CN113058246A - Wheelchair curling track identification, positioning, tracking and motion state detection system - Google Patents
Wheelchair curling track identification, positioning, tracking and motion state detection system Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/70—Information retrieval; Database structures therefor; File system structures therefor of video data
- G06F16/71—Indexing; Data structures therefor; Storage structures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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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
- A63B2220/30—Speed
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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
- A63B2220/30—Speed
- A63B2220/34—Angular speed
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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
- A63B2220/40—Acceleration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
The invention provides a wheelchair curling track identification, positioning, tracking and motion state detection system, and belongs to the technical field of special devices for physical exercise. The system comprises: the motion state detection device, the image acquisition device and the central control computer are respectively connected with the two devices; the motion state detection device is used for acquiring motion state data in the motion process of the curling in real time; the image acquisition device is used for acquiring a video of curling training or competition; the central control computer obtains the hand-out speed and the hand-out angular speed of the curling by resolving the motion state data, and obtains the reappearance result of the motion track of the curling in the actual ice rink by processing the video data. The invention can detect the motion state data of the curling in real time, rebuilds the motion track condition of the curling on the actual ice field, and provides a scientific and effective training means and a re-coiling method for wheelchair curling athletes and coaches.
Description
Technical Field
The invention belongs to the technical field of special sports equipment, and particularly relates to a wheelchair curling track identification, positioning, tracking and motion state detection system.
Background
Wheelchair curling motion is a young sport that has emerged in europe and rapidly transferred to europe in the end of the 90 s 20 th century, and is rapidly gaining favor of many sports enthusiasts due to its own enjoyment and competitive nature.
The same track and the same curling stones are used for the wheelchair curling motion and the traditional curling motion, and certain rules of the wheelchair curling motion refer to the rules of the curling motion, but the wheelchair curling motion and the traditional curling motion still have obvious differences. In the movement of the wheelchair curling, an athlete must sit on a wheelchair and throw the curling by using a push rod, the length between the inner edges of two end lines of a track is 45.72 meters due to the long length of the ice field, the wheelchair curling athlete is divided into two ends of the track, and the wheelchair curling athlete cannot directly observe the movement track and the movement state of the curling on the ice field because the curling is far away from the athlete during the movement of the curling on the ice field.
In a healthy people curling match, after the curling throws hands, two curling team members can advance along the curling motion track and appropriately brush ice in the advancing direction of the curling according to the curling running condition, so that the surface appearance of the ice surface in front of the curling is changed, the friction coefficient of the ice surface is reduced, the motion time of the curling is further prolonged, and the motion distance of the curling is increased. In the process of brushing ice, a curling athlete can conveniently observe the motion state and the motion track of the curling, and adjust the power and the rotation of the curling in the next time according to the power, but the wheelchair curling athlete is inconvenient to move, so that the motion track and the motion state of the curling on an ice field are difficult to observe directly.
The patent CN 103157262B of Shouguang et al proposes an intelligent curling capable of collecting self motion parameters in real time and a method thereof, but the curling has larger volume, can only detect the motion state data of the curling, does not provide a further processing and display module, and does not provide a scientific and effective technical and tactical analysis system for athletes; golden crystal and the like provide a curling ball motion state estimation method in a patent CN 111709301A, but in a complex curling game or curling training, more than one curling ball is often arranged on a field, a curling ball target detection network trained by the method cannot accurately identify the curling ball to be tracked, and the curling ball target detection network obtained by the method only has an estimation result and cannot provide accurate reference data for wheelchair curling athletes.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wheelchair curling track identification, positioning, tracking and motion state detection system. The invention can detect the motion state data of the curling in real time and give real-time feedback to wheelchair curling athletes and trainers, and in addition, the invention can also track, mark and store the curling motion video and obtain the motion track condition of the curling on the actual ice field through the reconstruction of the ice field, thereby providing a scientific and effective training means and a re-playing method for the wheelchair curling athletes and the trainers.
