CN110711369A - Winding rod training and examination system and examination data acquisition method thereof - Google Patents
Winding rod training and examination system and examination data acquisition method thereof Download PDFInfo
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- CN110711369A CN110711369A CN201911095806.2A CN201911095806A CN110711369A CN 110711369 A CN110711369 A CN 110711369A CN 201911095806 A CN201911095806 A CN 201911095806A CN 110711369 A CN110711369 A CN 110711369A
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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
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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
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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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
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/807—Photo cameras
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention relates to the field of sports training and examination systems and methods, in particular to a winding rod training and examination system and an examination data acquisition method thereof, wherein the examination system comprises an examination range area, sign rods, a binocular stereoscopic vision device and a background processor, the sign rods are arranged in the examination range area in a vertical mode at intervals, the binocular stereoscopic vision device is provided with binocular cameras, a plurality of devices are arranged around the examination range area and cover the examination range area from a plurality of visual angles, the stereoscopic vision device is connected with the background processor in a wired or wireless mode, and the binocular stereoscopic vision device transmits visual data to the background processor to calculate and obtain examination data; the assessment system can replace manpower to realize intelligent assessment, is simple in structure, adopts the stereoscopic vision data to calculate to obtain assessment process data, and is high in data accuracy and reliability.
Description
Technical Field
The invention relates to the field of sports training and assessment systems and methods, in particular to an S-shaped winding rod training and assessment system and an assessment data acquisition method thereof.
Background
The S-shaped winding rod examination is a common examination item for dribbling training in some ball sports, and also has the same examination item in some physical training. In football or basketball training of students in schools or when the mechanism of professional training football or basketball is in the examination, the examination place is usually very simple to set up a plurality of benchmarks, the examination is mainly to be carried out by coaches or teachers to judge whether the S-shaped winding rods of the students meet the training and examination standards or not, namely, the examination is mainly in a manual judgment mode, at present, some simpler settings for assisting manual examination are also provided, for example, infrared sensors are installed on the benchmarks, or induction labels are worn or installed on examination judgment objects, and the manual judgment is assisted through the induction of the infrared sensors and the like. However, the method cannot accurately evaluate the accurate positions of the dribbling students and the football or the basketball, and the conditions of misjudgment or cheating by test takers are easy to occur.
Disclosure of Invention
The invention aims to provide a winding rod training and checking system which can replace manpower to realize intelligent checking, has a simple checking system structure and is reliable in checking process data.
The invention also aims to provide the examination data acquisition method of the winding rod training examination system, which adopts stereoscopic vision data to calculate to obtain examination process data, and has high data accuracy and high reliability of the examination process data.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a winding rod training examination system which characterized in that: the visual examination device comprises an examination range area, sign rods, binocular stereoscopic vision devices and a background processor, wherein the sign rods are arranged in the examination range area vertically at intervals, the binocular stereoscopic vision devices are provided with binocular cameras, a plurality of examination range areas are covered from a plurality of visual angles around the examination range area, the stereoscopic vision devices are connected with the background processor in a wired or wireless mode, and the binocular stereoscopic vision devices transmit visual data to the background processor to calculate and obtain examination data.
Binocular stereoscopic vision device includes the casing, sets up on the casing binocular camera and battery and the circuit module of setting on the casing, battery connecting circuit module is its power supply, circuit module is including antenna, wireless transmission unit and the control unit are connected respectively to binocular camera, the data that binocular camera was shot transmit the backstage treater through wireless transmission unit, backstage treater passes through the work of the two mesh cameras of control unit control.
The binocular stereoscopic vision device is respectively arranged in four diagonal directions of the examination range area.
The binocular stereoscopic vision device is erected on the lifting placing frame.
The S-shaped winding rod training and assessment system further comprises a display screen for displaying assessment information.
The display screen is erected on the lifting placing frame and arranged around the examination range area.
The 5 marker posts are arranged in the middle area of the assessment range area in a straight line shape.
The examination data acquisition method of the rod winding training examination system comprises the following steps of:
firstly, shooting by each binocular camera, respectively acquiring depth image data of an examination process, and performing three-dimensional scene reconstruction on the examination process;
secondly, each binocular camera respectively processes the depth image data to calculate point cloud data, and panoramic three-dimensional point cloud data of a scene are generated;
thirdly, each binocular camera transmits the panoramic three-dimensional point cloud data to a background processor;
fourthly, the background processor receives the panoramic three-dimensional point cloud data of each binocular camera to remove invalid point cloud data, and real-time three-dimensional point cloud data are obtained;
and fifthly, the background processor acquires the point cloud data of the database standard template of the examination judgment object and the real-time three-dimensional point cloud data to perform point cloud registration processing, and coordinate information data of the examination judgment object in the real-time three-dimensional point cloud data is obtained.
