CN112598954B - Ground simulation system and simulation method for sailing boat exercise training - Google Patents
Ground simulation system and simulation method for sailing boat exercise training Download PDFInfo
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- 238000004088 simulation Methods 0.000 title claims abstract description 56
- 238000012549 training Methods 0.000 title claims abstract description 47
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- 230000033001 locomotion Effects 0.000 claims abstract description 69
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims abstract description 8
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- G—PHYSICS
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
- G09B9/063—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles by using visual displays
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Abstract
The invention discloses a sailing boat movement training ground simulation system and a simulation method, wherein the system utilizes wind tunnel technology, balance technology, movement simulation technology, AR technology, human body posture monitoring technology and a high-performance control and data acquisition system, combines sailing boat hydrodynamic data to run a sailing boat movement algorithm, can truly simulate the movement of sailing boats in different sea surface environments, and helps athletes to carry out sailing boat movement training under multiple sea conditions on the ground. The system can be used for repeatedly training aiming at a certain technical action, so that athletes can be helped to form muscle memory in a short time, and the sailing boat control capacity is greatly improved. The sailing training ground simulation system can record the stress, the gesture, the track of the sailing boat, the gesture of the athlete and the boat steering mode in real time, realize quantification and visualization on the knowledge of related information, and provide data for subsequent training analysis and summarization.
Description
Technical Field
The invention belongs to the technical field of sailing boat exercise training, and particularly relates to a sailing boat exercise training ground simulation system and a simulation method.
Background
Sailing boat sports involves multiple subjects such as hydrodynamics, ship principle, aerodynamics, meteorology, hydrology, oceanography, sports, etc., and is one of the most complex competitive sports. Natural environmental changes such as sea surface wind power, wind direction, surge, tide and the like have direct influence on sports performance during competition and training. Monitoring and evaluating the game, whether it be competition or training, presents great difficulty. The problems currently mainly restricting the training level of athletes are as follows: the wind direction, duration time, sea state and the like of the training base determine when the training can be performed or not; different venues lead to athletes needing to perform adaptive training for natural environments of different places; specific technologies in the wave-crossing, mark-winding and other games need to be specially trained specifically, so that weaknesses of athletes in a certain technology are overcome, and the overall level of the athletes is improved; information collection such as training process parameters (instantaneous ship speed, track) influences evaluation of training effect of athletes and training advice.
The sailing boat simulated driving system with the patent number of CN201520265420.2 is a set of simulated experience system. The sailing boat comprises a sailing boat model, an upper computer and a vision terminal, and the movement state of the sailing boat is simulated by adjusting the sailing angle. The simulated driving system described in this patent has low fidelity and is much different from the actual sailing boat motion.
Disclosure of Invention
Object of the Invention
In order to meet the ground training requirement of the sailing boat, the training simulation system capable of simulating the sea surface environment and the sailing boat movement and recording the sailing boat movement state and the action of an athlete in real time is provided, and the training simulation of the full-range and single action of the sailing boat movement can be realized.
Technical solution of the invention
A sailing boat motion training ground simulation system comprises a wind array system, a sailing boat motion simulation system, a balance, a main control system and a sailing boat; the wind array system is used for providing a uniform flow field for the sailing boat, wherein the wind speed of the uniform flow field can be adjusted in real time; the balance is used for measuring the wind load of the sailing boat in real time; the motion control system receives a motion instruction issued by the main control system to control the motion of the sailing boat; the main control system consists of a control and data acquisition system and a human body posture monitoring system, wherein the control and data acquisition system acquires data of the wind array system, the sailing boat motion simulation system, the balance and the sailing boat, integrates hydrodynamic data, invokes a sailing boat motion algorithm, calculates the running track and posture of the sailing boat and wind speed, and issues instructions to the wind array system and the sailing boat motion simulation system so as to achieve the effect of simulating sailing boat motion; the human body posture monitoring system measures the posture and the gravity center change of the athlete through the sensors worn by the athlete, the sensors worn on the athlete body transmit data to the control and data acquisition system in real time, the actions of the athlete are recorded, the actions of the athlete are used for subsequent movement evaluation, and meanwhile, parameters for sailing movement control are provided.
Preferably, the wind array system consists of a plurality of fans, a wind array hole body, a floor, a foundation and a wind array control system, wherein the fans are connected to the wind array hole body, and the wind array hole body is fixed on the foundation; the fan provides a uniform flow field capable of adjusting the wind speed in real time for the sailing boat under the control of the wind array control system; the floor is arranged on the wind array hole body.
