, t=[VB, 1
VB, 2 VB, 3 … VB, n-2 VB, n-1 VB, n]
For VB, tA derivation is carried out in time domain, can obtain VB, tCorresponding acceleration scalar Ab, and with course angle DtInto
The decomposition (with earth magnetic north extremely X-axis, as reference) of row acceleration, obtains vector accelerationAnd acceleration matrix:
Since GPS12 (BEI-DOU position system) does not acquire hull in the acceleration of Z-direction, then it assume that Abz=0,
It utilizesCorrectionTo reject the interference for the acceleration information that the acceleration of hull forward speed generation generates pulling through,
Then have:
If hull direction of advance is the characteristics of merging the positive direction of acceleration, draw paddle to move according to hull it is found that A 'x's
Direction and hull direction of advance are in the same direction, here by A 'xAssign vectorMould ArtPositive negativity, then have:
Wherein,
For the collected acceleration information of acceleration sensing at regular intervals and attitude angle change information, in repetition
Step is stated, and then three axis for obtaining filtering out (revised) practical at sportsman's wrist after hull 3-axis acceleration information accelerate
Spend the discrete message array of mouldThen have:
Art=[A1 A2 A3 … An-2 An-1 An]
Later, it is obtained according to the analysis of sportsman's pulling through, the corresponding paddle transverse plane linear velocity of hand and time
Relationship is the sine curve with the period, therefore is directed to discrete signal array Art, carry out discrete Fourier transform, discrete data from when
Domain is transformed into frequency domain, and is integrated.Wherein discrete fourier variation formula is as follows:
Wherein:
Using Fourier transformation integral property it is found that by acceleration signal integral seek speed signal when, integral operation
It is changed into division arithmetic, then does inverse Fourier transform again and takes its real part that the speed signal of time domain can be obtained, wherein once
Integral property is as follows:
By the integral property of Fourier transformation, following formula can be obtained:
Wherein,For filter function, to remove DC component and de-noising,
Wherein, fdFor frequency cutoff lower limit and fd=0.1, fuFor frequency cutoff upper limit fu=1.5；After obtaining result, then root
Inverse Fourier transform is carried out according to following formula, the data in frequency domain is allowed to return to time domain:
It obtains acceleration transducer 11 and draws paddle speed dispersion signal array Vt(unit: meter per second), then have:
Vt=[V1 V2 V3 … Vn-2 Vn-1 Vn]
Wherein VtThe positive or negative direction for representing sportsman's pulling through it is whether identical as hull direction of advance, if identical
Then VtIt is positive, sportsman, which is in, draws paddle period, the V if not identicaltIt is negative, sportsman, which is in, at this time pushes away the paddle period.With VtIn time
Between t map, can obtain in a period of time, sportsman draw paddle speed and time relational graph, as shown in Fig. 3.It is invalid rejecting
After data field (interference information), the average drawing paddle rate curve characteristic pattern of the sportsman can be obtained by average algorithm:
As shown in Fig. 4.
Wherein, with Vt=0 and Vt-1> 0, Vt+1< 0 draws the benchmark in paddle period as measurement, can show that the paddle period is drawn in representative
The speed signal array V of beginning0And the time array T corresponding to it0, in which:
T0=[T1 T2 T3 … Tn-2 Tn-1 Tn]
Then have, Tn-Tn-1For two paddle interval times, therefore corresponding any T0, there is the paddle frequency R for corresponding to it at that timet, wherein:
It can thus be concluded that the array R about paddle frequency0, wherein:
R0=[R1 R2 R3 … Rn-2 Rn-1 Rn]
It is being based on ArtIt, can be according to the quadratic integral of Fourier transformation after obtaining X (k) after array progress Fourier transformation
Matter carries out quadratic integral to the data in frequency domain, and then obtains and be based on ArtThe travel information of array, wherein quadratic integral property is such as
Under:
By the integral property of Fourier transformation, following formula can be obtained:
Wherein,For filter function, to remove DC component and de-noising, wherein fd
For frequency cutoff lower limit and fd=0.1, fuFor frequency cutoff upper limit fu=1.5, after obtaining result, carried out further according to following formula
Inverse Fourier transform allows the data in frequency domain to return to time domain:
And then obtain drawing paddle amplitude (unit: degree) discrete signal array D of sportsmant, then have:
Dt=[D1 D2 D3 … Dn-2 Dn-1 Dn]
With DtAnd the mapping of time t, it can obtain in a period of time, sportsman draws the relational graph of paddle amplitude and time, such as Fig. 5 institute
Show.
