CN114377370B - Intelligent control method of snowboard - Google Patents

Intelligent control method of snowboard Download PDF

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CN114377370B
CN114377370B CN202011125585.1A CN202011125585A CN114377370B CN 114377370 B CN114377370 B CN 114377370B CN 202011125585 A CN202011125585 A CN 202011125585A CN 114377370 B CN114377370 B CN 114377370B
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operator
snowboard
pressure
skiing
snow
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CN114377370A (en
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郭延磊
李建冬
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Beijing Machinery Equipment Research Institute
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/18—Training appliances or apparatus for special sports for skiing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C5/00—Skis or snowboards
    • A63C5/03—Mono skis; Snowboards
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C5/00—Skis or snowboards
    • A63C5/06—Skis or snowboards with special devices thereon, e.g. steering devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/56—Pressure
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
    • A63B2220/72—Temperature
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
    • A63B2220/75—Humidity
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2244/00—Sports without balls
    • A63B2244/19—Skiing

Abstract

The invention relates to an intelligent control method of a snowboard, belongs to the technical field of snowboards, and solves the problem that the prior art cannot automatically perform skiing training. The method comprises the following steps: collecting current skiing environment information; generating a plurality of skiing routes for an operator to select according to the current skiing environment information; collecting real-time motion state information of a snowboard operator after the snowboard is started and moves along the selected skiing route; judging whether the current action of the operator reaches the standard according to the real-time motion state information of the operator, prompting the operator to adjust corresponding operation when the current action of the operator does not reach the standard, controlling an executing mechanism to automatically adjust the motion state of the snowboard, and otherwise, maintaining the motion state unchanged. The invention realizes the purpose of self-carrying out skiing training without the assistance of a coach and novice, so that skiing control is simpler and easier to operate, and the control process is more accurate.

Description

Intelligent control method of snowboard
Technical Field
The invention relates to the technical field of skis, in particular to an intelligent control method of a ski.
Background
Skiing is an extreme movement that is extremely high in terms of operating environment, operator speed, motion, and the like.
For snowboarders, learning the sport relies primarily on coaching. In most cases, the coach cannot give precise technical instruction, and rough technical instruction may cause the novice to have a constant loss of the way to long learning, to fall frequently, and even to damage the snowboard components. Especially for some operators who have poor physical coordination and are not good at exercising, the experience is very poor, and the decision and the confidence of learning the exercise are easily lost.
For experienced snowboard operators, improving the skiing skills of the operators can only be realized by observing the actions of the operators by other people to judge whether the skiing modes are regulated according to the standard, and the operators cannot intelligently collect data to accurately judge, so that the improvement degree is limited. Moreover, the positions of the observers and the reaction speeds are different, so that a large error exists in the judgment result, and the judgment result is not accurate.
In the above-described conventional art, the operator has a skiing capability by repeatedly performing muscle memory training to develop a consolidated muscle memory. However, the method is time-consuming and labor-consuming, has no accurate technical guidance, and can not have the original skiing capability again after long-time skiing, and time and money are greatly wasted.
Disclosure of Invention
In view of the above analysis, the present invention provides an intelligent snowboard control method, so as to solve the problem that the prior art cannot automatically perform snowboard training.
In one aspect, an embodiment of the present invention provides an intelligent snowboard control method, including:
collecting current skiing environment information;
generating a plurality of skiing routes for an operator to select according to the current skiing environment information;
collecting real-time motion state information of a snowboard operator after the snowboard is started and moves along the selected skiing route;
judging whether the current action of the operator reaches the standard according to the real-time motion state information of the operator, prompting the operator to adjust corresponding operation when the current action of the operator does not reach the standard, controlling an executing mechanism to automatically adjust the motion state of the snowboard, and otherwise, maintaining the motion state unchanged.
