CN110038291B - Motion information acquisition system and motion posture recovery method for rowing athletes - Google Patents

Motion information acquisition system and motion posture recovery method for rowing athletes Download PDF

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CN110038291B
CN110038291B CN201910441459.8A CN201910441459A CN110038291B CN 110038291 B CN110038291 B CN 110038291B CN 201910441459 A CN201910441459 A CN 201910441459A CN 110038291 B CN110038291 B CN 110038291B
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information
athlete
acceleration
motion
axis
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CN110038291A (en
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马捷
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Shenzhen Qianhai Sports Technology Co ltd
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Shenzhen Qianhai Sports Technology Co ltd
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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
    • 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 invention discloses a motion information acquisition system for a rowing player, which comprises an acquisition module, a first communication module, a second communication module, a main control module and an intelligent terminal, wherein the acquisition module is used for acquiring motion information of the rowing player; the acquisition module is used for acquiring the motion information of the athlete and transmitting the motion information to the main control module through the first communication module; the main control module is used for analyzing and restoring the received information into the motion attitude information of the athlete and communicating with the intelligent terminal through the second communication module. The system only needs the athlete to wear the acquisition module, so that the movement information of the athlete can be acquired, and then the ship body, the paddle and other equipment do not need to be modified, and the cost is reduced. The invention also discloses a method for restoring the motion posture of the rowing players. The method can analyze and restore the collected motion information of the athlete into the motion attitude information of the athlete, has simple and efficient principle, can display the motion attitude information in real time through the intelligent terminal, and can accurately monitor the athlete at a long distance.

Description

Motion information acquisition system and motion posture recovery method for rowing athletes
Technical Field
The invention relates to the field of athlete motion information acquisition, in particular to a motion information acquisition system and a motion posture recovery method for a rowing athlete.
Background
The water project of boating sport is a key attacking project of the national physical commission '119' project, and specifically comprises the following steps: racing boats, kayaks, canoes, sailboats, sailboards, and the like. The effect of the rowing players sliding in water is the core of the trainers for checking the training quality of the rowing players, and the effect is mainly reflected by the sliding speed of the boat body in water, the paddle pulling speed of the rowing players, the paddle pulling amplitude, the stress of the paddle handle and other related motion postures. Conventional acquisition and analysis of the above-mentioned motion gestures are generally accomplished in two ways:
1) a coach carries out subjective analysis by watching the sports video;
2) by additionally arranging the force measuring sensors and the infrared displacement sensors at the boat body, the sliding seat and the propeller support, elastic deformation signals or displacement signals caused by the force of the athlete on the supporting points of the propeller and the propeller support in the motion process are collected, and then relevant motion attitude information (including a force applying curve, a propeller pulling speed curve and the like) of the athlete is output.
The two conventional acquisition modes of the motion attitude information have the following defects:
1) other equipment such as a ship body, a paddle and the like needs to be greatly modified, and collected signals are analog signals based on an old-fashioned sensor, so that real-time output and analysis cannot be realized, and complete and precise monitoring cannot be carried out on long-distance rowing;
2) a plurality of sensors are needed, and the sensors have various types, mutual signal interference and poor signal stability;
the method for correcting and analyzing the motion information collected by the sensor to restore the motion information of the athlete is complicated and has low restoring efficiency.
Disclosure of Invention
The invention aims to provide a motion information acquisition system for a rowing player, which can acquire relevant motion information of the rowing player only by wearing intelligent wearing equipment provided with an acceleration sensor on a wrist of the rowing player, so that other equipment such as a ship body and a paddle does not need to be modified, a conventional motion information acquisition mode for acquiring multi-port, multi-sensor and multi-channel simulation information is changed, and the cost is reduced; the invention also provides a method for restoring the motion posture of the rowing players, the motion information is analyzed and restored into the motion posture information of the rowing players by the method for restoring the motion posture, the method is simple and efficient in principle, the motion posture information can be displayed in real time through the intelligent terminal, the rowing players can be precisely monitored in a long distance, and the practicability is high.
In order to realize the purpose, the following technical scheme is adopted:
a motion information acquisition system for a rowing player comprises an acquisition module, a first communication module, a second communication module, a main control module and an intelligent terminal; the acquisition module is used for acquiring the acceleration information, the attitude angle change information, the hull displacement information and the hull course information of the athlete and transmitting the information to the main control module through the first communication module; the main control module is used for analyzing and restoring the received information into the motion attitude information of the athlete and communicating with the intelligent terminal through the second communication module; the intelligent terminal is used for displaying the motion attitude information of the athlete.
