CN112190912A - Self-powered equestrian motion attitude information detection system - Google Patents

Self-powered equestrian motion attitude information detection system Download PDF

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CN112190912A
CN112190912A CN202011038914.9A CN202011038914A CN112190912A CN 112190912 A CN112190912 A CN 112190912A CN 202011038914 A CN202011038914 A CN 202011038914A CN 112190912 A CN112190912 A CN 112190912A
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张竹
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Chongqing Innovation Center of Beijing University of Technology
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    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
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    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
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    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
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    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/62—Measuring physiological parameters of the user posture
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    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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Abstract

The invention discloses a self-powered equestrian motion attitude information detection system which comprises a power generation device, a central processing module and a plurality of wireless sensing modules, wherein the power generation device is used for generating power; the power generation device comprises a power generation module and a carrier transmitter, wherein the power generation module comprises a flexible friction film, a flexible grounding electrode and a grounding resistor, one surface of the flexible friction film is used for covering horse fur and can be used for generating electricity by friction with the horse fur to obtain electrons, the other surface of the flexible friction film is attached to the flexible grounding electrode, the flexible grounding electrode is connected with the grounding resistor, the grounding resistor is connected with the ground, the power generation module is connected with the carrier transmitter and a central processing module, and the carrier transmitter transmits a fixed carrier; the wireless sensing module converts the fixed carrier into electric energy, measures attitude information under the support of the electric energy, and sends the attitude information, the UID code and the installation position to the central processing module; the central processing module establishes a motion model according to the received data. The invention can continuously provide electric energy by utilizing the kinetic energy of the horse.

Description

Self-powered equestrian motion attitude information detection system
Technical Field
The invention relates to the technical field of motion capture, in particular to a self-powered equestrian motion attitude information detection system.
Background
With the development of inertial technology and intelligent wearing, the manufacturing volume of the inertial sensor has become smaller, so that the inertial sensor is placed at each joint part of a human body to perform motion analysis and motion recognition, and the inertial sensor has more applications such as running, swimming, mountain climbing and the like. Equestrian is a sport that is dedicated to the interaction between the riders and the horses, requires a high level of cooperation, expertise and skill, and is highly artistic and ornamental, but most of the training and judgment mainly depends on the experience of coaches, so that a sport detection system using wearable inertial sensors is increasingly emphasized.
However, the motion detection system needs to be powered for use, and the conventional power supply method is still adopted in the conventional power supply method, i.e. chemical batteries are used as a main energy supply device. Because of the large number of inertial sensors used in equestrian sports (the inertial sensors are worn by riders and different positions of horses), the work time is long, the traditional energy supply mode cannot adapt to the work environment and the energy requirement,
disclosure of Invention
The invention aims to provide a self-powered equestrian motion attitude information detection system which can continuously provide electric energy by utilizing motion kinetic energy of horses.
In order to solve the technical problems, the invention adopts a technical scheme that: the self-powered equestrian motion attitude information detection system comprises a power generation device, a central processing module and a plurality of wireless sensing modules, wherein the wireless sensing modules are distributed at different positions of a horse and a rider;
the power generation device comprises a power generation module and a carrier transmitter, wherein the power generation module comprises a flexible friction film, a flexible grounding electrode and a grounding resistor, one surface of the flexible friction film is used for covering horse fur and can be electrified by friction with the horse fur to obtain electrons, the other surface of the flexible friction film is attached to the flexible grounding electrode, the flexible grounding electrode is connected with the grounding resistor, the grounding resistor is connected with the ground, the power generation module is connected with the carrier transmitter and the central processing module in a wired mode, and the carrier transmitter is used for transmitting fixed carriers;
the wireless sensing module is used for converting the fixed carrier into electric energy, measuring attitude information under the support of the electric energy, and sending the acquired attitude information, the UID code and the installation position to the central processing module in a wireless mode;
the central processing module is used for receiving the UID codes, the installation position information and the posture information sent by the wireless sensing modules, and establishing a motion model according to the UID codes, the installation position information and the posture information so as to analyze the posture information.