The beneficial effects of the above technical scheme are as follows: the intelligent control method can automatically generate a plurality of routes suitable for the current sliding environment by collecting the current skiing environment information, so that an operator can freely select the routes; after skiing starts, various real-time motion state information of a ski operator is collected and judged, the regulation and control opportunity is accurately controlled, when the fact that the real-time state information does not reach the standard is detected, the real-time motion state information is immediately prompted to the operator, the operator is guided to adjust corresponding actions more accurately, and the motion state of the ski is adjusted to be matched through execution. The scheme enables skiing control to be simpler, easy to operate and accurate.
Based on a further improvement of the method, the current skiing environment information comprises at least one of snow field temperature, humidity, environment information of each position, position coordinates of the obstacle and characteristic information of each position.
The beneficial effects of the above further improved scheme are: the current skiing environment information to be collected is limited, a detailed basis is provided for subsequent path planning (generating a plurality of skiing routes) and intellectualization of adjustment of the skiing state, and a solid foundation is laid.
Further, collecting current ski environment information, further comprising:
collecting the temperature and the humidity of a snow field through a temperature and humidity sensor;
acquiring a current skiing environment image through a depth camera;
and sequentially carrying out image preprocessing, environment recognition of each position, obstacle recognition, image enhancement and obstacle contour feature extraction on the current skiing environment image to obtain environment information of each position, position coordinates of the obstacle and feature information of each position.
The beneficial effects of the above further improved scheme are: through image preprocessing and image recognition, environmental information and obstacle information of each position of the ski field are judged, and a solid foundation is laid for accurately planning paths and adjusting ski movements.
Further, carry out image preprocessing, each position environment discernment, obstacle discernment, image enhancement, obstacle profile feature extraction to current skiing environment image in proper order, obtain each position environment information, obstacle position coordinate and each position feature information, further include:
detecting a skiing area in the current skiing environment image;
amplifying the skiing area, and sequentially carrying out Gaussian low-pass filtering and image sharpening on image details in the area to obtain a feature-enhanced skiing environment image;
performing environment recognition of each position on the characteristic-enhanced skiing environment image to obtain snow melting grade, snow road height and snow road length right ahead of each position as environment information of each position;
and carrying out obstacle positioning and obstacle outline identification on the characteristic-enhanced skiing environment image to obtain the position coordinates of the obstacle and the position information of each point on the obstacle outline as the characteristic information of each part.
The beneficial effects of the above further improved scheme are: after the skiing area is enlarged, the detail characteristics of the skiing environment (namely the snow melting level, the snow road height and the snow road length right ahead of each position) are obtained, the obstacle is identified, the position coordinate of the obstacle and the position information of each point on the obstacle outline are obtained, a detailed basis is provided for subsequent path planning (multiple skiing routes are generated), and a solid foundation is laid.
Further, according to the current skiing environment information, generating a plurality of skiing routes for the operator to select, further comprising:
according to the temperature and the humidity of the snow field, acquiring an accumulated snow melting calibration value S, a snow road height calibration value H and a snow road length calibration value L right ahead by the following formulas
Figure BDA0002733509450000041
Figure BDA0002733509450000042
Figure BDA0002733509450000043
Wherein T is the temperature of the snow field, RH is the humidity of the snow field, INT () is the rounding function, k 1 ～k 6 、α 1 ～α 3 、β 1 ～β 3 、γ 1 ～γ 4 The coefficient is calibrated in advance;
selecting all positions in the ski area, which simultaneously meet the conditions that the snow melting grade is greater than the calibration value S, the snow track height is greater than the calibration value H and the immediately-ahead snow track length is greater than the calibration value L, as alternative positions;
generating all possible skiing routes as alternative routes by avoiding the obstacle rule along the alternative positions; the obstacle avoiding rule is that the distance between the obstacle avoiding rule and the obstacle is always larger than or equal to a preset value;
obtaining the turning angle of each alternative route;
and selecting a route with the turning angle of less than or equal to 40 degrees as a beginner recommended route, selecting a route with the turning angle of 40-65 degrees as a middle-level snowboard operator recommended route, and selecting a route with the turning angle of more than 65 degrees as a high-level snowboard operator recommended route for the operator to select one of the routes as a selected snowboard route.