Further, the acquisition module comprises an acceleration sensor, a GPS and an electronic compass; the acceleration sensor is used for acquiring acceleration information of the athlete in the three-axis direction and posture angle change information of the athlete rotating around three axes; the GPS is used for collecting displacement information of the ship body, and the electronic compass is used for collecting heading information of the ship body.
Further, the first communication module comprises a first wifi communication unit, a first mobile communication unit and a first bluetooth communication unit; the second communication module comprises a second wifi communication unit, a second mobile communication unit and a second Bluetooth communication unit.
Furthermore, the intelligent terminal is a smart phone, a tablet computer or other intelligent display equipment.
A method for restoring the motion posture of a rowing player comprises the following steps:
s1: acquiring initial triaxial acceleration information and attitude angle change information of the athlete rotating around three axes under a coordinate system with the athlete as a reference by an acquisition module, and ship heading information and ship displacement information by taking the direction of the magnetic north of the earth as a reference;
s2: correcting the initial triaxial acceleration information of the athlete obtained in the step S1 to obtain actual triaxial acceleration information of the athlete taking the direction of the magnetic north of the earth as a reference;
s3: and performing Fourier transform on the actual three-axis acceleration information of the athlete obtained in the S2 to obtain the motion posture information of the athlete.
Further, the three axes are an X axis, a Y axis and a Z axis respectively.
Further, the step of correcting the obtained athlete initial triaxial acceleration information specifically includes the following steps:
s21: correcting the posture angle change information of the athletes based on the ship body heading information which is obtained by S1 and takes the direction of the magnetic north pole of the earth as the reference, and further obtaining the posture angle change information which takes the magnetic north pole of the earth as the X-axis reference;
s22: based on the attitude angle change information obtained in the step S21, correcting the initial triaxial acceleration information of the athlete to obtain the triaxial acceleration information of the athlete which is referred to by the X axis of the earth magnetic north pole;
s23: obtaining speed information and acceleration information of the ship body by derivation based on the ship body displacement information obtained in the S1;
s24: correcting the ship acceleration information obtained in the step S23 based on the ship heading information obtained in the step S1 to obtain ship three-axis acceleration information which is referred to by an X axis of the earth magnetic north pole;
s25: and correcting the athlete triaxial acceleration information obtained in the step S22 based on the hull triaxial acceleration information obtained in the step S24 to obtain the actual triaxial acceleration information of the athlete after filtering the hull triaxial acceleration information.
Furthermore, the motion attitude information of the athlete comprises the oar pulling amplitude information, the oar pulling speed information, the oar pulling frequency information and the oar handle stress information of the athlete.
Further, the obtaining of the motion posture information of the athlete specifically includes the following steps:
s31: based on the integral property of Fourier, carrying out Fourier first-time integral on the actual three-axis acceleration information of the athlete obtained in the step S25 to filter interference information, and then obtaining the pulling speed information of the athlete through inverse Fourier transform;
s32: based on the integral property of Fourier, carrying out Fourier secondary integral on the actual three-axis acceleration information of the athlete obtained in the step S25 to filter interference information, and then obtaining the paddle-pulling amplitude information of the athlete through Fourier inverse transformation;
s33: acquiring the pulling rate information of the athlete based on the pulling speed information of the athlete obtained in the S31 and the periodicity of the pulling speed;
s34: and acquiring the stress information of the paddle handle according to Newton' S second law based on the ship speed information acquired at S23, the athlete pulling speed information acquired at S31, the athlete pulling amplitude information acquired at S32 and the basic parameter information of the system.
Further, the basic parameter information of the system comprises hull quality information, paddle quality information and athlete quality information.