Processing the depth image data to calculate a conversion formula of the point cloud data as follows:
in the formula (f)x，fy，cx，cyThe camera reference is given by a camera manufacturer or self calibration; u and v are pixel coordinate values in a camera coordinate system; and X, Y and Z are actual coordinate values in the world coordinate system.
And step four, eliminating the invalid point cloud data by adopting a voxel filtering and/or radius filtering mode.
And the point cloud registration processing mode of the step five comprises a point cloud registration mode of a 4-point consistency set, a point cloud registration mode of normal distribution transformation and/or a point cloud registration mode of an iteration closest point for registration.
The point cloud registration processing method of the point cloud registration mode of the iteration closest point is as follows, and Q is assumed to be usediRepresenting database standard template point cloud data, PiRepresenting real-time three-dimensional point cloud data, the aligned registration of the two point clouds is transformed to minimize the objective function E of the following formula:
in the formula, R is a rotation matrix, T is a translation matrix, n is the number of point clouds, and i is the serial number of the point clouds;
and solving the formula by adopting a least square method to obtain R and T, thereby obtaining coordinate information data of the assessment judgment object in the real-time three-dimensional point cloud data.
By adopting the technical scheme, the invention has the beneficial effects that: the S-shaped winding rod training and checking system with the structure is based on a binocular stereoscopic vision technology, a plurality of binocular cameras in different directions can shoot checking range areas simultaneously, a three-dimensional structure in a field can be built in real time, multi-view recording is more accurate, the real-time accurate position of a checking and judging object can be recorded visually and accurately, any sensor does not need to be installed on a marker post, an induction label does not need to be worn or installed on the checking and judging object, cheating of examinees can be effectively prevented, the possibility of misjudgment is effectively reduced, the binocular cameras can be used for recording videos at the same time, later playback is facilitated, and data which can be checked and traced is provided for the checking process. The assessment data acquisition method provided by the invention adopts stereoscopic vision data to calculate to obtain assessment process data, the data accuracy is high, and the assessment process data reliability is high, so that the aim effects that the assessment method can replace manual work to realize intelligent assessment, the assessment system is simple in structure, and the assessment process data is reliable are achieved.
Drawings
FIG. 1 is a schematic structural diagram of a rod winding training assessment system according to the present invention;
FIG. 2 is a schematic structural diagram of a binocular stereoscopic vision device in a rod winding training and assessment system according to the present invention;
FIG. 3 is a block diagram of a flow structure of an assessment data acquisition method of a rod winding training assessment system.
In the figure:
an assessment range area 1; a marking post 2;
a binocular stereoscopic vision device 3; a binocular camera 31; a housing 32; a storage battery 33;
a circuit module 34; an antenna 341; a display screen 4; a background processor 5.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
The invention discloses a rod winding training assessment system, which comprises an assessment range area 1, a sign rod 2, a binocular stereoscopic vision device 3, a display screen 4 and a background processor 5, as shown in figure 1.
The assessment range area 1 is an assessment field with an effective assessment range area, as shown in the figure, the assessment range area is a rectangular area, a plurality of sign rods 2 are vertically arranged in the assessment range area 1 at intervals, specifically, the sign rods can also be arranged according to the content of assessment items, as shown in the figure, 5 sign rods are arranged in the middle area of the assessment range area 1 in a straight line shape along the length direction of the assessment range area 1, and the sign rods are used for assessment of S-shaped rod winding training.
As shown in fig. 2, the binocular stereoscopic vision device 3 has a binocular camera 31, so as to realize the functional functions of the binocular stereoscopic vision shooting of the present invention, that is, the present invention is used for three-dimensional panoramic reconstruction of an assessment site, three-dimensional panoramic reconstruction of an assessment process during assessment, panoramic three-dimensional point cloud data of a generated site, video, etc., and is connected with the background processor 5 in a wired or wireless manner, so as to realize data transmission. In this embodiment, the binocular stereoscopic vision device 3 further includes a housing 32, a storage battery 33 and a circuit module 34 which are disposed on the housing 32, the binocular camera 31 is disposed on the housing 32, the storage battery 33 is connected with the circuit module 34 to supply power to the circuit module 34, and here the circuit module 34 can be disposed in a corresponding circuit structure according to system function requirements, for example, in this embodiment, the circuit module 34 includes an antenna 341, a wireless transmission unit (for example, a WiFi module) and a control unit (not visible in the figure), the binocular camera 31 is respectively connected with the wireless transmission unit and the control unit, data shot by the binocular camera 31 is transmitted to the background processor 5 through the wireless transmission unit, and the background processor 5 can control shooting work of the binocular camera 31 through the control unit. The binocular stereoscopic vision device 3 is arranged around the assessment range area 1 and covers the assessment range area from a plurality of visual angles, as shown in the figure, the binocular stereoscopic vision device 3 is arranged in four rectangular diagonal directions of the assessment range area 1 respectively, the directions are reasonably arranged, the visual angles can cover the overall two eyes, the three-dimensional point cloud data of different angles can be obtained, and the accuracy of the system can be determined.