The beneficial effects of the above further improved scheme are: through the snow field temperature, humidity automatic generation snow melts the grade, the snow cover height, the snow cover length calibration value just ahead, melt the grade with above-mentioned calibration value with the snow cover, snow cover height, the actual value of just ahead snow cover length compares in proper order, and then obtain all alternative positions that satisfy the skiing condition (snow cover melts the grade and is greater than above-mentioned calibration value S, snow cover height is greater than above-mentioned calibration value H, just ahead snow cover length is greater than above-mentioned calibration value L), and then obtain all possible skiing routes, regenerate and satisfy the route that beginner, the middle-level skier, the needs of senior skier, supply the operator to select. By means of the scheme, path planning (generation of multiple skiing routes) can be automatically and accurately carried out, routes meeting the requirements of various operators (beginners, middle-level skiers and high-level skiers) are automatically generated, and a large amount of design time and cost can be saved through direct application.
Further, the real-time motion state information of the snowboard operator comprises at least one of forefoot pressure, rearfoot pressure, acceleration, and rotation angle.
The beneficial effects of the above further improved scheme are: real-time motion state information of an operator is limited, wherein the motion state information comprises fore foot pressure, rear foot pressure, acceleration and rotation angle, and regulation and control information can be accurately provided.
Further, gather the real-time motion state information of skiboard operator, further include:
the method comprises the steps that pressure applied to an area by the front foot of an operator is collected through a front foot pressure sensor arranged in a front foot treading area of a ski to be used as front foot pressure of the operator;
the method comprises the steps that pressure applied to an area by the back feet of an operator is collected through a back foot pressure sensor arranged in the back foot stepping area of a snowboard and is used as the back foot pressure of the operator;
acquiring real-time acceleration of the snowboard as the acceleration of an operator through an acceleration sensor arranged on the back or the side of the snowboard;
the real-time rotation angle of the snowboard is collected as the rotation angle of an operator through a three-axis gyroscope arranged on the back or the side of the snowboard.
The beneficial effects of the above further improved scheme are: the arrangement of the front foot pressure sensor, the rear foot pressure sensor, the acceleration sensor and the three-axis gyroscope can accurately acquire real-time front foot pressure, rear foot pressure, acceleration and rotation angle, and is favorable for automatically and accurately acquiring regulation and control information.
Further, the judging whether the current action of the operator reaches the standard according to the real-time motion state information of the operator, prompting the operator to adjust corresponding operation when the current action of the operator does not reach the standard, and controlling an executing mechanism to automatically adjust the motion state of the snowboard further comprises:
according to the snow field temperature T, the snow melting grade s of the current position, the snow road height h and the snow road length l right ahead, the preset value F is obtained through the following formula 1 A predetermined value of two 2 A predetermined value of three a and a predetermined value of four theta
Figure BDA0002733509450000061
Figure BDA0002733509450000062
Figure BDA0002733509450000063
Figure BDA0002733509450000064
In the formula, k 7 ～k 13 、α 4 ～α 9 、β 4 ～β 9 、γ 5 ～γ 10 The coefficient is calibrated in advance;
the forefoot pressure of the operator is compared with the above-mentioned preset value-F 1 Comparing, judging whether the front foot pressure reaches the standard, if the front foot pressure does not reach the standard, sending a warning to prompt an operator that the front foot pressure is too large or too small, and controlling an executing mechanism to correspondingly reduce or increase the pressure of the front foot area until the front foot pressure reaches the standard;
comparing the pressure of the operator's rear foot with the preset value II F 2 Comparing, judging whether the rear foot pressure reaches the standard, if the rear foot pressure does not reach the standard, sending a warning to prompt an operator that the rear foot pressure is too large or too small, and controlling an execution mechanism to correspondingly reduce or increase the pressure of a rear foot area until the rear foot pressure reaches the standard;
comparing the acceleration of the operator with the preset value III a, judging whether the acceleration reaches the standard, if the acceleration does not reach the standard, sending a warning to prompt the operator that the acceleration is too large or too small, and prompting the operator to slide transversely when the acceleration is too large, simultaneously controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to slide longitudinally when the acceleration is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the acceleration reaches the standard;
and comparing the rotation angle of an operator with the preset value four theta, judging whether the rotation angle reaches the standard, if the rotation angle does not reach the standard, sending a warning to prompt the operator that the rotation angle is too large or too small, and prompting the operator to reduce the rotation angle when the rotation angle is too large, simultaneously controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to increase the rotation angle when the rotation angle is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the rotation angle reaches the standard.