The invention provides a wheelchair curling track identification, positioning, tracking and motion state detection system, which is characterized by comprising the following components: the device comprises a motion state detection device, an image acquisition device and a central control computer which is respectively connected with the two devices;
the motion state detection device is arranged in the center of the upper surface of the body of the selected curling and is used for acquiring motion state data of the curling in the motion process in real time, and the motion state detection device sends the acquired motion state data to the central control computer;
the image acquisition device is used for acquiring a video of curling training or competition and sending the video to the central control computer;
the central control computer is used for respectively receiving the motion state data sent by the motion state detection device and the video data sent by the image acquisition device; the central control computer calculates the motion state data to obtain the hand-out speed and the hand-out angular speed of the curling, displays and stores the hand-out speed and the hand-out angular speed, and processes the video data to obtain the reappearance result of the motion track of the curling in the actual ice rink, and displays and stores the reappearance result.
The invention has the beneficial effects that:
the invention provides a wheelchair curling track recognition, positioning, tracking and motion state detection system, which can detect key parameters such as angular velocity, acceleration, speed and the like of a curling in a motion process in real time, so that a wheelchair curling player can obtain quantitative data reference after throwing the curling each time.
Drawings
Fig. 1 is a schematic structural diagram of a wheelchair curling track identification, positioning, tracking and motion state detection system according to an embodiment of the invention.
Fig. 2 is a schematic view of the movement state detection device of the curling in the embodiment of the invention.
Detailed Description
The invention provides a curling track identification, positioning, tracking and motion state detection system, which is further described in detail in the following by combining the accompanying drawings and specific embodiments. In the following description, numerous details of the curling trajectory identification, positioning, tracking and movement state detection system of the invention are given, so as to thoroughly explain the development method and specific parameters of the curling trajectory identification, positioning, tracking and movement state detection system of the invention, but it is obvious that the invention does not need to be developed strictly according to all the details, and simple structural replacement and modification of some details can still achieve the same purpose, and therefore, the invention still falls within the scope of protection of the invention.
The wheelchair curling track identification, positioning, tracking and motion state detection system provided by the embodiment of the invention is structurally shown as figure 1 and comprises: the device comprises a motion state detection device, an image acquisition device and a central control computer. The motion detection device is wirelessly connected with the central control computer, and the image acquisition device is connected with the central control computer through a wire;
the motion state detection device is arranged in the center of the upper surface of the body of the selected curling and is used for collecting motion state data in the motion process of the curling in real time during training, the motion state data comprise the acceleration, the angular velocity and the angle of the curling at each moment during motion, and the motion state detection device transmits the collected motion state data to the central control computer in a wireless transmission mode;
the image acquisition device is used for acquiring a video of curling motion in the process of wheelchair curling competition or training and transmitting the video to the central control computer;
the central control computer is used for respectively receiving the motion state data sent by the motion state detection device and the video data sent by the image acquisition device; the central control computer obtains the hand-out speed and the hand-out angular speed of the curling through resolving the motion state data, displays and stores the hand-out speed and the hand-out angular speed, and the central control computer obtains the reappearance result of the motion track of the curling in the actual ice rink through processing the video image data, displays and stores the reappearance result.