Finally, passing through the mass M of known hull entiretyb, quant quality is Mo, sportsman's mass is Ma, and assume ship institute
The resistance being subject to is Fb, resistance suffered by unilateral quant is Fd, (identical with the direction of motion) lift suffered by unilateral quant is
Fl, according to the acceleration signal array A in the resulting hull time domain of above-mentioned stepsb, corresponding any time t, then system (includes ship
Body, quant and sportsman) dynamic balance situation follow following formula:
FS=(Mb+Mo+Ma)×Ab+Fb+2×Fd-2×Fl
Wherein, FsThe resultant force being subject to for system；
According to hydrodynamics resistance formula:
Fr=0.5 × C × ρ × A × u2
Wherein, FrThe fluid resistance (or lift) being subject to for object, C are resistance (or lift) coefficient, and ρ is the close of fluid
Degree, A are the cross-sectional area of object in a liquid, and u is the relative velocity that fluid passes through object, then for ship and the fluid of quant
Mechanical characteristics have:
Fd=0.5 × Cd×ρ×Aj×u2
fl=0.5 × Cl×ρ×Aj×u2
Wherein,
Wherein, uvFor vertical (in the blade itself) speed of blade, upFor level (in the blade itself) speed of blade
Degree, and have:
up=VB, t×sinα
Wherein L is quant length, α=(Dt-Dt-1)-D0, D0To draw paddle to start a moment, the initial angle that quant and hull are formed
It spends, under normal circumstances D0=15 °；Since the power that hull advances does work all from sportsman, and if only if drawing paddle speed Vt>
When 0, sportsman just has practical acting to hull, so far can obtain the resultant force to exert a force about sportsman to two sides loom are as follows:
Assuming that sportsman's both hands uniform force application, the then array that sportsman exerts a force to unilateral loom areWith FG, 1And
The mapping of time t, can obtain in a period of time, the relational graph of loom stress and time, as shown in Figure 6.
According to horse-power formula, then have
Pb=Fg×VB, t
Wherein, PbThe timesharing power situation to do work for sportsman to hull system.
With PbAnd the mapping of time t, it can obtain in a period of time, the acting situation of sportsman and the relational graph of time, such as Fig. 7
It is shown.
According to torque formula, then have:
MG, 1=FG, 1×Lh
Wherein, MG, 1For the torque at unilateral swivel, LhFor the length of loom to swivel.With MG, 1And the mapping of time t, it can obtain
Out in a period of time, the relational graph of torque and time at swivel, as shown in Figure 8.
The above is merely preferred embodiments of the present invention, be not intended to restrict the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. the motion information acquisition system of boatman a kind of, which is characterized in that including acquisition module, first communication module,
Second communication module, main control module, intelligent terminal；The acquisition module is used to acquire acceleration information, the attitude angle of sportsman
Change information, hull displacement information and hull course information are spent, and above- mentioned information are sent to master control mould through first communication module
Block；The information parsing that the main control module is used to receive is reduced into the athletic posture information of sportsman, and through the second communication
Module and intelligent terminal communicate；The intelligent terminal is used to show the athletic posture information of sportsman.
2. the motion information acquisition system of boatman according to claim 1, which is characterized in that the acquisition module
Including acceleration transducer, GPS, electronic compass；The acceleration transducer is used to acquire sportsman's adding in three axis directions
Velocity information and the attitude angle change information rotated around three axis；The GPS is used for acquisition vessel body displacement information, electronic compass
For acquiring hull course information.