The above further improvement comprisesThe beneficial effects are that: accurately giving judgment indexes (preset value-F) of front foot pressure, rear foot pressure, acceleration and rotation angle 1 A predetermined value of two 2 A third preset value a and a fourth preset value theta), when the actual value is inconsistent with the judgment index, the judgment index does not reach the standard, the operator is reminded to adjust the operation in time through different warning tones, and the motion state (acceleration and rotation angle) of the snowboard is automatically controlled. The advanced auxiliary sliding is realized through the automatic control of the actuating mechanism.
Further, the actuator further comprises:
the front foot booster comprises a servo motor and a booster cylinder which are sequentially connected and positioned in the front foot area of a ski panel, and a front fixer base for fixing the servo motor and the booster cylinder;
the rear foot booster comprises a servo motor and a booster cylinder which are sequentially connected with each other and are positioned in the rear foot area of the snowboard panel, and a rear foot fixer for fixing the servo motor and the booster cylinder; wherein the content of the first and second substances,
the servo motors are used for driving the corresponding servo motors to drive the corresponding pressure cylinders to change the pressure of the corresponding areas when the current action of an operator does not reach the standard, so that the pressure of the front feet of the operator is increased or reduced, the pressure of the rear feet of the operator is increased or reduced, or the acceleration or the rotation angle is increased or reduced by matching with the transverse sliding and the longitudinal sliding of the operator;
and the pressure cylinder is used for increasing the pressure of the corresponding area of the snowboard under the driving of the corresponding servo motor.
The beneficial effects of the above further improved scheme are: the servo motor and the pressure cylinder are added in the base of the fixer, so that the control of the pressure of the corresponding front foot area and the rear foot area on the panel of the snowboard is realized, the snowboard operator is assisted to adjust the skiing state, and the acceleration and the rotation angle of the snowboard are changed.
Further, the method also comprises the step of judging whether the current snow road is suitable for sliding:
acquiring the temperature and humidity of a snow field, the height of a snow track at each position, the length of the snow track right ahead, the position coordinates of an obstacle and the position information of each point on the outline of the obstacle;
and inputting the temperature and the humidity of the snow field, the height of the snow track at each position, the length of the snow track right ahead, the position coordinates of the obstacle and the position information of each point on the outline of the obstacle into a vector machine trained in advance to obtain a judgment result of whether the current skiing route is suitable for gliding.
The beneficial effects of the above further improved scheme are: by realizing the trained vector machine, the judgment result of whether the current skiing route is suitable for gliding can be further verified.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of the steps of an intelligent snowboard control method according to an embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of an intelligent assisting device for a snowboard according to the method of embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of an intelligent assisting apparatus for a snowboard according to the method of embodiment 2 of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The invention discloses an intelligent control method of a snowboard, which comprises the following steps as shown in figure 1:
s1, collecting current skiing environment information;
s2, generating a plurality of skiing routes for an operator to select according to the current skiing environment information;
s3, collecting real-time motion state information of a snowboard operator after the snowboard is started and moves along the selected snowboard route;
and S4, judging whether the current action of the operator reaches the standard according to the real-time motion state information of the operator, prompting the operator to adjust corresponding operation when the current action of the operator does not reach the standard, controlling an executing mechanism to automatically adjust the motion state of the snowboard, and otherwise, maintaining the motion state unchanged.