The system comprises the following components in an implementation mode:
the motion state detection device has the following specific implementation mode: the device includes: the three-axis gyroscope, the three-axis accelerometer, the attitude calculation module, the signal differential amplification circuit, the filter circuit, the data transmission module and the power supply module are integrated on the chip module; the system comprises a three-axis gyroscope, a three-axis accelerometer, a signal differential amplifying circuit, a filter circuit, an attitude calculation module, a data transmission module and a central control computer, wherein the three-axis gyroscope and the three-axis accelerometer are connected with the input end of the attitude calculation module sequentially through the signal differential amplifying circuit and the filter circuit and are used for transmitting analog signals of three-axis angular velocity and three-axis acceleration of a curling to the attitude calculation module through digital filtering and dynamic Kalman filtering, and the attitude calculation module converts the received filtered analog signals into digital signals containing information such as time, space angle and acceleration (specifically, a pitch angle, a roll angle and a yaw angle are calculated according to quaternion or other conventional algorithms by using data such as the filtered three-axis gyroscope and the filtered three-axis accelerometer) and transmits; the data transmission module is welded with the chip module through a serial port, the data transmission module can be a wireless data transmission module (such as 433MHz, Bluetooth or Zigbee wireless module), and the Bluetooth wireless module is adopted for wireless transmission in the embodiment; the power module is used for supplying power to other devices in the motion state detection device, and can adopt a 3.3V/5V power supply, wherein the anode of the power supply is connected with the VCC port of the device through a lead, and the cathode of the power supply is connected with the GND port of the device through a lead. Furthermore, the motion state detection device also comprises a three-axis magnetometer arranged on the chip module, and the three-axis magnetometer is connected with the input end of the signal differential amplification circuit and used for eliminating the drift error of the three-axis accelerometer. In addition, the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer, the signal differential amplification circuit, the filter circuit and the attitude calculation module can be replaced by a six-axis motion sensor or a nine-axis motion sensor, so that the overall size of the motion parameter measurement unit can be further reduced; in this embodiment, a six-axis motion sensor of the type MPU6050 is used. (patent application No.: 201910490859.8). Further, the time of the hand-out stage of the curling is short, so that the three-axis gyroscope and the three-axis accelerometer of the curling motion state detection device have high sampling speed requirements, and generally, the sampling speed is not lower than 100 Hz.
The motion state detection device is subjected to flattening packaging and is mounted at the center of the upper surface of the curling kettle body in a bonding mode and the like, and the flattening packaging aims to prevent a push rod of a wheelchair curling kettle athlete from interfering with the curling kettle motion state detection device in the kettle pushing process so as to influence the kettle throwing effect. Fig. 2 shows an installation schematic diagram of the curling motion state detection device of the embodiment, when the motion state detection device 3 is installed, the motion state detection device 3 is packaged in a flattened manner, and then the motion state detection device 3 is installed at the center of the curling stone pot body 4 in a bonding manner. In this embodiment, the minimum distance between the motion state detection device 3 and the push rod head 1 and between the motion state detection device and the curling kettle handle 2 is not less than 10mm, so that the push rod of the wheelchair curling kettle athlete can be ensured not to interfere with the curling kettle motion state detection device in the kettle pushing process.
The image acquisition device can adopt a high-definition camera, can be erected at any end of the ice rink, can be used as a starting point or a terminal point of the ice rink, or can be erected at an auditorium of the ice rink, so that the shooting angle is higher, the whole ice rink can be shot, more shelters can be avoided in the movement process of the curling as far as possible, and a satisfactory curling tracking effect can be obtained. When the camera is used, auxiliary shooting devices such as a tripod and the like can be utilized, and the tripod can be used for adjusting the shooting height and the shooting angle of the camera; and the shot video image is sent to a central control computer through a wired transmission cable. In this embodiment, the model of the high-definition video camera is a sony interchangeable lens digital camera ILCE-7M2, and the shooting frame rate is 50 frames per second.
The central control computer can be the host computer of arbitrary model, the central control computer includes: the device comprises a curling motion state resolving module, a curling motion state data display module, a curling motion state data storage module and a curling motion video image processing module; the curling motion video image processing module comprises a target tracking sub-module, an ice rind reconstruction sub-module and a curling motion track reproduction sub-module; the input end of the curling motion state resolving module is connected with the output end of the curling motion state detection device, and the output end of the curling motion state resolving module is respectively connected with the input end of the curling motion state data storage module and the input end of the curling motion video image processing module; the input end of a target tracking sub-module and the input end of an ice field reconstruction sub-module in the curling motion video image processing module are respectively connected with the output end of the image acquisition device, and the output ends of the target tracking sub-module and the ice field reconstruction sub-module are respectively connected with the curling motion track reproduction sub-module.