The background processor 5 receives the data from the binocular stereo vision device 3 and calculates the examination data (which will be described in detail later herein, and the examination data acquisition method is described in detail later).
The display screen 4 is used for displaying the assessment information, displaying the training result or the assessment result of the assessment judgment object in real time, and can be placed around the assessment range area 1, so that the assessment judgment object can conveniently check the training result or the assessment result. In the embodiment, the binocular stereoscopic vision device 3 and the display screen 4 are erected on the lifting placing frame 5, so that the position, the height, the angle and the like can be adjusted conveniently according to the examination use requirement, and the arrangement and storage operation are also facilitated.
The winding rod training and assessment system with the structure is simple in field layout structure, only 4 binocular stereoscopic vision devices 3 are needed, assessment and use operations are simple and convenient, the using effect is as described in the beneficial effect section, repeated description is omitted, and detailed description is given below for the assessment data acquisition method of the winding rod training and assessment system.
A assessment data acquisition method of a rod winding training assessment system is provided, and the method for acquiring process data during assessment comprises the following steps as shown in FIG. 3:
firstly, shooting by each binocular camera, respectively acquiring depth image data of an examination process, and performing three-dimensional scene reconstruction on the examination process;
secondly, each binocular camera respectively processes the depth image data to calculate point cloud data, and panoramic three-dimensional point cloud data of a scene are generated; in this embodiment, a conversion formula for processing depth image data and calculating point cloud data is as follows:
in the formula (f)x，fy，cx，cyThe camera reference is given by a camera manufacturer or self calibration; u and v are pixel coordinate values in a camera coordinate system; and X, Y and Z are actual coordinate values in the world coordinate system.
Thirdly, each binocular camera transmits the panoramic three-dimensional point cloud data to a background processor;
fourthly, the background processor receives the panoramic three-dimensional point cloud data of each binocular camera to remove invalid point cloud data, and real-time three-dimensional point cloud data are obtained; the elimination processing of the invalid point cloud data can obtain the range numerical parameters required by the elimination processing through the examination field point cloud data obtained by the binocular stereoscopic vision device before the examination and the use of the examination system, so that the range numerical parameters are used for calculation processing in the elimination processing of the invalid point cloud data, and the elimination of the invalid point cloud data is achieved; the specific elimination processing of the invalid point cloud data can be processed by means of voxel filtering and/or radius filtering, which are techniques well known in the art and are not described in detail here, and can be obtained from networks or related books, forums, industry journals and the like.
Fifthly, the background processor acquires the point cloud data of the database standard template of the examination judgment object and the real-time three-dimensional point cloud data to perform point cloud registration processing, and coordinate information data of the examination judgment object in the real-time three-dimensional point cloud data is obtained; the standard template point cloud data of the database of the assessment judgment object is a template data database prepared in advance, and registration is called from the template data database when the template data database is used.
The point cloud registration processing mode can adopt a point cloud registration mode of a 4-point consistency set (4PCS), a point cloud registration mode of Normal Distribution Transformation (NDT) and/or a point cloud registration mode of Iterative Closest Point (ICP) for registration; as shown in the figure, in this embodiment, a point cloud registration manner of a 4-point consistency set (4PCS) and a point cloud registration manner of a Normal Distribution Transformation (NDT) are first adopted to perform a preliminary point cloud registration, that is, first coarse registration is performed, and then secondary registration is performed in a point cloud registration manner of an Iterative Closest Point (ICP), that is, second fine registration is performed;
the point cloud registration processing method of the point cloud registration mode of the iteration closest point is as follows, and Q is assumed to be usediRepresenting database standard template point cloud data, PiRepresenting real-time three-dimensional point cloud data, the aligned registration of the two point clouds is transformed to minimize the objective function E of the following formula:
in the formula, R is a rotation matrix, T is a translation matrix, n is the number of point clouds, and i is the serial number of the point clouds;
and the R and the T are rotation parameters and translation parameters between the found database standard template point cloud data and the real-time three-dimensional point cloud data, so that the two point set data meet the optimal matching under the measurement criterion, and the formula is solved by adopting a least square method to obtain the R and the T, thereby obtaining the coordinate information data of the assessment judgment object in the real-time three-dimensional point cloud data.
The point cloud registration method of the 4-point consistency set (4PCS), the point cloud registration method of the Normal Distribution Transformation (NDT), and the point cloud registration method of the Iterative Closest Point (ICP) are well known in the art, and are not described in detail here, and can be obtained from a network or related books, forums, and industrial periodicals.