When the intelligent control method is implemented, the current skiing environment information is collected to obtain a plurality of routes suitable for an operator to select, after the operator selects the route most suitable for the operator to start sliding, the motion state of the operator is collected, whether the current action of the operator reaches the standard (in place) is judged, and if the action of the operator does not reach the standard, the motion state of the ski is automatically controlled by the execution mechanism to assist the operator in sliding.
Compared with the prior art, the intelligent control method of the snowboard provided by the embodiment is firstly provided, and multiple routes suitable for the current sliding environment can be automatically generated by collecting the current skiing environment information for an operator to freely select; after skiing starts, various real-time motion state information of a ski operator is collected and judged, the regulation and control opportunity is accurately controlled, when the fact that the real-time state information does not reach the standard is detected, the real-time motion state information is immediately prompted to the operator, the operator is guided to adjust corresponding actions more accurately, and the motion state of the ski is adjusted to be matched through execution. Above-mentioned scheme makes skiing control simpler, easy operation to it is accurate.
Example 2
Optimization is performed on the basis of embodiment 1, and in step S1, the ski environment information includes snow field temperature (-30 to 0 degrees celsius), humidity, environment information of each location, coordinates of the location of the obstacle, and feature information of each location.
Preferably, step S1 is further refined into the following steps:
s11, collecting the temperature and the humidity of the snow field through a temperature and humidity sensor.
And S12, acquiring a current skiing environment image through a depth camera.
And S13, sequentially carrying out image preprocessing, environment recognition of each position, obstacle recognition, image enhancement and obstacle contour feature extraction on the current skiing environment image to obtain environment information of each position, position coordinates of an obstacle and feature information of each position.
Preferably, step S13 is further refined into the following steps:
s131, detecting the skiing area in the current skiing environment image.
And S132, amplifying the skiing area, and sequentially carrying out Gaussian low-pass filtering and image sharpening on image details in the area to obtain a feature-enhanced skiing environment image.
And S133, performing environment recognition of each position on the characteristic-enhanced skiing environment image, and obtaining the snow melting grade (snow quality), the snow track height (snow thickness) and the snow track length right ahead (from the current position to a boundary or an obstacle) of each position as environment information of each position.
The snow melting level can be set according to the actual requirement of an operator, for example, the peripheral area of the current position is completely melted, the ground can be seen and set to be 1 level, the ground can be seen and set to be 2-9 levels, the ground can not be seen and set to be 10 levels, the specific level can be obtained by converting the current image into a gray image, the specific level can also be obtained by a chromaticity bar of the current position, and the operator can understand that the operator can understand the specific level.
And S134, performing obstacle positioning and obstacle outline identification on the feature-enhanced skiing environment image to obtain position coordinates of the obstacle and position information of each point on the obstacle outline as characteristic information of each part.
Preferably, step S2 is further refined to the following steps:
s21, acquiring an accumulated snow melting calibration value S, a snow road height calibration value H and a snow road length calibration value L right ahead according to the temperature and the humidity of the snow field through the following formulas
Figure BDA0002733509450000111
Wherein T is the temperature of the snow field, RH is the humidity of the snow field, INT () is a rounding function, k 1 ～k 6 、α 1 ～α 3 、β 1 ～β 3 、γ 1 ～γ 4 Is a coefficient calibrated in advance.
It should be noted that the calibration process of the above coefficients can be performed by selecting the snow melting level, the snow track height, and the snow track length right ahead of the just-skiing snow just after manually calibrating under various skiing conditions (different temperatures and humidity), and the above S, H, L is a critical value just after skiing, which can be understood by those skilled in the art.