Preferably, the central processing module is used for broadcasting a self-scheduling instruction;
each wireless sensing module is used for receiving the self-scheduling instruction, broadcasting an announcement message carrying the UID code and the installation position of the wireless sensing module to the adjacent wireless sensing modules according to the self-scheduling instruction, and entering a dormant state when receiving a response message returned by the adjacent wireless sensing modules;
each wireless sensing module is further used for judging whether the adjacent wireless sensing module is located within the sensing radius of the wireless sensing module according to the installation position of the wireless sensing module and the position of the adjacent wireless sensing module when receiving the notification message sent by the adjacent wireless sensing module within the sensing radius, and returning a response message to the adjacent wireless sensing module when the adjacent wireless sensing module is located within the sensing radius of the wireless sensing module.
Preferably, the UID code of each wireless sensing module is N bits, and the central processing module is specifically configured to send an N-bit paging code to each wireless sensing module and receive the UID code returned by each wireless sensing module;
each wireless sensing module is used for responding to the paging code, comparing the UID code with the paging code, and sending the UID code to the central processing module when the UID code is less than or equal to the paging code;
the central processing module is used for detecting the number of the received UID codes, continuously sending the paging codes when the number is 0, sending preset parameters to the wireless sensing module when the number is 1, identifying the highest collision bits with the same UID codes when the number is more than 1, keeping all the bits higher than the highest collision bits unchanged at the highest collision position 0 and all the positions 1 lower than the highest collision bits to obtain new paging codes, and continuously sending the new paging codes;
each wireless sensing module is also used for comparing preset parameters with prestored check parameters, and when the preset parameters and the preset check parameters are the same, the acquired attitude information and the acquired installation position are wirelessly sent to the central processing module and enter a silent state, wherein the wireless sensing module entering the silent state does not respond to the paging code within preset time;
and the central processing module is also used for continuously sending the paging code after receiving the attitude information and the installation position until receiving the attitude information and the installation position of all the wireless sensing modules.
Preferably, the number of the plurality of wireless sensing modules is 13, and the wireless sensing modules are respectively arranged on the head of a rider, the chest of the rider, the hip of the rider, the left wrist and the right wrist of the rider, the left leg and the right leg of the rider, the head of a horse, the back of the horse and the legs of four limbs of the horse.
Preferably, the motion model comprises rhythm, regularity, consistency, impact and symmetry;
the calculation process of the rhythm is as follows: calculating a tempo data value T for all pose information of a data window of scale ww：
Figure BDA0002706013250000031
NPIs the sum of all peaks in the data window, N is the number of peaks, FsIs the sampling rate; then calculating rhythm data value samples T of m data windowsm：Tm＝{T1,T2,…,TwGet rhythm R describing the whole movement by counting the standard deviationm：Rm＝stdev(Tm)；
The ruleThe calculation process of sex is as follows: extracting actual pace sequence actual of left front leg, right front leg, left rear leg and right backward from the posture informationiAccording to the ideal step sequence idealiActual step sequenceiCalculating to obtain regularity Em(g)：
Figure BDA0002706013250000032
The consistency calculation process comprises the following steps: determining the starting point P of the single period supporting phase by peak and trough detectiontAnd an end point TtAccording to the starting point PtAnd an end point TtCalculating to obtain the supporting phase time a of the front legi：
Figure BDA0002706013250000033
Figure BDA0002706013250000034
And support phase time of the rear leg bi：
Figure BDA0002706013250000035
According to the support phase time a of the front legiAnd support phase time of the rear leg biCalculating the standard deviation of all gait cycles in the time length of the support phase, and taking the standard deviation as the consistency Cm：Cm＝stdev({bi-ai1 i-1 … N), wherein the step is divided into a support phase and a suspension phase, the support phase is a state that the hoof is in contact with the ground, and the suspension phase is a state that the hoof is suspended in the air away from the ground;
the calculation process of the impact is as follows: according to the principle of generation and conduction of the biomechanical impact, the square of the peak value of the horse back of a single period
Figure BDA0002706013250000036
And limbs of horse
Figure BDA0002706013250000037
Figure BDA0002706013250000038
The sum of the squares of the peaks gives the impact I:
Figure BDA0002706013250000039
Figure BDA00027060132500000310
the calculation process of the symmetry is as follows: using the left leg aleftAnd a right leg arightThe calculation of the variance Var and covariance Cov between yields the symmetry S:
Figure BDA00027060132500000311
preferably, the flexible friction film is a PDMS film or a PTFE film, and the flexible ground electrode is an ITO electrode.
Preferably, the surface of the flexible friction film, which is in contact with the horse fur, is formed with densely arranged miniature pyramid structures.
Preferably, the average size of the micro-pyramid structures is between 10 and 100 microns.