By adopting the scheme, the invention has the beneficial effects that:
1) according to the system, only an athlete wears intelligent wearing equipment provided with an acceleration sensor at the wrist, the relevant motion information of the athlete can be collected, and the motion information is analyzed and reduced into the motion attitude information of the athlete by a motion attitude reduction method, so that other equipment such as a ship body and a paddle does not need to be modified, and the cost is reduced;
2) only an acceleration sensor is needed, and an information transmission channel is single, so that mutual interference of information transmission of multiple types of sensors is avoided, the information transmission efficiency is high, and signals are stable;
3) the movement posture restoration method is simple and efficient, movement posture information of the athlete can be displayed in real time through the intelligent terminal, the athlete can be monitored at a long distance and precisely, and the practicability is high.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a flow chart of a motion gesture reduction method of the present invention;
FIG. 3 is a graph of athlete's feathering speed versus time in accordance with one embodiment of the present invention;
FIG. 4 is a graph of average player feathering speed versus time in accordance with one embodiment of the present invention;
FIG. 5 is a graph of athlete feather pulling amplitude versus time in one embodiment of the present invention;
FIG. 6 is a graph of player feathering amplitude versus feathering speed in one embodiment of the present invention;
FIG. 7 is a graph of paddle handle force versus time in one embodiment of the present invention;
FIG. 8 is a graph of athlete work versus time in one embodiment of the present invention;
FIG. 9 is a plot of peg torque versus time in one embodiment of the present invention;
wherein the figures identify the description:
1-an acquisition module; 2-a first communication module;
3-a second communication module; 4, a main control module;
5, an intelligent terminal; 6-cloud end;
11-an acceleration sensor; 12-GPS;
13-an electronic compass; 21-a first wifi communication unit;
22-a first mobile communication unit; 23-a first bluetooth communication unit;
31-a second wifi communication unit; 32-second mobile communication unit.
33-second bluetooth communication unit.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1, the invention provides a motion information acquisition system for a rowing player, comprising an acquisition module 1, a first communication module 2, a second communication module 3, a main control module 4 and an intelligent terminal 5; the acquisition module 1 is used for acquiring acceleration information, attitude angle change information, hull displacement information and hull course information of athletes and transmitting the information to the main control module 4 through the first communication module 2; the main control module 4 is used for analyzing and restoring the received information into the motion attitude information of the athlete and communicating with the intelligent terminal 5 through the second communication module 3; and the intelligent terminal 5 is used for displaying the motion attitude information of the athlete.
The acquisition module 1 comprises an acceleration sensor 11, a GPS12 and an electronic compass 13; the acceleration sensor 11 is used for acquiring acceleration information of the athlete in three-axis directions and posture angle change information of the athlete rotating around three axes; the GPS12 is used for collecting the displacement information of the ship body, and the electronic compass 13 is used for collecting the heading information of the ship body; the first communication module 2 comprises a first wifi communication unit 21, a first mobile communication unit 22 and a first Bluetooth communication unit 23; the second communication module 3 comprises a second wifi communication unit 31, a second mobile communication unit 32 and a second bluetooth communication unit 33; the intelligent terminal 5 is a smart phone, a tablet computer or other intelligent display equipment.
Referring to fig. 2 to 9, the present invention also provides a method for restoring a motion posture of a rowing player, comprising the steps of:
s1: acquiring initial triaxial acceleration information and attitude angle change information of the athlete rotating around three axes under a coordinate system with the athlete as a reference by an acquisition module 1, and ship heading information and ship displacement information by taking the direction of the magnetic north of the earth as a reference;
s2: correcting the initial triaxial acceleration information of the athlete obtained in the step S1 to obtain actual triaxial acceleration information of the athlete taking the direction of the magnetic north of the earth as a reference;
s3: and performing Fourier transform on the actual three-axis acceleration information of the athlete obtained in the S2 to obtain the motion posture information of the athlete.
Wherein the three axes are respectively an X axis, a Y axis and a Z axis; the motion attitude information of the athlete comprises the oar pulling amplitude information, the oar pulling speed information, the oar pulling frequency information and the oar handle stress information of the athlete.
The step of correcting the obtained initial triaxial acceleration information of the athlete specifically comprises the following steps:
s21: correcting the posture angle change information of the athletes based on the ship body heading information which is obtained by S1 and takes the direction of the magnetic north pole of the earth as the reference, and further obtaining the posture angle change information which takes the magnetic north pole of the earth as the X-axis reference;
s22: based on the attitude angle change information obtained in the step S21, correcting the initial triaxial acceleration information of the athlete to obtain the triaxial acceleration information of the athlete which is referred to by the X axis of the earth magnetic north pole;
s23: obtaining speed information and acceleration information of the ship body by derivation based on the ship body displacement information obtained in the S1;
s24: correcting the ship acceleration information obtained in the step S23 based on the ship heading information obtained in the step S1 to obtain ship three-axis acceleration information which is referred to by an X axis of the earth magnetic north pole;
s25: and correcting the athlete triaxial acceleration information obtained in the step S22 based on the hull triaxial acceleration information obtained in the step S24 to obtain the actual triaxial acceleration information of the athlete after filtering the hull triaxial acceleration information.