S22, selecting all the positions in the ski area, wherein the positions simultaneously meet the conditions that the snow melting grade is greater than the calibration value S, the snow road height is greater than the calibration value H and the snow road length right ahead is greater than the calibration value L, and using the positions as alternative positions.
And S23, generating all possible skiing routes along the alternative positions by avoiding the obstacle rules to serve as alternative routes. Specifically, if an obstacle is bypassed, the obstacle avoidance rule is that the distance from the obstacle is always equal to or greater than a preset value, and if skiers' skiing techniques can fly over the obstacle, the obstacle avoidance rule is that the distance from the point of the obstacle exceeding the threshold height is always equal to or greater than a preset value.
And S24, acquiring the turning angle of each alternative route.
And S25, selecting a route with the turning angle of less than or equal to 40 degrees from the alternative routes as a beginner recommended route, selecting a route with the turning angle of 40-65 degrees as a middle-level snowboard operator recommended route, and selecting a route with the turning angle of more than 65 degrees as a high-level snowboard operator recommended route for an operator to select one of the routes as a selected snowboard route. If more than one recommended route is available, the user with the shortest distance can be selected for recommendation.
Preferably, in step S3, the real-time motion state information of the snowboard operator includes at least one of forefoot pressure, rearfoot pressure, acceleration, and rotation angle.
Preferably, in step S3, the collecting of the real-time movement state information of the snowboard operator is further detailed as the following steps:
and S31, acquiring pressure applied to the area by the front foot of the operator through a front foot pressure sensor arranged in a front foot treading area of the snowboard as the front foot pressure of the operator.
And S32, acquiring the pressure applied to the area by the back foot of the operator through a back foot pressure sensor arranged in the back foot stepping area of the snowboard as the pressure of the back foot of the operator.
And S33, acquiring the real-time acceleration of the snowboard as the acceleration of an operator through an acceleration sensor arranged on the back or the side of the snowboard.
And S34, acquiring the real-time rotation angle of the snowboard as the rotation angle of an operator through a three-axis gyroscope arranged on the back or the side of the snowboard.
It should be noted that the sequence of steps S31 to S34 can be adjusted according to the actual requirement setting priority, or obtained simultaneously.
Preferably, step S4 further comprises the steps of:
s41, obtaining a preset value F according to the temperature T of the snow field, the snow melting grade s of the current position, the snow road height h and the snow road length l right ahead by the following formula 1 A predetermined value of two 2 A predetermined value of three a and a predetermined value of four theta
Figure BDA0002733509450000121
In the formula, k 7 ～k 13 、α 4 ～α 9 、β 4 ～β 9 、γ 5 ～γ 10 Is a coefficient calibrated in advance. The specific calibration process is described in step S21.
S42, the pressure of the front foot of the operator is presetValue one F 1 And comparing, judging whether the front foot pressure reaches the standard, if the front foot pressure does not reach the standard, sending a warning to prompt an operator that the front foot pressure is too large or too small, and controlling the executing mechanism to correspondingly reduce or increase the pressure in the front foot area until the front foot pressure reaches the standard.
S43, comparing the pressure of the rear foot of the operator with the preset value II F 2 And comparing, judging whether the rear foot pressure reaches the standard, if the rear foot pressure does not reach the standard, sending a warning to prompt an operator that the rear foot pressure is too large or too small, and controlling the actuating mechanism to correspondingly reduce or increase the pressure of the rear foot area until the rear foot pressure reaches the standard.
And S44, comparing the acceleration of the operator with the preset value III a, judging whether the acceleration reaches the standard, if the acceleration does not reach the standard, sending a warning to prompt the operator that the acceleration is too large or too small, prompting the operator to slide transversely when the acceleration is too large, controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to slide longitudinally when the acceleration is too small, and controlling the execution mechanism to increase the pressure of the front foot area position until the acceleration reaches the standard. The amount of increase in pressure may be set to a fixed amount or obtained according to a user instruction.