Preferably, the sailing boat motion simulation system consists of a six-freedom parallel mechanism, a yaw mechanism and a motion control system; the six-freedom parallel mechanism is installed on the ground, the yaw mechanism is installed on an upper platform of the six-freedom parallel mechanism, and the motion control system controls the six-freedom parallel mechanism and the yaw mechanism to move according to instructions issued by the main control system.
Preferably, the balance adopts a six-component balance, the balance is arranged at the output end of the yaw mechanism, and the measuring end of the balance is connected with the hull of the sailing boat.
Preferably, an AR system is also included for simulating sea surface scenes to provide a sensory simulation for the athlete with respect to vision and hearing.
Preferably, the sensors worn by the athlete transmit data in real time to the control and data acquisition system via a wireless interface.
Preferably, the sailing boat is formed by refitting a real sailing boat.
Preferably, the sensor for measuring rudder angle and sail turning angle of the sailing boat is arranged on the sailing boat, and the sensor can transmit the measured rudder angle and sail turning angle data of the sailing boat to the main control system and record the data.
Preferably, the AR system is capable of changing the visual picture in real time by an instruction of the main control system.
A sailing boat exercise training ground simulation method comprises the following steps:
step 5: setting wind speed and sea wave parameters according to training requirements;
step 6: the main control system transmits the instruction to the wind array system and the sailing boat motion simulation system, and the sailing boat motion simulation system moves according to the instruction, and the wind array system operates;
step 7: the athlete manipulates the sailing boat according to the scene provided by the AR system, the human body posture monitoring system acquires the posture and the gravity center position of the athlete, the sailing boat sensor acquires the rudder angle and the sailing angle, and the parameters and balance signals are uploaded to the main control system;
step 8: the main control system receives sensor signals of the wind array system, the sailing boat motion simulation system, the human body posture monitoring system, the balance, rudder angle and sailing angle measurement, refers to hydrodynamic data, calls a sailing boat motion algorithm, calculates the posture and speed of the sailing boat and the speed of the wind array at the next moment, and updates VR data;
repeating the steps 2-4 until the training is finished.
The invention has the advantages that: the sailing boat movement training ground simulation system utilizes wind tunnel technology, balance technology, movement simulation technology, AR technology, human body posture monitoring technology and high-performance control and data acquisition system, combines sailing boat hydrodynamic data, runs sailing boat movement algorithm, can truly simulate the movement of sailing boat under different sea surface environments, and helps athletes to carry out sailing boat movement training under multiple sea conditions on the ground. Meanwhile, the athlete needs to adjust the sailing boat in real time according to different wind direction changes, positions of other boats in the buoy area and the like, which requires a great deal of special decomposition action exercise. The system can be used for repeatedly training aiming at a certain technical action, so that athletes can be helped to form muscle memory in a short time, and the sailing boat control capacity is greatly improved. The sailing training ground simulation system can record the stress, the gesture, the track of the sailing boat, the gesture of the athlete and the boat steering mode in real time, realize quantification and visualization on the knowledge of related information, and provide data for subsequent training analysis and summarization.
Drawings
FIG. 1 is a three-dimensional view of a sailing boat athletic training ground simulation system of the present invention.
Fig. 2 is a front view of a sailing boat athletic training ground simulation system of the present invention.
FIG. 3 is a top view of a sailing boat athletic training ground simulation system of the present invention.
Fig. 4 is a front view of a sailing boat motion simulation system and balance.
Fig. 5 is a schematic diagram of the ground simulation system for training sailing boat sports according to the present invention.
In the figure: 1. the wind array system, 2, sailing boat, 3, sailing boat motion simulation system, 4, balance, 5, AR system, 6 main control system; 1-1 parts of foundation, 1-2 parts of fans, 1-3 parts of wind array tunnel bodies, 1-4 parts of floors and 1-5 parts of wind array control systems; 3-1, a yaw mechanism, 3-2, a six-freedom parallel mechanism and a 3-3 motion control system; 6-1, a control and data acquisition system and 6-2 human body posture monitoring system.
Detailed Description
The invention is realized by the following technical scheme.