3. the motion information acquisition system of boatman according to claim 2, which is characterized in that first communication
Module includes the first wifi communication unit, first movement communication unit, the first bluetooth-communication unit；The second communication module packet
Include the 2nd wifi communication unit, the second mobile comm unit, the second bluetooth-communication unit.
4. the motion information acquisition system of boatman according to claim 3, which is characterized in that the intelligent terminal
For smart phone, tablet computer or other intelligent display devices.
5. the athletic posture restoring method of boatman a kind of, which comprises the following steps:
S1: by acquisition module obtain sportsman using its own as reference frame under initial 3-axis acceleration information and surround
The attitude angle change information of three axis rotation, and be displaced by the hull course information and hull of reference of the extreme direction of earth magnetic north
Information；
S2: the initial 3-axis acceleration information of the S1 sportsman obtained is modified, obtains sportsman with earth magnetic north pole side
To the practical 3-axis acceleration information for reference；
S3: Fourier transformation is carried out based on the practical 3-axis acceleration information of sportsman that S2 is obtained, obtains the movement appearance of sportsman
State information.
6. the athletic posture restoring method of boatman according to claim 5, which is characterized in that the three axis difference
For X-axis, Y-axis, Z axis.
7. the athletic posture restoring method of boatman according to claim 6, which is characterized in that described pair acquisition
The initial 3-axis acceleration information of sportsman be modified specifically includes the following steps:
S21: based on S1 acquisition using the extreme direction of earth magnetic north as the hull course information of reference, sportsman's attitude angle is changed
Information is modified, and then is obtained with the attitude angle change information of earth magnetic north extremely X-axis reference；
S22: the attitude angle change information obtained based on S21 is modified the initial 3-axis acceleration information of sportsman, obtains
To with sportsman's 3-axis acceleration information of earth magnetic north extremely X-axis reference；
S23: the hull displacement information obtained based on S1, derivation obtain the velocity information and acceleration information of hull；
S24: the hull acceleration information that S23 is obtained is modified based on the S1 hull course information obtained, is obtained with the earth
The hull 3-axis acceleration information of magnetic north extremely X-axis reference；
S25: sportsman's 3-axis acceleration information that S22 is obtained is repaired based on the S24 hull 3-axis acceleration information obtained
Just, it obtains filtering out the practical 3-axis acceleration information of sportsman after hull 3-axis acceleration information.
8. the athletic posture restoring method of boatman according to claim 7, which is characterized in that the sportsman's
Athletic posture information includes that sportsman draws paddle amplitude information, draws paddle velocity information, draws paddle frequency information, loom by force information.
9. the athletic posture restoring method of boatman according to claim 8, which is characterized in that described to be moved
Member athletic posture information specifically includes the following steps:
S31: the integral property based on Fourier carries out Fourier one to the practical 3-axis acceleration information of sportsman that S25 is obtained
Secondary integral to filter out interference information, then obtains sportsman by inverse Fourier transform and draws paddle velocity information；
S32: the integral property based on Fourier carries out Fourier two to the practical 3-axis acceleration information of sportsman that S25 is obtained
Secondary integral to filter out interference information, then obtains sportsman by inverse Fourier transform and draws paddle amplitude information；
S33: paddle velocity information is drawn based on the sportsman that S31 is obtained and according to the periodicity for drawing paddle speed, obtains sportsman and draws paddle
Frequency information；
S34: the sportsman that the sportsman of the hull velocity information, S31 acquisition that are obtained based on S23 draws paddle velocity information, S32 to obtain
Draw the basic parameter information of paddle amplitude information and system, then according to Newton's second law, obtain loom by force information.
10. the athletic posture restoring method of boatman according to claim 9, which is characterized in that the system
Basic parameter information includes hull mass information, quant quality information, sportsman's quality information.
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