Wherein, the curling motion state resolving module is used for receiving the motion state data that motion state detection device sent, utilizes this state data, the time stamp that mark curling angular velocity corresponds from the zero beginning grow, be the curling out the initial time stamp of hand stage promptly, the time stamp that mark curling angular velocity maximum value corresponds, be curling out the end time stamp of hand stage promptly, the motion state data of curling in intercepting these two time stamps, carry out the integral to the curling acceleration in this period of time, can obtain curling out the speed of hand. Acquiring angular velocity data of an initial timestamp of the curling hand-out stage to obtain curling hand-out angular velocity, and then respectively sending the calculated curling hand-out velocity and hand-out angular velocity to a curling motion state data display module and a curling motion state data storage module;
the curling motion state data display module is used for displaying received curling hand-out acceleration and hand-out angular velocity data, so that a coach and a wheelchair curling player can conveniently and visually acquire the thrown hand-out data in time; the curling motion state data storage module stores the received curling hand-out acceleration and hand-out angular velocity data into a database, so that a coach and a wheelchair curling athlete can call a reply disc for analysis after competition or training in time;
the curling motion video image processing module comprises a target tracking sub-module, an ice rind reconstruction sub-module and a curling motion track reproduction sub-module; the target tracking submodule and the ice rink reconstruction submodule respectively acquire a video image of ice pot movement from the image acquisition device, and the target tracking submodule tracks a target ice pot (namely the ice pot provided with the movement state detection device) in the video image to obtain an ice pot pixel point movement track consisting of coordinates of pixel points at the center position of the ice pot in each frame of image and send the ice pot pixel point movement track to the ice pot movement track recurrence submodule; the ice rink reconstruction submodule reconstructs an ice rink image in the video image to obtain a coordinate conversion matrix between an ice rink pixel point coordinate and an actual ice rink position and sends the coordinate conversion matrix to the curling motion track reproduction submodule; the curling motion track reproduction submodule obtains the motion position change condition of the curling in the actual ice field according to the received curling pixel point motion track and the coordinate conversion matrix, and then can realize reproduction of the curling motion track.
The system working method comprises the following steps:
the wheelchair curling player pushes out a curling provided with a curling motion state detection device on an ice rind by using a curling push rod, the curling motion state detection device collects motion state data of the curling in real time and transmits the motion state data back to the central control computer in real time, the image collection device collects movement video images of the curling at the same time, and the video images are transmitted back to the central control computer in a wired connection mode;
the central control computer transmits the curling motion state data obtained through feedback to the curling motion state calculating module, and the curling hand-out angular speed and the curling hand-out speed are obtained through calculation;
the curling motion state resolving module transmits the calculated curling hand-out angular speed and hand-out speed into a curling motion state data display module and a curling motion state data storage module, the curling state data display module displays the curling hand-out angular speed and hand-out speed in real time, and the curling motion state data storage module stores the curling motion state data of the wheelchair curling athlete in a corresponding database;
the central control computer transmits the curling motion video image obtained by returning to the curling motion video image processing module, and the curling motion video image processing module comprises a target tracking sub-module, an ice rind reconstruction sub-module and a curling motion track reproduction sub-module;
the target tracking submodule tracks a target curling in the video image to obtain a curling pixel point motion trail formed by coordinates of pixel points at the center position of the curling in each frame of image and sends the curling pixel point motion trail to the curling motion trail recurrence submodule; the ice rink reconstruction submodule reconstructs an ice rink image in the video image to a coordinate conversion matrix between an ice rink pixel point coordinate and an actual ice rink position and sends the coordinate conversion matrix to the curling motion track reproduction submodule;
the curling motion track reproduction submodule obtains the motion position change condition of the curling in the actual ice field according to the received curling pixel point motion track and the coordinate conversion matrix, and then can realize reproduction of the curling motion track.