Preferably, the thickness of the flexible friction film is between 300 μm and 500 μm.
Preferably, the resistance value of the ground resistor is 10M Ω.
Different from the prior art, the invention has the beneficial effects that: the flexible friction film is in periodic contact with and separated from horse fur by utilizing the movement or vibration of a trunk and a joint part of the horse during the movement of the horse, such as the contact of horse gear, the jolt of a saddle, the movement of a joint, the impact of a horseshoe and the like.
Drawings
FIG. 1 is a functional block diagram of a self-powered equestrian motion gesture information detection system in accordance with an embodiment of the invention;
FIG. 2 is a schematic diagram of the power generation process of the power generation device according to the embodiment of the present invention, wherein FIG. 2a is a schematic diagram of the horse fur when completely contacting the flexible friction film, FIG. 2b is a schematic diagram of the horse fur when being far away from the flexible friction film for a small distance, FIG. 2c is a schematic diagram of the horse fur when being far away from the flexible friction film for a large distance, and FIG. 2d is a schematic diagram of the horse fur when being close to the flexible friction film again;
FIG. 3 is an electron microscope image of a flexible friction film according to an embodiment of the present invention, wherein FIG. 3a is a real photograph of a PDMS film, FIG. 3b is a surface electron microscope image of the PDMS film, FIG. 3c is a side electron microscope image of the PDMS film, and FIG. 2d is a side electron microscope image of the PDMS film after being bent;
FIG. 4 is a voltage and current diagram of a power generation device according to an embodiment of the present invention, wherein FIG. 4a is a waveform diagram of an open circuit voltage of the power generation device reaching-1000V, FIG. 4b is a waveform diagram of a short circuit current density corresponding to the open circuit voltage reaching-1000V, and FIGS. 4c and 4d are waveform diagrams of an output voltage and a current density corresponding to a flexible ground electrode of the power generation device grounded through a ground resistor of 100M Ω;
FIG. 5 is a waveform diagram of data collected during equestrian motion by an inertial sensor powered by the power generation device of the present invention;
FIG. 6 is a schematic diagram illustrating a data interaction flow between the central processing module 200 and the wireless sensor module 300;
FIG. 7 is a schematic illustration of an installation of a self-powered equestrian motion profile information detection system in accordance with an embodiment of the invention;
FIG. 8 is a diagram of a motion model created by a central processing module of a self-powered equestrian motion pose information detection system according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the self-powered equestrian motion posture information detection system according to the embodiment of the invention includes a power generation device 100, a central processing module 200, and a plurality of wireless sensor modules 300, where the plurality of wireless sensor modules 300 are distributed at different positions of a horse and a rider.
The power generation device 100 comprises a power generation module 110 and a carrier transmitter 120, wherein the power generation module 110 comprises a flexible friction film 10, a flexible grounding electrode 20 and a grounding resistor 30, one surface of the flexible friction film 10 is used for covering horse fur and can be electrified by friction with the horse fur to obtain electrons, the other surface of the flexible friction film 10 is attached to the flexible grounding electrode 20, the flexible grounding electrode 20 is connected with the ground through the grounding resistor 30, the power generation module 110 is connected with the carrier transmitter 120 and a central processing module 200 in a wired mode, and the carrier transmitter 120 is used for transmitting fixed carriers.
The wireless sensing module 300 is configured to convert the fixed carrier into electric energy, measure attitude information under the support of the electric energy, and send the acquired attitude information, the UID code of the wireless sensing module, and the installation position to the central processing module 200 in a wireless manner.
The central processing module 200 is configured to receive the UID code, the installation position information, and the posture information sent by each wireless sensing module 300, and establish a motion model according to the UID code, the installation position, and the posture information, so as to analyze the posture information.
The power generation principle of the power generation module 110 is shown in fig. 2, and according to the triboelectric sequence, the horse fur is easy to obtain electrons and can be used as a friction material at a positive charge end, and the flexible friction film 10 is used as a friction material at a negative charge end. In the initial state, the horse fur and the surface of the flexible friction film 10 are in close contact with each other, resulting in charge transfer therebetween.
As shown in fig. 2a, the flexible friction film 10 is easier to get electrons during the friction process than horse fur according to the triboelectric sequence, so that the electrons on the horse fur are injected into the flexible friction film 10, which is the contact charging process. The triboelectric charges generated are opposite in electrical behavior and are just balanced/shielded off from each other, so that no current flows in the external circuit.