The method for obtaining the motion posture information of the athlete specifically comprises the following steps:
s31: based on the integral property of Fourier, carrying out Fourier first-time integral on the actual three-axis acceleration information of the athlete obtained in the step S25 to filter interference information, and then obtaining the pulling speed information of the athlete through inverse Fourier transform;
s32: based on the integral property of Fourier, carrying out Fourier secondary integral on the actual three-axis acceleration information of the athlete obtained in the step S25 to filter interference information, and then obtaining the paddle-pulling amplitude information of the athlete through Fourier inverse transformation;
s33: acquiring the pulling rate information of the athlete based on the pulling speed information of the athlete obtained in the S31 and the periodicity of the pulling speed;
s34: and acquiring the stress information of the paddle handle according to Newton' S second law based on the ship speed information acquired at S23, the athlete pulling speed information acquired at S31, the athlete pulling amplitude information acquired at S32 and the basic parameter information of the system.
The basic parameter information of the system comprises hull quality information, paddle quality information and athlete quality information.
The working principle of the invention is as follows:
in this embodiment, the acquisition module 1 is an intelligent wearable device worn on the wrist of an athlete, and the intelligent wearable device is provided with 3-axis or more than 3-axis acceleration sensors 11, a GPS12, an electronic compass 13 (or other devices capable of acquiring motion heading information), including but not limited to smart watches and bracelets of various brands, and professional wearable devices specially developed for the use scene; the athlete only needs to wear equipment at one hand or both hands and starts a data collection/analysis function through the loadable APP, and the system can automatically start working without any modification on other equipment such as a ship body, a paddle and the like; according to different models of an acceleration sensor 11 arranged in the intelligent wearable device, the data acquisition rate is different from 60 hz to 150 hz; the original acceleration information which is acquired by the acceleration sensor 11 in real time and takes the athlete as a reference coordinate system is transmitted to the main control module 4 in real time through the first mobile communication unit 22 (3/4/5G communication unit) or the first wifi communication unit 21 or the first bluetooth unit 23; the main control module 4 analyzes and restores the received acceleration information into the posture information of the athlete by using an athlete posture restoration method, and transmits the posture information to the cloud terminal 6 through the second mobile communication unit 32 (3/4/5G communication unit) or the second wifi communication unit or the second bluetooth communication unit 33, and the intelligent terminal 5 visually outputs the posture information through the cloud terminal 6.
The acquisition module 1 can be matched with other equipment in the ship body through the first Bluetooth communication unit 23 or the first wifi communication unit 21, so that information acquired by the other equipment is collected, the information is integrated and transmitted to the cloud end 6, and the information is visually output through the intelligent terminal 5; the intelligent wearable devices can be interconnected and data synchronized through the first Bluetooth communication unit 23 or the first wifi communication unit 21, so that the motion attitude information of a plurality of athletes can be monitored simultaneously; the intelligent terminal 5 is a smart phone, a tablet computer or other intelligent display equipment.
The motion posture restoration method specifically comprises the following steps:
firstly, the intelligent wearable equipment with the acceleration sensor 11 arranged on the wrist of the athlete collects acceleration information and posture angle change information generated by the athlete in the process of hull rowing motion and forms a vector array of the information.
Wherein:
Figure DEST_PATH_IMAGE001
Figure 406623DEST_PATH_IMAGE002
corresponding to the time t, the acceleration vector matrix collected by the acceleration sensor 11,
Figure DEST_PATH_IMAGE003
，
Figure 269537DEST_PATH_IMAGE004
，
Figure 431528DEST_PATH_IMAGE005
acceleration in the directions of X, Y and Z axes with the wrist of the athlete (corresponding to the wearing position of the acceleration sensor 11) as a reference coordinate system;
Figure 758604DEST_PATH_IMAGE006
corresponding to the time t, the angular vector matrix of the change of the axial attitude collected by the acceleration sensor 11,
Figure 42955DEST_PATH_IMAGE007
，
Figure 127586DEST_PATH_IMAGE008
，
Figure 155585DEST_PATH_IMAGE009
the posture angle change information around X, Y and Z axes with the wrist of the athlete as a reference coordinate system is respectively used;
meanwhile, the electronic compass 13 on the intelligent wearable device can collect ship heading data with time stamps based on the direction of magnetic north of the earth as reference
Figure 337167DEST_PATH_IMAGE010
Wherein, in the step (A),
Figure 730102DEST_PATH_IMAGE010
the horizontal included angle formed between the displacement direction (namely the ship body traveling direction) of the intelligent wearable equipment and the magnetic north pole is used for correcting the attitude angle change
Figure 629925DEST_PATH_IMAGE009
The values of (c) are:
Figure 133719DEST_PATH_IMAGE011
Figure 169808DEST_PATH_IMAGE012
wherein the content of the first and second substances,
Figure 795961DEST_PATH_IMAGE013
the wrist of the athlete uses the change information of the attitude angles of the X axis, the Y axis and the Z axis of the magnetic north pole of the earth (assuming that the magnetic north pole of the earth is the positive direction of the X axis and the magnetic south pole of the earth is the negative direction of the X axis) as the corresponding time t.