The curling target tracking submodule can track a target curling to obtain pixel point coordinates of the center position of the curling, connects pixel point coordinates of each frame of curling to obtain a curling motion track, finally outputs a complete video with curling track marks, and outputs and stores the tracked curling pixel point coordinates into a document, and the target tracking submodule realizes preset targets and mainly comprises the following five steps:
1. the method comprises the steps of selecting a marker from a curling motion video sent by an image acquisition device to track a curling initial region (the initial region is positioned in a first frame of the curling motion video and is a rectangular frame containing a target curling), extracting image features of the initial region, and mainly comprising manually designed features (such as gray scale and the like) and depth features (features learned through a large number of training samples);
2. generating a plurality of candidate samples in the next frame of the video, wherein the commonly used generation methods comprise particle filtering and sliding window, the particle filtering is used for deducing the hidden state of the target in a recursive mode, and the sliding window is an exhaustive search method;
3. judging the similarity of the candidate samples according to the image characteristics of the initial region, wherein the highest similarity is the target curling to be tracked in the next frame;
4. repeating the steps 2) and 3), finding the position of the target curling frame by frame, calculating the coordinates of the central pixel point of the target curling in each frame, and marking the motion track of the curling
5. And outputting a complete video with the curling motion track label, and outputting and storing the tracked curling pixel point coordinates into a document.
The ice rink reconstruction submodule can reconstruct an ice rink image shot by the camera, obtain a coordinate conversion matrix between an ice rink pixel point coordinate and an actual ice rink position, and can obtain the motion position change condition of the curling in the actual ice rink according to the curling pixel point coordinate obtained by the curling target tracking module, so that the reproduction of the motion track of the curling can be realized, and in order to realize the purpose, the ice rink reconstruction submodule has the working flow as follows:
1. acquiring a frame of image from a curling motion video sent by an image acquisition device, and performing binarization processing and edge extraction on the image;
2. using Hough transform to process the first frame image obtained in the step 1, carrying out straight line detection on the image to obtain coordinates of pixel points corresponding to four intersection points of front throwing lines at two ends of the ice rink and two boundary lines
3. Reconstructing the ice rink according to the coordinates of the four corresponding points of the actual ice rink and perspective transformation, solving to obtain a coordinate conversion matrix between the coordinates of the pixel points of the ice rink and the position of the actual ice rink, and sending the coordinate conversion matrix to the curling motion trajectory recurrence sub-module; the coordinate matrix form is as follows:
x and y are pixel point coordinates of the four intersection points respectively, u and v are coordinates of the four intersection points in an actual ice rink, and since the conversion is converted from a two-dimensional space to a three-dimensional space, w is defined as a perspective conversion constant, the coordinate matrix solution is not influenced, and elements m 0-m 7 of the conversion matrix can be obtained by substituting the four coordinates, so that the conversion relation between the pixel point coordinates of the ice rink and the actual ice rink coordinates is obtained;
4. and substituting the curling pixel point coordinates output by the target tracking submodule into the coordinate conversion matrix in the curling motion track reproduction submodule to obtain the motion track condition of the curling in the actual ice field.
Claims (4)
1. The utility model provides a wheelchair curling track discernment location tracking and motion state detecting system which characterized in that includes: the device comprises a motion state detection device, an image acquisition device and a central control computer which is respectively connected with the two devices;
the motion state detection device is arranged in the center of the upper surface of the body of the selected curling and is used for acquiring motion state data of the curling in the motion process in real time, and the motion state detection device sends the acquired motion state data to the central control computer;
the image acquisition device is used for acquiring a video of curling training or competition and sending the video to the central control computer;
the central control computer is used for respectively receiving the motion state data sent by the motion state detection device and the video data sent by the image acquisition device; the central control computer calculates the motion state data to obtain the hand-out speed and the hand-out angular speed of the curling, displays and stores the hand-out speed and the hand-out angular speed, and processes the video data to obtain the reappearance result of the motion track of the curling in the actual ice rink, and displays and stores the reappearance result.