As shown in fig. 2b, once the flexible friction film 10 is separated from the horse fur, the friction charges are not compensated, and the negative charges on the surface of the flexible friction film 10 can induce positive charges on the flexible ground electrode 20, so as to drive the free electrons to flow from the flexible ground electrode 20 to the ground, and the electrostatic induction process can generate a voltage/current signal.
As shown in fig. 2c, with the distance between the horse fur and the flexible friction film 10 increasing, when the negative friction charge on the flexible friction film 10 is completely shielded by the positive charge induced on the flexible ground electrode 20, no voltage/current signal is output.
As shown in fig. 2d, when the horse fur returns to approach the flexible friction membrane 10, electrons flow from the ground to the flexible ground electrode 20, and the positive charge induced on the flexible ground electrode 20 is reduced, thereby obtaining an inverted output voltage/current signal.
In the present embodiment, the surface of the flexible friction film 10 contacting with the horse fur is formed with a dense arrangement of micro pyramid structures. The micro pyramid structure can be prepared on the surface of the flexible friction film 10 by adopting an etching method. The flexible friction film 10 may be a PDMS (polydimethylsiloxane) film or a PTFE (polytetrafluoroethylene) film, and the flexible ground electrode 20 may be an ITO (indium tin oxide) electrode. The average size of the micro-pyramidal structures is between 10 and 100 micrometers, for example 40 micrometers, and the thickness of the flexible tribofilm is between 300 μm and 500 μm, for example 400 μm. The resistance value of the ground resistor 30 is 10M Ω.
As shown in fig. 3a and 3d, the flexible friction film 10 can be bent arbitrarily to conform to the shape of the horse fur.
As shown in fig. 3b and 3c, the flexible friction film 10 has a surface formed with a dense array of micro pyramid structures. Due to the micro pyramid structure, the flexible friction film 10 can be used for sensing a larger friction charge density, and the contact angle of the flexible friction film 10 with the micro pyramid structure and water is 131 degrees and obviously larger than 113 degrees, wherein the contact angle of the flexible friction film with the micro pyramid structure and water is the contact angle of the common PDMS film without the micro pyramid structure and water. Therefore, the flexible friction film 10 has the hydrophilic and hydrophobic properties of the polymer surface, so that water drops can easily roll off the surface and carry away dust and other pollutants, thereby being capable of avoiding the influence of sweat of the horse and dust in the environment when the horse moves.
Further, the power generation module 110 also has strong electromagnetic characteristics.
As shown in fig. 4a, when the horse fur is rapidly contacted/separated with/from the flexible friction film 10, the voltage thereof can reach-1000V, and the obtained voltage is negative because the surface of the flexible friction film 10 is negatively charged. The short circuit current density of the corresponding external circuit may be up to 8mA/m 2.
As shown in fig. 4b, when the flexible ground electrode 20 is grounded through a 100M Ω ground resistor 30, the corresponding output voltage and current density are presented in fig. 4c and 4d, respectively. The output voltage peak value generated by the grounding resistor 30 reaches 180V, the current density peak value can reach 2.8mA/m2, therefore, the output power density is about 500mW/m2, and the generated electric energy is enough to ensure that the inertial sensor works normally.
The power generating apparatus 100 can be installed on a saddle or a horse leg, and the present invention is preferably installed on the saddle because the horse back is located at a central position in the horse-shaped structure, which is also advantageous for energy and communication transmission, and the saddle is large in size and space, and at the same time, the mechanical energy generated by the deformation of the flexible friction film 10 and the flexible ground electrode 20 is converted into electric energy by severe jolts and pressure applied by a rider during equestrian movement, thereby further improving the power generating efficiency.
In one implementation, the power generation device 100 of the present invention is mounted on a saddle and supplies power to the wireless sensing module 300. The data collected by the wireless sensing module 300 is shown in fig. 5, and it can be seen from the figure that the data of the wireless sensing module 300 shows the motion law of uphill and downhill in accordance with the equestrian, which also indirectly shows that the electric energy generated by the power generation device 100 is enough to enable the wireless sensing module 300 to work normally.