Then, through the rotation matrix and the above-mentioned results, three-axis acceleration information of the wrist of the athlete with the earth magnetic north pole as the X axis is obtained, specifically:
order to
Figure 855184DEST_PATH_IMAGE014
,
Then for different times t, the torque matrix is as follows:
Figure 224986DEST_PATH_IMAGE015
to the acceleration vector matrix taking the wrist of the athlete as a reference coordinate system
Figure 318844DEST_PATH_IMAGE002
Performing matrix multiplication:
Figure 115898DEST_PATH_IMAGE016
Figure 724734DEST_PATH_IMAGE017
corresponding to the acceleration vector of the wrist of the athlete with the magnetic north of the earth as the X axis at the time t, wherein
Figure 570331DEST_PATH_IMAGE018
Through a GPS12 (or a Beidou positioning system), the motion data of the ship body can be obtained, wherein the motion data comprise speed information of the ship body under the condition of taking the magnetic north pole of the earth as an X-axis reference
Figure 581012DEST_PATH_IMAGE019
(calculated from the displacement information of the hull), wherein:
Figure 486651DEST_PATH_IMAGE020
to is directed at
Figure 582783DEST_PATH_IMAGE019
Once derivation in time domain can be obtained
Figure 294387DEST_PATH_IMAGE019
Corresponding acceleration scalar quantity
Figure 362837DEST_PATH_IMAGE021
And using course angle
Figure 501695DEST_PATH_IMAGE010
The acceleration is decomposed (taking the magnetic north pole of the earth as the X axis as the reference) to obtain the acceleration vector
Figure 819543DEST_PATH_IMAGE022
And an acceleration matrix:
Figure 266662DEST_PATH_IMAGE023
since the GPS12 (compass positioning system) does not collect the acceleration of the ship body in the Z-axis direction, it can be assumed that
Figure 251936DEST_PATH_IMAGE024
By using
Figure 499377DEST_PATH_IMAGE022
Correction of
Figure 304522DEST_PATH_IMAGE017
In order to eliminate the interference of the acceleration generated by the advancing speed of the ship body on the acceleration information generated by the oar pulling action, the following steps are provided:
Figure DEST_PATH_IMAGE025
the forward direction of the ship body is the positive direction of the combined acceleration, and can be known according to the characteristics of the ship body paddle pulling motion,
Figure 295612DEST_PATH_IMAGE026
in the same direction as the direction of advance of the hull, where it passes
Figure 135392DEST_PATH_IMAGE026
Given vector
Figure 553735DEST_PATH_IMAGE027
Die of
Figure 111755DEST_PATH_IMAGE028
Positive and negative, then:
Figure 703274DEST_PATH_IMAGE029
wherein the content of the first and second substances,
Figure 600823DEST_PATH_IMAGE030
the steps are repeated according to the acceleration information and the attitude angle change information acquired by the acceleration sensing at regular intervals, and then the actual (corrected) triaxial acceleration model of the wrist of the athlete is obtained after the triaxial acceleration information of the hull is filteredDiscrete information array of
Figure 252384DEST_PATH_IMAGE031
Then, there are:
Figure 969804DEST_PATH_IMAGE032
then, according to the analysis of the player's pulling action, the relation between the linear speed of the blade end plane corresponding to the hand and the time is a sine curve with a period, so that the relation aims at the discrete signal array
Figure 365013DEST_PATH_IMAGE033
Discrete fourier transform is performed to convert the discrete data from the time domain to the frequency domain and integration is performed. Wherein the discrete fourier transform equation is as follows:
Figure 179386DEST_PATH_IMAGE034
wherein:
Figure 939531DEST_PATH_IMAGE035
,
Figure 206564DEST_PATH_IMAGE036
-1
the integral property of Fourier transform is utilized to know that when the acceleration signal is subjected to integral calculation to obtain the speed signal, the integral calculation is converted into division calculation, then inverse Fourier transform is carried out, and the real part is taken to obtain the time domain speed signal, wherein the integral property of one time is as follows:
Figure 343148DEST_PATH_IMAGE037
by the integral nature of the fourier transform, the following equation can be derived:
Figure 12026DEST_PATH_IMAGE038
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE039
as a filter function for removing DC components and noise cancellation,
wherein the content of the first and second substances,
Figure 943073DEST_PATH_IMAGE040
is the lower frequency cutoff limit and
Figure DEST_PATH_IMAGE041
，
Figure 697403DEST_PATH_IMAGE042
is the upper frequency cut-off limit
Figure 637677DEST_PATH_IMAGE043
(ii) a After obtaining the result, performing inverse Fourier transform according to the following formula, and returning the data in the frequency domain to the time domain:
Figure 161062DEST_PATH_IMAGE044
obtaining a discrete signal array of the pulling speed of the acceleration sensor 11
Figure 263010DEST_PATH_IMAGE045
(unit: m/s) then:
Figure 504636DEST_PATH_IMAGE046
wherein
Figure 45339DEST_PATH_IMAGE045
Whether the direction of the player's pulling action is the same as the advancing direction of the ship body or not is represented, and if the direction of the player's pulling action is the same, the player's pulling action is represented
Figure 360913DEST_PATH_IMAGE045
The athlete is in the paddle pulling period if the athlete is positive and the athlete is not the same
Figure 961659DEST_PATH_IMAGE045
Negative, the athlete is in the propeller pushing cycle. To be provided with
Figure DEST_PATH_IMAGE047
And time t, and obtaining a relation graph of the paddle pulling speed of the athlete and the time in a period of time, as shown in figure 3.
After eliminating the invalid data field (interference information), the average speed curve characteristic diagram of the athlete can be obtained through an average value algorithm: as shown in fig. 4.
Wherein, in order
Figure 362685DEST_PATH_IMAGE048
And is
Figure 707078DEST_PATH_IMAGE049
As a reference for measuring the period of the feathering, an array of velocity signals representing the beginning of the feathering period is derived
Figure 939476DEST_PATH_IMAGE050
And the corresponding time array
Figure DEST_PATH_IMAGE051
Wherein:
Figure 648806DEST_PATH_IMAGE052
then there is a change in the number of,
Figure DEST_PATH_IMAGE053
the interval between two paddles is arbitrary
Figure 537128DEST_PATH_IMAGE051
Having a paddle frequency corresponding to its current time
Figure 419633DEST_PATH_IMAGE006
Wherein:
Figure 772117DEST_PATH_IMAGE054
from this, an array relating to the paddle frequency can be obtained
Figure 652349DEST_PATH_IMAGE055
Wherein:
Figure 90283DEST_PATH_IMAGE056
based on
Figure 731741DEST_PATH_IMAGE057
The array is obtained after Fourier transform
Figure 938731DEST_PATH_IMAGE058
Then, according to the second integral property of Fourier transform, the data in the frequency domain can be twice integrated, and then the data based on Fourier transform can be obtained
Figure 52181DEST_PATH_IMAGE033
Array run length information, where the quadratic integration property is as follows:
Figure 915094DEST_PATH_IMAGE059
by the integral nature of the fourier transform, the following equation can be derived:
Figure 139402DEST_PATH_IMAGE060
wherein the content of the first and second substances,
Figure 466479DEST_PATH_IMAGE039
is a filter function for removing a DC component and canceling noise, wherein,
Figure 422933DEST_PATH_IMAGE040
is the lower frequency cutoff limit and
Figure 835460DEST_PATH_IMAGE041
，
Figure 863459DEST_PATH_IMAGE042
is the upper frequency cut-off limit
Figure 982725DEST_PATH_IMAGE043
After obtaining the result, performing inverse Fourier transform according to the following formula, and returning the data in the frequency domain to the time domain:
Figure 437977DEST_PATH_IMAGE061
further obtain the discrete signal array of the pulling amplitude (unit: degree) of the athlete
Figure 9903DEST_PATH_IMAGE062
Then, there are:
Figure DEST_PATH_IMAGE063
to be provided with
Figure 576014DEST_PATH_IMAGE010
And time t, a relationship graph of the athlete's pulling amplitude and time over a period of time can be obtained, as shown in fig. 5.