2. The system of claim 1, wherein the motion state detection device comprises: the three-axis gyroscope, the three-axis accelerometer, the attitude calculation module, the signal differential amplification circuit, the filter circuit, the data transmission module and the power supply module are integrated on the chip module; the three-axis gyroscope and the three-axis accelerometer are connected with the input end of the attitude resolving module sequentially through the signal differential amplifying circuit and the filter circuit.
3. The system of claim 1, wherein the central control computer comprises: the device comprises a curling motion state resolving module, a curling motion state data display module, a curling motion state data storage module and a curling motion video image processing module; the curling motion video image processing module comprises a target tracking sub-module, an ice rind reconstruction sub-module and a curling motion track reproduction sub-module;
the input end of the curling motion state resolving module is connected with the output end of the curling motion state detection device, and the output end of the curling motion state resolving module is respectively connected with the input end of the curling motion state data storage module and the input end of the curling motion video image processing module; the input end of a target tracking sub-module and the input end of an ice field reconstruction sub-module in the curling motion video image processing module are respectively connected with the output end of the image acquisition device, and the output ends of the target tracking sub-module and the ice field reconstruction sub-module are respectively connected with a curling motion track reproduction sub-module;
the curling motion state resolving module is used for receiving motion state data sent by the motion state detection device, marking a timestamp corresponding to the increase of the curling angular velocity from zero as an initial timestamp of a curling hand-out stage by using the motion state data, marking a timestamp corresponding to the maximum value of the curling angular velocity as an end timestamp of the curling hand-out stage, intercepting the motion state data of the curling in the two timestamps, and integrating the acceleration of the curling in the period of time to obtain the curling hand-out velocity; acquiring angular speed data of an initial timestamp of the hand-out stage of the curling to obtain the hand-out angular speed of the curling; then the hand-out speed and the hand-out angular speed of the curling are respectively sent to a curling motion state data display module and a curling motion state data storage module;
the curling motion state data display module is used for displaying received curling hand-out acceleration and hand-out angular velocity data; the curling motion state data storage module is used for storing received curling hand-out acceleration and hand-out angular velocity data;
the target tracking submodule and the ice rink reconstruction submodule respectively acquire a video image of ice kettle movement from the image acquisition device, and the target tracking submodule tracks the ice kettle provided with the movement state detection device in the video image to obtain an ice kettle pixel point movement track consisting of pixel point coordinates of the center position of the ice kettle in each frame of image and send the ice kettle pixel point movement track to the ice kettle movement track reconstruction submodule; the ice rink reconstruction submodule reconstructs an ice rink image in the video image to obtain a coordinate conversion matrix between an ice rink pixel point coordinate and an actual ice rink position and sends the coordinate conversion matrix to the curling motion track reproduction submodule; and the curling motion track reproduction submodule obtains the motion position change condition of the curling in the actual ice field according to the received curling pixel point motion track and the coordinate conversion matrix, and realizes the reproduction of the curling motion track.
4. The system of claim 2, wherein the chip module of the motion state detection device further integrates a three-axis magnetometer connected to the input terminal of the signal differential amplifier circuit for eliminating the drift error of the three-axis accelerometer.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113633946A (en) * | 2021-08-18 | 2021-11-12 | 南昌工学院 | Method and system for calculating motion state of land curling |
| CN114708433A (en) * | 2022-04-04 | 2022-07-05 | 泰州镭昇光电科技有限公司 | State detection system based on cloud storage |
| CN116086462A (en) * | 2023-04-06 | 2023-05-09 | 萱闱(北京)生物科技有限公司 | Track data processing method, device, medium and computing equipment |
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