1-5, a sailing boat motion training ground simulation system comprises a wind array system 1, a sailing boat motion simulation system 3, a balance 4, an AR system 5, a main control system 6 and a sailing boat 2;
the wind array system 1 comprises a plurality of fans 1-2, a wind array cavity body 1-3, a floor 1-4, a foundation 1-1 and a wind array control system 1-5. The fans 1-2 and the wind array cavity 1-3 are connected through flanges and then fixed on the foundation 1-1. The fan 1-2 provides a uniform flow field with adjustable wind speed for the sailing boat in real time under the control of the wind array control system 1-5. The floor 1-4 is arranged at the position of the wind array hole body 1-3, prevents air flow from acting on the balance 4 and the sailing boat motion simulation system 3, and is convenient for athletes to go up and down the sailing boat 2.
The sailing boat motion simulation system 3 comprises a six-freedom parallel mechanism 3-2, a yaw mechanism 3-1 and a motion control system 3-3. The six-freedom parallel mechanism 3-2 is installed on the ground, and the yaw mechanism 3-1 is installed on an upper platform of the six-freedom parallel mechanism 3-2. The six-freedom parallel mechanism 3-2 is used for realizing the movement of the sailing boat 2 with five degrees of freedom except for the yaw movement, the yaw mechanism 3-1 is used for compensating the defect of small yaw movement range of the six-freedom parallel mechanism 3-2, and the yaw movement range is enlarged to +/-180 degrees. The motion control system 3-3 controls the six-freedom parallel mechanism 3-2 and the yaw mechanism 3-1 to move according to the instruction issued by the main control system 6.
In this embodiment, the balance 4 is a six-component balance for measuring the aerodynamic load of the sailing boat 2 in real time. The fixed end of the balance 4 is connected with the output end of the yaw mechanism 3-1, and the measuring end of the balance 4 is fixedly connected with the sailing boat 4.
The sailing boat 2 is formed by refitting a real sailing boat, and a sensor is arranged on the sailing boat to measure the rudder angle and the sailing boat corner of the sailing boat 2 and transmit the rudder angle and the sailing boat corner to the main control system 6.
The main control system 6 consists of a control and data acquisition system 6-1 and a human body posture monitoring system 6-2. The human body posture monitoring system 6-2 measures the posture and the gravity center change of the athlete through the sensors worn by the athlete, and uploads the data to the control and data acquisition system 6-1 through a wireless interface. The control and data acquisition system 6-1 uses the gravity center change of the athlete measured by the human body posture monitoring system 6-2 to call a sailing ship movement algorithm according to the pose and the speed of the six-freedom parallel mechanism 3-2 and the yaw mechanism 3-1, combining hydrodynamic data and aerodynamic force of the sailing ship 2 measured by the balance 4, calculates the pose and the speed of the sailing ship and the speed of the wind array system 1 in the next control period, and transmits parameters to the wind array system 1 and the sailing ship movement simulation system 3.
The AR system 5 changes the visual picture in real time by the instruction of the main control system 6.
As shown in fig. 5, the working procedure of the sailing boat exercise training ground simulation system is as follows:
step 9: setting wind speed and sea wave parameters according to training requirements;
step 10: the main control system 6 sends instructions to the wind array system 1 and the sailing boat motion simulation system 3, the sailing boat motion simulation system 3 moves according to the instructions, and the wind array system 1 operates;
step 11: the athlete manipulates the sailing boat 2 according to the scene provided by the AR system 5, the human body posture monitoring system 6-2 collects the posture and the gravity center position of the athlete, the sailing boat sensor collects the rudder angle and the sailing angle, and the parameters are uploaded to the main control system 6 together with the balance 4 signal;
step 12: the main control system 6 receives sensor signals of the wind array system 1, the sailing boat motion simulation system 3, the human body posture monitoring system 6-2, the balance 4, rudder angles and sailing angles, refers to hydrodynamic data, calls a sailing boat motion algorithm, calculates the posture and the speed of the sailing boat and the speed of the wind array at the next moment, and updates VR data.