S45, comparing the rotation angle of the operator with the preset value four theta, judging whether the rotation angle reaches the standard, if the rotation angle does not reach the standard, sending a warning to prompt the operator that the rotation angle is too large or too small, and prompting the operator to reduce the rotation angle when the rotation angle is too large, simultaneously controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to increase the rotation angle when the rotation angle is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the rotation angle reaches the standard. The amount of increase in pressure may be set to a fixed amount or obtained according to a user instruction.
It should be noted that the sequence of steps S42 to S45 can be adjusted according to the actual requirement setting priority.
Preferably, the actuator further comprises a forefoot booster and a rearfoot booster.
The front foot booster comprises a servo motor and a booster cylinder which are sequentially connected in a front foot area of a ski panel, and a front fixer base for fixing the servo motor and the booster cylinder.
The rear foot booster comprises a servo motor, a pressure cylinder and a rear foot fixer, wherein the servo motor and the pressure cylinder are sequentially connected with each other in a rear foot area of a ski panel, and the rear foot fixer is used for fixing the servo motor and the pressure cylinder.
The servo motors are used for driving the corresponding servo motors to drive the corresponding pressure cylinders to change the pressure of the corresponding areas when the current action of an operator is not up to the standard, so that the pressure of the front feet of the operator is increased or reduced, the pressure of the rear feet of the operator is increased or reduced, or the acceleration or the rotation angle is increased or reduced by matching with the transverse sliding and the longitudinal sliding of the operator. And the pressure cylinder is used for increasing the pressure of the corresponding area of the snowboard under the driving of the corresponding servo motor.
Preferably, the method further comprises the step of judging whether the current snow road is suitable for sliding:
s5, acquiring the temperature and humidity of the snow field, the snow road height of each position, the snow road length right ahead, the position coordinates of the obstacle and the position information of each point on the outline of the obstacle;
and S6, inputting the temperature and the humidity of the snow field, the snow road height of each position, the snow road length right ahead, the position coordinates of the obstacle and the position information of each point on the outline of the obstacle into a vector machine trained in advance, and obtaining a judgment result whether the current skiing route is suitable for skiing.
Compared with the embodiment 1, in order to obtain a better path planning effect, the method provided by the embodiment sets the obstacle avoiding the snow road, so that the path planning is more precise. In addition, the situation that the control force of an operator on the acceleration and the rotation angle is not enough is considered, and auxiliary control (automatic pressurization of a pressurization cylinder in front and rear foot areas) is added, so that the skiing control difficulty is greatly reduced, and the skiing control is more accurate.
Example 3
The invention further discloses another specific embodiment of the intelligent auxiliary device for the snowboard corresponding to the method in the embodiment 1, and as shown in fig. 2, the intelligent auxiliary device for the snowboard comprises a skiing environment acquisition module, a skiing state monitoring module, an MCU control module and an execution mechanism. The output ends of the skiing environment acquisition module and the skiing state monitoring module are connected with the input end of the MCU control module; the output end of the MCU control module is connected with the input end of the actuating mechanism.
And the skiing environment acquisition module is used for acquiring current skiing environment information and sending the current skiing environment information to the MCU control module.
And the skiing state monitoring module is used for acquiring real-time motion state information of a ski operator and sending the real-time motion state information to the MCU control module.
And the MCU control module is used for generating a plurality of skiing routes according to the current skiing environment information for an operator to select, starting the skiing board to move along the routes according to the selected skiing routes, judging whether the current action of the operator reaches the standard or not according to the received real-time motion state information of the operator, prompting the operator to adjust corresponding operation when the current action of the operator does not reach the standard, controlling the execution mechanism to automatically adjust the motion state of the skiing board, and otherwise, maintaining the motion state unchanged.
And the executing mechanism is used for adjusting the motion state of the snowboard according to the control of the MCU control module.