After the assessment data (namely the coordinate information data of the assessment judgment object) is obtained by adopting the method, the assessment result can be obtained by further intelligent comparison through background processing, or the assessment result can be obtained through rapid judgment of the coordinate information data of the assessment judgment object by an examiner or other modes, the result obtaining part is not the main protection object of the scheme and is not disclosed in detail here, and the part does not disclose and does not influence the clear understanding of the technical scheme. By the assessment system structure and the assessment data acquisition method, the assessment system is simple in structure, high in assessment data accuracy and high in data reliability in the assessment process, and therefore the purpose and effect of the invention are achieved.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (10)
1. The utility model provides a winding rod training examination system which characterized in that: the visual examination device comprises an examination range area, sign rods, binocular stereoscopic vision devices and a background processor, wherein the sign rods are arranged in the examination range area vertically at intervals, the binocular stereoscopic vision devices are provided with binocular cameras, a plurality of examination range areas are covered from a plurality of visual angles around the examination range area, the stereoscopic vision devices are connected with the background processor in a wired or wireless mode, and the binocular stereoscopic vision devices transmit visual data to the background processor to calculate and obtain examination data.
2. The rod winding training assessment system of claim 1, wherein: binocular stereoscopic vision device includes the casing, sets up on the casing binocular camera and battery and the circuit module of setting on the casing, battery connecting circuit module is its power supply, circuit module is including wireless transmission unit and the control unit, wireless transmission unit and the control unit are connected respectively to binocular camera, the data that binocular camera was shot transmit the backstage treater through wireless transmission unit, the backstage treater passes through the work of the two mesh cameras of the control unit control.
3. The rod winding training assessment system of claim 1, wherein: the binocular stereoscopic vision device is respectively arranged in four diagonal directions of the examination range area.
4. A rod winding training assessment system as claimed in claim 1, 2 or 3, wherein: the S-shaped winding rod training and assessment system further comprises a display screen for displaying assessment information.
5. The rod winding training assessment system of claim 4, wherein: the binocular stereoscopic vision device and the display screen are respectively erected on the lifting placing rack.
6. The assessment data acquisition method of the rod winding training assessment system as claimed in any one of claims 1 to 5, wherein the method for acquiring the process data during assessment comprises the following steps:
firstly, shooting by each binocular camera, respectively acquiring depth image data of an examination process, and performing three-dimensional scene reconstruction on the examination process;
secondly, each binocular camera respectively processes the depth image data to calculate point cloud data, and panoramic three-dimensional point cloud data of a scene are generated;
thirdly, each binocular camera transmits the panoramic three-dimensional point cloud data to a background processor;
fourthly, the background processor receives the panoramic three-dimensional point cloud data of each binocular camera to remove invalid point cloud data, and real-time three-dimensional point cloud data are obtained;
and fifthly, the background processor acquires the point cloud data of the database standard template of the examination judgment object and the real-time three-dimensional point cloud data to perform point cloud registration processing, and coordinate information data of the examination judgment object in the real-time three-dimensional point cloud data is obtained.
7. The examination data acquisition method of the rod winding training examination system as claimed in claim 6, wherein: processing the depth image data to calculate a conversion formula of the point cloud data as follows:
in the formula (f)x，fy，cx，cyThe camera reference is given by a camera manufacturer or self calibration; u and v are pixel coordinate values in a camera coordinate system; and X, Y and Z are actual coordinate values in the world coordinate system.
8. The examination data acquisition method of the rod winding training examination system as claimed in claim 6, wherein: and step four, eliminating the invalid point cloud data by adopting a voxel filtering and/or radius filtering mode.
9. The examination data acquisition method of the rod winding training examination system as claimed in any one of claims 6 to 8, wherein: and the point cloud registration processing mode of the step five comprises a point cloud registration mode of a 4-point consistency set, a point cloud registration mode of normal distribution transformation and/or a point cloud registration mode of an iteration closest point for registration.
10. The examination data acquisition method of the rod winding training examination system as claimed in claim 9, wherein: the point cloud registration processing method of the point cloud registration mode of the iteration closest point is as follows, and Q is assumed to be usediRepresenting database standard template point cloud data, PiRepresenting real-time three-dimensional point cloud data, the aligned registration of the two point clouds is transformed to minimize the objective function E of the following formula:
in the formula, R is a rotation matrix, T is a translation matrix, n is the number of point clouds, and i is the serial number of the point clouds;
and solving the formula by adopting a least square method to obtain R and T, thereby obtaining coordinate information data of the assessment judgment object in the real-time three-dimensional point cloud data.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117333945A (en) * | 2023-10-16 | 2024-01-02 | 中金育能科技集团有限公司 | Snake running motion detection method, device, equipment and storage medium |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117333945A (en) * | 2023-10-16 | 2024-01-02 | 中金育能科技集团有限公司 | Snake running motion detection method, device, equipment and storage medium |
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