Finally, by knowing the mass of the hull as a whole
Figure 815365DEST_PATH_IMAGE064
The mass of the paddle is
Figure 441519DEST_PATH_IMAGE065
The quality of the athletes is
Figure 563059DEST_PATH_IMAGE066
And assuming that the ship is subjected to a resistance of
Figure 870543DEST_PATH_IMAGE067
The single side of the oar is subjected to a resistance of
Figure 26718DEST_PATH_IMAGE068
The single-sided paddle receives (in the same direction as the direction of motion) a lift force of
Figure 761456DEST_PATH_IMAGE069
The acceleration signal array in the time domain of the ship body obtained according to the steps
Figure 370292DEST_PATH_IMAGE021
For any time t, the force balance of the system (including the hull, the oar and the athlete) follows the following equation:
Figure 278205DEST_PATH_IMAGE070
wherein the content of the first and second substances,
Figure 226569DEST_PATH_IMAGE071
is the resultant force to which the system is subjected;
according to the hydrodynamic resistance formula:
Figure 194525DEST_PATH_IMAGE072
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE073
the fluid resistance (or lift) to which the object is subjected,
Figure 228340DEST_PATH_IMAGE074
is a coefficient of drag (or lift),
Figure 939945DEST_PATH_IMAGE075
is the density of the fluid and is,
Figure 618182DEST_PATH_IMAGE076
is the cross-sectional area of the object in the liquid,
Figure 694722DEST_PATH_IMAGE077
the relative speed of fluid passing through an object is the hydrodynamic characteristics of a ship and a paddle, and the hydrodynamic characteristics comprise the following components:
Figure 215833DEST_PATH_IMAGE078
Figure 668811DEST_PATH_IMAGE079
Figure 388506DEST_PATH_IMAGE080
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE081
wherein the content of the first and second substances,
Figure 630088DEST_PATH_IMAGE082
the vertical (to the blade itself) velocity of the blade,
Figure DEST_PATH_IMAGE083
is the horizontal (to the blade itself) velocity of the blade and has:
Figure 638495DEST_PATH_IMAGE084
Figure DEST_PATH_IMAGE085
wherein
Figure 629585DEST_PATH_IMAGE086
The length of the paddle is taken as the length of the paddle,
Figure 407048DEST_PATH_IMAGE087
，
Figure 887708DEST_PATH_IMAGE088
the initial angle formed by the oar and the hull at the beginning of the oar pulling process is generally
Figure 445728DEST_PATH_IMAGE089
(ii) a The power for advancing the ship body is all from the working of athletes, and only when the speed of the propeller is pulled
Figure 974930DEST_PATH_IMAGE090
When the athlete actually does work on the hull, the resultant force of the force applied by the athlete on the paddle handles on the two sides can be obtained as follows:
Figure 669216DEST_PATH_IMAGE091
；
assuming that the force is uniformly applied by both hands of the athlete, the force applied by the athlete to the single-side paddle handle is given by the following groups
Figure 586357DEST_PATH_IMAGE092
(ii) a To be provided with
Figure 303777DEST_PATH_IMAGE093
And time t, a relationship graph of the stress of the paddle handle and the time can be obtained, and the relationship graph is shown in figure 6.
According to the formula of power, then there are
Figure 698986DEST_PATH_IMAGE094
Wherein the content of the first and second substances,
Figure 451042DEST_PATH_IMAGE095
the condition of time-sharing power for the athletes to do work on the ship body system is provided.
To be provided with
Figure 273504DEST_PATH_IMAGE095
And time t, and obtaining a relation graph of the working condition of the athlete and the time within a period of time, as shown in fig. 7.
According to the moment formula, there are:
Figure 540537DEST_PATH_IMAGE096
wherein the content of the first and second substances,
Figure 677121DEST_PATH_IMAGE097
is the moment at the position of the single-side paddle bolt,
Figure 345999DEST_PATH_IMAGE098
the length of the paddle handle to the paddle latch. To be provided with
Figure 339363DEST_PATH_IMAGE097
And time t, a graph of torque at the paddle plug versus time over time can be obtained, as shown in fig. 8.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A motion information acquisition system for a rowing player is characterized by comprising an acquisition module, a first communication module, a second communication module, a main control module and an intelligent terminal; the acquisition module is used for acquiring the acceleration information, the attitude angle change information, the hull displacement information and the hull course information of the athlete and transmitting the information to the main control module through the first communication module; the main control module is used for analyzing and restoring the received information into the motion attitude information of the athlete and communicating with the intelligent terminal through the second communication module; the intelligent terminal is used for displaying the motion attitude information of the athlete;
the acquisition module comprises an acceleration sensor, a GPS and an electronic compass; the acceleration sensor is used for acquiring acceleration information of the athlete in the three-axis direction and posture angle change information of the athlete rotating around three axes; the GPS is used for collecting the displacement information of the ship body, and the electronic compass is used for collecting the heading information of the ship body;
the acquisition module is intelligent wearable equipment worn on the wrist of the athlete, and the acceleration vector matrix acquired by the acceleration sensor is the acceleration in the X, Y and Z axis directions under the wrist of the athlete as a reference coordinate system; the attitude angle vector matrixes around the axis, acquired by the acceleration sensors, are attitude angle change information around X, Y and Z axes respectively by taking the wrists of the athletes as a reference coordinate system; the electronic compass collects ship heading data with a timestamp based on the direction of the magnetic north of the earth as a reference;
the motion attitude information of the athlete comprises the oar pulling amplitude information, the oar pulling speed information, the oar pulling frequency information and the oar handle stress information of the athlete.