When a plurality of wireless sensing modules 300 are installed on a horse, in order to effectively control the redundancy of wireless sensing nodes and maintain certain sensing reliability, the robustness to position errors, packet loss and node failure is also provided. In this embodiment, the central processing module 200 is configured to broadcast a self-scheduling command;
each wireless sensing module 300 is configured to receive a self-scheduling instruction, broadcast a notification message carrying the UID code and the installation location of the wireless sensing module 300 to the neighboring wireless sensing module 300 according to the self-scheduling instruction, and enter a sleep state when receiving a response message returned by the neighboring wireless sensing module 300;
each wireless sensor module 300 is further configured to, when receiving a notification message sent by an adjacent wireless sensor module 300 within a sensing radius, determine whether the adjacent wireless sensor module 300 is within the sensing radius of the wireless sensor module according to the installation position of the wireless sensor module and the position of the adjacent wireless sensor module 300, and return a response message to the adjacent wireless sensor module 300 when the adjacent wireless sensor module 300 is within the sensing radius of the wireless sensor module.
When a plurality of horses are detected at the same place, in order to avoid collision of data sent by the wireless sensing modules 300 on different horses, in this embodiment, the UID code of each wireless sensing module 300 is N bits, and the central processing module 200 is specifically configured to send an N-bit paging code to each wireless sensing module 300 and receive the UID code returned by each wireless sensing module 300;
each wireless sensing module 300 is configured to respond to the paging code, compare its own UID code with the paging code, and send its own UID code to the central processing module 200 when its own UID code is less than or equal to the paging code;
the central processing module 200 is configured to detect the number of the received UID codes, continue to send the paging code when the number is 0, send a preset parameter to the wireless sensor module 300 when the number is 1, identify the highest collision bit that is the same for each UID code when the number is greater than 1, keep all the bits that are higher than the highest collision bit unchanged at the highest collision position 0 of the paging code and all the positions 1 that are lower than the highest collision bit, obtain a new paging code, and continue to send the new paging code;
each wireless sensing module 300 is further configured to compare the preset parameters with the pre-stored calibration parameters, and when the preset parameters are the same as the pre-stored calibration parameters, send the acquired attitude information and the acquired installation position to the central processing module 200 in a wireless manner, and enter a silent state, where the wireless sensing module 300 entering the silent state no longer responds to the paging code within a predetermined time;
the central processing module 200 is further configured to continue to send paging codes after receiving the attitude information and the installation position until all the attitude information and the installation position of the wireless sensing module 300 are received.
The data interaction flow between the central processing module 200 and the wireless sensing module 300 will be described in detail with reference to fig. 6. In fig. 6, there are 4 wireless sensor modules 300, which are respectively represented by a wireless sensor module a, a wireless sensor module B, a wireless sensor module C, and a wireless sensor module D, where the UID code of the wireless sensor module a is 10110010, the UID code of the wireless sensor module B is 10100011, the UID code of the wireless sensor module C is 10110011, and the UID code of the wireless sensor module D is 11100011. The data interaction flow is as follows:
1) the central processing module 200 sends the paging code 11111111 for the first time, the UID codes of the wireless sensing module A, the wireless sensing module B, the wireless sensing module C and the wireless sensing module D are all smaller than the paging code 11111111, and then the wireless sensing module A, the wireless sensing module B, the wireless sensing module C and the wireless sensing module D send the UID codes of the wireless sensing module A, the wireless sensing module B, the wireless sensing module C and the wireless sensing module D to the central processing module 200.
2) Since the number of received UID codes is 4, that is, the number is greater than 1. Therefore, the central processing module 200 identifies the same collision bit of each UID code, i.e. 1x1x001x, x represents the collision bit, the central processing module 200 identifies the highest collision bit of each UID code, i.e. the position of the 1 st x, then the highest collision position 0 of the paging code, all the positions 1 lower than the highest collision bit, all the bits higher than the highest collision bit are kept unchanged to obtain a new paging code 10111111, and then the paging code 10111111 is sent for the second time.
3) The UID codes of the wireless sensing module A, the wireless sensing module B and the wireless sensing module C are smaller than the paging code 10111111, and then the wireless sensing module A, the wireless sensing module B and the wireless sensing module C send the UID codes of the wireless sensing module A, the wireless sensing module B and the wireless sensing module C to the central processing module 200.
4) Since the number of received UID codes is 3, that is, the number is greater than 1. Therefore, the central processing module 200 identifies the same collision bit of each UID code, i.e. 101x001x, the central processing module 200 identifies the same highest collision bit of each UID code, then keeps all bits above the highest collision bit unchanged, the highest collision position 0 of the paging code, all positions 1 below the highest collision bit, gets a new paging code 10101111, and then sends the paging code 10101111 for the third time.