Repeating the steps 2-4 until the training is finished.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and are not intended to limit the scope of the present invention, but all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention. The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (6)
1. The ground simulation system for the sailing boat exercise training is characterized by comprising a wind array system (1), a sailing boat exercise simulation system (3), a balance (4), a main control system (6) and a sailing boat (2); the wind array system (1) is used for providing a uniform flow field with adjustable wind speed in real time for the sailing boat (2); the balance (4) is used for measuring the wind load of the sailing boat (2) in real time; the sailing boat motion simulation system (3) receives a motion instruction issued by the main control system (6) to control the motion of the sailing boat (2); the main control system (6) consists of a control and data acquisition system (6-1) and a human body posture monitoring system (6-2), wherein the control and data acquisition system (6-1) acquires data of the wind array system (1), the sailing ship motion simulation system (3), the balance (4) and the sailing ship (2), the sailing ship motion algorithm is called according to the hydrodynamic data, the running track, posture and wind speed of the sailing ship (2) are calculated, and an instruction is issued to the wind array system (1) and the sailing ship motion simulation system (3) so as to achieve the effect of simulating the sailing ship motion; the human body posture monitoring system (6-2) measures the posture and the gravity center change of the athlete through the sensors worn by the athlete, the sensors worn on the athlete body transmit data to the control and data acquisition system (6-1) in real time, the actions of the athlete are recorded for subsequent movement evaluation, and parameters for sailing movement control are provided at the same time; the sensor is arranged on the sailing boat (2) and used for measuring the rudder angle and the sail turning angle of the sailing boat, and the sensor can transmit the measured rudder angle and the sail turning angle data of the sailing boat to the main control system and record the data; the sailing boat motion simulation system (3) consists of a six-freedom parallel mechanism (3-2), a yaw mechanism (3-1) and a motion control system (3-3); the six-freedom parallel mechanism (3-2) is arranged on the ground, the yaw mechanism (3-1) is arranged on the upper platform of the six-freedom parallel mechanism (3-2), and the motion control system (3-3) controls the motions of the six-freedom parallel mechanism (3-2) and the yaw mechanism (3-1) according to the instruction issued by the main control system (6);
the wind array system (1) consists of a plurality of fans (1-2), a wind array hole body (1-3), a floor (1-4), a foundation (1-1) and a wind array control system (1-5), wherein the fans (1-2) are connected to the wind array hole body (1-3), and the wind array hole body (1-3) is fixed on the foundation (1-1); the fan (1-2) provides a uniform flow field capable of adjusting the wind speed in real time for the sailing boat under the control of the wind array control system (1-5); the floor (1-4) is arranged on the wind array cavity body (1-3); the sailing boat (2) is formed by refitting a real sailing boat.
2. A sailing training ground simulation system according to claim 1, characterized in that the balance (4) is a six-component balance, the balance (4) is mounted at the output end of the yaw mechanism (3-1), and the measuring end of the balance (4) is connected to the hull of the sailing boat (2).
3. The sailing training ground simulation system of claim 1, further comprising an AR system for simulating sea surface scenes to provide the athlete with sensory simulation regarding vision and hearing.
4. A sailing training ground simulation system according to claim 1, characterized in that the sensors worn by the athlete transmit data in real time via a wireless interface to the control and data acquisition system (6-1).
5. A sailing training ground simulation system according to claim 4, characterized in that the AR system (5) is capable of changing the visual picture in real time by means of the instructions of the master control system (6).
6. A method for performing a sailing training ground simulation using a sailing training ground simulation system according to any one of claims 1 to 5, comprising the steps of:
step 1: setting wind speed and sea wave parameters according to training requirements;
step 2: the main control system (6) transmits the instruction to the wind array system (1) and the sailing boat motion simulation system (3), the sailing boat motion simulation system (3) moves according to the instruction, and the wind array system (1) operates;
step 3: the athlete manipulates the sailing boat (2) according to the scene provided by the AR system (5), the human body posture monitoring system (6-2) collects the posture and the gravity center position of the athlete, the sailing boat sensor collects the rudder angle and the sailing angle, and the parameters and the balance (4) signals are uploaded to the main control system (6);
step 4: the main control system (6) receives sensor signals of the wind array system (1), the sailing boat motion simulation system (3), the human body posture monitoring system (6-2), the balance (4), rudder angles and sail angles, refers to hydrodynamic data, calls a sailing boat motion algorithm, calculates the posture and the speed of a sailing boat and the speed of a wind array at the next moment, and updates VR data;
repeating the steps 2-4 until the training is finished.
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| CN113209581A (en) * | 2021-04-20 | 2021-08-06 | 国家体育总局体育科学研究所 | Physical training test wind tunnel system and airflow forming and controlling method thereof |
| CN113538999A (en) * | 2021-07-23 | 2021-10-22 | 北京交通大学 | Snow project wind resistance testing and simulation training system utilizing wind tunnel |
| CN115223418A (en) * | 2022-04-22 | 2022-10-21 | 哈尔滨工程大学 | Sailor navigation training system based on AR technology |
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