2. The rowing player's motion information collection system of claim 1, wherein the first communication module includes a first wifi communication unit, a first mobile communication unit, a first bluetooth communication unit; the second communication module comprises a second wifi communication unit, a second mobile communication unit and a second Bluetooth communication unit.
3. The rowing player's motion information collection system of claim 2, wherein the smart terminal is a smart phone, a tablet computer, or other smart display device.
4. A method for restoring the motion posture of a rowing player is characterized by comprising the following steps:
s1: acquiring initial triaxial acceleration information and attitude angle change information of the athlete rotating around three axes under a coordinate system with the athlete as a reference by an acquisition module, and ship heading information and ship displacement information by taking the direction of the magnetic north of the earth as a reference; the acquisition module is an intelligent wearable device worn on the wrist of the athlete, and the initial three-axis acceleration information is acquired acceleration vector matrix which is the acceleration in the X, Y and Z axis directions under the wrist of the athlete as a reference coordinate system; the attitude angle change information is acquired attitude angle change information of X, Y and Z axes which are respectively taken by the wrist of the athlete as a reference coordinate system around the axis attitude change angle vector matrix; the ship body course information is ship body course data with a time stamp and based on the direction of the magnetic north of the earth as a reference;
s2: correcting the initial triaxial acceleration information of the athlete obtained in the step S1 to obtain actual triaxial acceleration information of the athlete taking the direction of the magnetic north of the earth as a reference;
s3: performing Fourier transform on the actual three-axis acceleration information of the athlete obtained in S2 to obtain the motion attitude information of the athlete; the motion attitude information of the athlete comprises the oar pulling amplitude information, the oar pulling speed information, the oar pulling frequency information and the oar handle stress information of the athlete;
the step of correcting the obtained initial triaxial acceleration information of the athlete specifically comprises the following steps:
s21: correcting the posture angle change information of the athletes based on the ship body heading information which is obtained by S1 and takes the direction of the magnetic north pole of the earth as the reference, and further obtaining the posture angle change information which takes the magnetic north pole of the earth as the X-axis reference;
s22: based on the attitude angle change information obtained in the step S21, correcting the initial triaxial acceleration information of the athlete to obtain the triaxial acceleration information of the athlete which is referred to by the X axis of the earth magnetic north pole;
s23: obtaining speed information and acceleration information of the ship body by derivation based on the ship body displacement information obtained in the S1;
s24: correcting the ship acceleration information obtained in the step S23 based on the ship heading information obtained in the step S1 to obtain ship three-axis acceleration information which is referred to by an X axis of the earth magnetic north pole;
s25: and correcting the athlete triaxial acceleration information obtained in the step S22 based on the hull triaxial acceleration information obtained in the step S24 to obtain the actual triaxial acceleration information of the athlete after filtering the hull triaxial acceleration information.
5. The rowing player's stance phase recovery method of claim 4, wherein the obtaining of the player's stance phase information specifically comprises the steps of:
s31: based on the integral property of Fourier, carrying out Fourier first-time integral on the actual three-axis acceleration information of the athlete obtained in the step S25 to filter interference information, and then obtaining the pulling speed information of the athlete through inverse Fourier transform;
s32: based on the integral property of Fourier, carrying out Fourier secondary integral on the actual three-axis acceleration information of the athlete obtained in the step S25 to filter interference information, and then obtaining the paddle-pulling amplitude information of the athlete through Fourier inverse transformation;
s33: acquiring the pulling rate information of the athlete based on the pulling speed information of the athlete obtained in the S31 and the periodicity of the pulling speed;
s34: and acquiring the stress information of the paddle handle according to Newton' S second law based on the ship speed information acquired at S23, the athlete pulling speed information acquired at S31, the athlete pulling amplitude information acquired at S32 and the basic parameter information of the system.
6. The rowing player's motion profile recovery method of claim 5, wherein the basic parameter information of the system includes hull quality information, paddle quality information, player quality information.
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