5) At this time, only the UID code 10100011 of the wireless sensing module B is smaller than the paging code 10101111, and then the wireless sensing module B transmits its own UID code to the central processing module 200.
6) Since the number of received UID codes is 1, the central processing module 200 sends a preset parameter to the wireless sensing module B.
7) The wireless sensing module B compares the preset parameters with the pre-stored calibration parameters, and when the preset parameters are the same as the pre-stored calibration parameters, wirelessly transmits the acquired attitude information and the installation position to the central processing module 200, and enters a silent state. If the preset parameter is different from the pre-stored verification parameter, it indicates that the wireless sensing module B and the central processing module 200 belong to different horses.
After receiving the attitude information and the installation position, the central processing module 200 continues to transmit the paging code until receiving the attitude information and the installation position of all the wireless sensing modules 200. That is, the processes 1) to 7) are repeated three times, and the processes 1) to 7) are repeated three times within a preset time, so that the central processing module 200 sequentially obtains the attitude information and the installation position of the wireless sensor module a, the wireless sensor module C, and the wireless sensor module D.
As shown in fig. 7, in the present embodiment, the number of the wireless sensing modules 300 is 13, and the wireless sensing modules are respectively mounted on the head of the rider, the chest of the rider, the hip of the rider, the left and right wrists of the rider, the left and right legs of the rider, the head of the horse, the back of the horse, and the legs of the four limbs of the horse.
As shown in fig. 8, the motion model created by the central processing module 200 includes rhythm, regularity, consistency, jerk, and symmetry.
The calculation process of the rhythm is as follows: calculating a tempo data value T for all pose information of a data window of scale ww：
Figure BDA0002706013250000091
NPIs the sum of all peaks in the data window, N is the number of peaks, FsIs the sampling rate; then calculating rhythm data value samples T of m data windowsm：Tm＝{T1,T2,…,TwGet rhythm R describing the whole movement by counting the standard deviationm：Rm＝stdev(Tm). The equestrian exercise process is a periodic exercise which advances at a certain rhythm, and comprises step frequency, step length and the like, and the rhythm can reflect the dynamic comprehensive regulation state of the step.
The calculation process of regularity is as follows: extracting actual pace sequence actual of left front leg, right front leg, left rear leg and right backward from the posture informationiAccording to the ideal step sequence idealiActual step sequenceiCalculating to obtain regularity Fm(g)：
Figure BDA0002706013250000092
According to the existing gait analysis, some gaits are natural, such as jogging and jogging, but some gaits need acquired training, such as fast walking, and the different states can follow the corresponding step sequence, which is also an important evaluation parameter for judging the dance steps. Ideal step sequence idealiIs a known empirical value.
The consistency calculation process is as follows: determining the starting point P of the single period supporting phase by peak and trough detectiontAnd an end point TtAccording to the starting point PtAnd an end point TtCalculating to obtain the supporting phase time a of the front legi：
Figure BDA0002706013250000093
Figure BDA0002706013250000094
And support phase time of the rear leg bi：
Figure BDA0002706013250000095
According to the support phase time a of the front legiAnd support phase time of the rear leg biCalculating the standard deviation of all gait cycles in the time length of the support phase, and taking the standard deviation as the consistency Cm：Cm＝stdev({bi-ai1 i-1 … N), in which the step is divided into a support phase, which is a state in which the hoof is in contact with the ground, and a levitation phase, which is a state in which the hoof is levitated in the air apart from the ground. The consistency is similar to the rhythm, but the measurement is the consistency of the proportion of a gait support phase and a suspension phase, the horse has short and agile pace, the force of hind limbs is used as much as possible to push the horse to advance, and the stability and the adjustment condition in the motion can be reflected at the same time.
The calculation process of the impact is as follows: according to the principle of generation and conduction of the biomechanical impact, the square of the peak value of the horse back of a single period
Figure BDA0002706013250000101
And limbs of horse
Figure BDA0002706013250000102
Figure BDA0002706013250000103
The sum of the squares of the peaks gives the impact I:
Figure BDA0002706013250000104
Figure BDA0002706013250000105
wherein, equestrian motion can produce jolting, great impact force from top to bottom, and if improper control then can cause the injury to the rider, need the rider to utilize the action of hip to adjust to solve in the jolting process in cooperation.
The calculation process of symmetry is: using the left leg aleftAnd a right leg arightBetween variance Var and covariance CovCalculating the symmetry S:
Figure BDA0002706013250000106
the horses have more or less bad exercise habits, fatigue is accumulated on muscles due to the asymmetrical exercise, injuries such as lameness can be caused for a long time, and if the horses are kept in an asymmetrical state all the time in the exercise, cooperation between a rider and the horses is not harmonious and unbalanced, and the risk of falling horses is caused. Therefore, the symmetry needs to be detected in time, and then adjustment training is carried out immediately, so that the risk of injury is avoided.
Through the mode, the self-powered equestrian movement posture information detection system provided by the embodiment of the invention realizes the periodic contact and separation between the flexible friction film and the horse fur by utilizing the movement or vibration of the trunk and the joint part of the horse when the horse moves, such as the contact of horse gear, the bumping of saddle, the joint movement, the impact of horseshoe and the like, and the periodic distance change between the flexible friction film and the surface of the horse fur causes the charge transfer between the flexible grounding electrode and the ground according to the principle of triboelectric effect and electrostatic induction to drive electrons to flow through, so that the movement kinetic energy of the horse can be utilized to continuously provide electric energy, and the self-powered equestrian movement posture information detection system has the advantages of sustainability, low cost, environmental protection and the like.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A self-powered equestrian motion attitude information detection system is characterized by comprising a power generation device, a central processing module and a plurality of wireless sensing modules, wherein the wireless sensing modules are distributed at different positions of a horse and a rider;
the power generation device comprises a power generation module and a carrier transmitter, wherein the power generation module comprises a flexible friction film, a flexible grounding electrode and a grounding resistor, one surface of the flexible friction film is used for covering horse fur and can be electrified by friction with the horse fur to obtain electrons, the other surface of the flexible friction film is attached to the flexible grounding electrode, the flexible grounding electrode is connected with the grounding resistor, the grounding resistor is connected with the ground, the power generation module is connected with the carrier transmitter and the central processing module in a wired mode, and the carrier transmitter is used for transmitting fixed carriers;
the wireless sensing module is used for converting the fixed carrier into electric energy, measuring attitude information under the support of the electric energy, and sending the acquired attitude information, the UID code and the installation position to the central processing module in a wireless mode;
the central processing module is used for receiving the UID codes, the installation position information and the posture information sent by the wireless sensing modules, and establishing a motion model according to the UID codes, the installation position information and the posture information so as to analyze the posture information.
2. A self-powered equestrian motion gesture information detection system according to claim 1, wherein the central processing module is configured to broadcast self-scheduling instructions;
each wireless sensing module is used for receiving the self-scheduling instruction, broadcasting an announcement message carrying the UID code and the installation position of the wireless sensing module to the adjacent wireless sensing modules according to the self-scheduling instruction, and entering a dormant state when receiving a response message returned by the adjacent wireless sensing modules;
each wireless sensing module is further used for judging whether the adjacent wireless sensing module is located within the sensing radius of the wireless sensing module according to the installation position of the wireless sensing module and the position of the adjacent wireless sensing module when receiving the notification message sent by the adjacent wireless sensing module within the sensing radius, and returning a response message to the adjacent wireless sensing module when the adjacent wireless sensing module is located within the sensing radius of the wireless sensing module.
3. The system for detecting motion attitude information of a self-powered equestrian according to claim 1, wherein the UID code of each of the wireless sensor modules is N bits, and the central processing module is specifically configured to send an N-bit paging code to each of the wireless sensor modules and receive the UID code returned by each of the wireless sensor modules;
each wireless sensing module is used for responding to the paging code, comparing the UID code with the paging code, and sending the UID code to the central processing module when the UID code is less than or equal to the paging code;
the central processing module is used for detecting the number of the received UID codes, continuously sending the paging codes when the number is 0, sending preset parameters to the wireless sensing module when the number is 1, identifying the highest collision bits with the same UID codes when the number is more than 1, keeping all the bits higher than the highest collision bits unchanged at the highest collision position 0 and all the positions 1 lower than the highest collision bits to obtain new paging codes, and continuously sending the new paging codes;
each wireless sensing module is also used for comparing preset parameters with prestored check parameters, and when the preset parameters and the preset check parameters are the same, the acquired attitude information and the acquired installation position are wirelessly sent to the central processing module and enter a silent state, wherein the wireless sensing module entering the silent state does not respond to the paging code within preset time;
and the central processing module is also used for continuously sending the paging code after receiving the attitude information and the installation position until receiving the attitude information and the installation position of all the wireless sensing modules.
4. The self-powered equestrian motion gesture information detection system of claim 1, wherein the plurality of wireless sensing modules is 13, each mounted on a rider's head, a rider's chest, a rider's hip, a rider's left and right wrists, a rider's left and right legs, a horse's head, a horse's back, a horse's extremities legs.
5. The self-powered equestrian motion pose information detection system of claim 4, wherein the motion model comprises cadence, regularity, consistency, jerk, and symmetry;
the rhythmThe calculation process of (2) is as follows: calculating a tempo data value T for the pose information of a data window of scale ww：
Figure FDA0002706013240000021
NPIs the sum of all peaks in the data window, N is the number of peaks, FsIs the sampling rate; then calculating rhythm data value samples T of m data windowsm∶Tm＝{T1，T2，...，TwGet rhythm R describing the whole movement by counting the standard deviationm：Rm＝stdev(Tm)；
The calculation process of the regularity is as follows: extracting actual pace sequence actual of left front leg, right front leg, left rear leg and right backward from the posture informationiAccording to the ideal step sequence idealiActual step sequenceiCalculating to obtain regularity Em(g)：
Figure FDA0002706013240000022
The consistency calculation process comprises the following steps: determining the starting point P of the single period supporting phase by peak and trough detectiontAnd an end point TtAccording to the starting point PtAnd an end point TtCalculating to obtain the supporting phase time a of the front legi：
Figure FDA0002706013240000023
Figure FDA0002706013240000024
And support phase time of the rear leg bi：
Figure FDA0002706013240000025
According to the support phase time a of the front legiAnd support phase time of the rear leg biCalculating the standard deviation of all gait cycles in the time length of the support phase, and taking the standard deviation as the consistency Cm：Cm＝stdev({bi-ai}|i＝1...N)，The step is divided into a supporting phase and a suspension phase, wherein the supporting phase is a state that the hoofs are in contact with the ground, and the suspension phase is a state that the hoofs are suspended in the air away from the ground;
the calculation process of the impact is as follows: according to the principle of generation and conduction of the biomechanical impact, the square of the peak value of the horse back of a single period
Figure FDA0002706013240000031
And limbs of horse
Figure FDA0002706013240000032
Figure FDA0002706013240000033
The sum of the squares of the peaks gives the impact I:
Figure FDA0002706013240000034
Figure FDA0002706013240000035
the calculation process of the symmetry is as follows: using the left leg aleftAnd a right leg arightThe calculation of the variance Var and covariance Cov between yields the symmetry S:
Figure FDA0002706013240000036
6. a self-powered equestrian motion attitude information detection system according to claim 1, wherein the flexible friction film is a PDMS film or a PTFE film, and the flexible ground electrode is an ITO electrode.
7. A self-powered equestrian motion attitude information detection system according to claim 6, wherein the surface of the flexible friction film in contact with the horse fur is formed with a dense array of micro pyramid structures.
8. A self-powered equestrian motion gesture information detection system according to claim 7, wherein the average size of the micro-pyramid structures is between 10 and 100 microns.
9. A self-powered equestrian motion pose information detection system according to claim 8, wherein the thickness of the flexible friction film is between 300 μ ι η -500 μ ι η.
10. A self-powered equestrian motion gesture information detection system according to claim 9, wherein the ground resistor has a resistance value of 10 Μ Ω.
CN202011038914.9A 2020-09-28 2020-09-28 Self-powered equestrian motion attitude information detection system Pending CN112190912A (en)

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CN103354429A (en) * 2013-03-12 2013-10-16 国家纳米科学中心 Sliding friction nano generator and power generation method
CN109130426A (en) * 2017-06-27 2019-01-04 北京纳米能源与系统研究所 A kind of generator unit, composite nano generator, system, sensor and paper

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29716891U1 (en) * 1997-09-22 1997-12-04 Steinbach, Michael, Dr.med., 21394 Kirchgellersen Training device for a rider
US20070130893A1 (en) * 2005-11-23 2007-06-14 Davies Michael A M Animal instrumentation
CN102695249A (en) * 2011-03-23 2012-09-26 北京天地互连信息技术有限公司 Energy saving method for IPv6 wireless sensor network
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