Example 4
The device is improved on the basis of the embodiment 3, and discloses an intelligent auxiliary device corresponding to the method of the embodiment 4, wherein the acquired current skiing environment information comprises snow field temperature, humidity, snow melting level of each position, snow track height, snow track length right ahead, obstacle position coordinates and characteristic information of each position.
Preferably, the skiing environment acquisition module further comprises a temperature and humidity sensor, a depth camera and a data processing submodule. The output ends of the temperature and humidity sensor and the depth camera are respectively connected with the input end of the data processing submodule, as shown in fig. 3.
And the temperature and humidity sensor is used for acquiring the temperature and the humidity of the snow field and sending the temperature and the humidity to the data processing submodule.
And the depth camera is used for acquiring the current skiing environment image and sending the current skiing environment image to the data processing submodule.
And the data processing submodule is used for sequentially filtering, recognizing the environment of each position, recognizing the obstacle, enhancing the image and extracting the outline characteristic of the obstacle on the received current skiing environment image, and sending the obtained environment information of each position, the position coordinates of the obstacle, the characteristic information of each position, the received temperature and the received humidity of the snow field as the current skiing environment information to the MCU control module.
Preferably, the data processing submodule executes the following program:
SS1, receiving the temperature and humidity of a snow field and a current skiing environment image;
SS2. Detecting a skiing area in the current skiing environment image;
SS3, amplifying the skiing area, and sequentially carrying out Gaussian low-pass filtering and image sharpening on image details in the area to obtain a feature-enhanced skiing environment image;
SS4, performing environment recognition of each position on the feature-enhanced skiing environment image to obtain the snow melting grade, the snow road height and the snow road length right ahead of each position as environment information of each position;
and SS5, sequentially carrying out obstacle positioning and obstacle outline identification on the characteristic-enhanced skiing environment image, taking the obtained obstacle position coordinates and position information of each point on the obstacle outline as characteristic information of each part, taking the obtained obstacle position coordinates and the position information of each point on the obstacle outline as current skiing environment information together with the snow melting level, the snow road height, the snow road length right ahead, the snow field temperature and the humidity of each position, and sending the current skiing environment information to the data processing submodule.
Preferably, the real-time movement state information of the snowboard operator includes forefoot pressure, rearfoot pressure, acceleration, rotation angle.
Preferably, the skiing state monitoring module further comprises a fore foot pressure sensor, a rear foot pressure sensor, an acceleration sensor and a three-axis gyro, as shown in fig. 3.
The front foot pressure sensor is arranged in a front foot treading area of the snowboard and is used for collecting the pressure applied to the area by the front foot of the operator as the front foot pressure of the operator.
The rear foot pressure sensor is arranged in a rear foot treading area of the snowboard and used for collecting the pressure applied to the area by the rear foot of the operator as the rear foot pressure of the operator.
And the acceleration sensor is arranged on the back or the side of the snowboard and is used for acquiring the real-time acceleration of the snowboard as the acceleration of an operator.
And the three-axis gyroscope is also arranged on the back or the side of the snowboard and is used for acquiring the real-time rotation angle of the snowboard as the rotation angle of an operator.
Preferably, the MCU control module executes the following program to generate a plurality of ski routes for selection by the operator:
the method comprises the steps of SSS1, receiving current skiing environment information including snow field temperature, humidity, snow melting grade of each position, snow track height, front snow track length, obstacle position coordinates and feature information (obstacle point information) of each position.
SSS2, acquiring a snow melting calibration value S, a snow road height calibration value H and a front snow road length calibration value L according to the temperature and the humidity of a snow field through the following formulas
Figure BDA0002733509450000171
Wherein T is the temperature of the snow field, RH is the humidity of the snow field, INT () is the rounding function, k 1 ～k 6 、α 1 ～α 3 、β 1 ～β 3 、γ 1 ～γ 4 Are coefficients calibrated in advance.
And SSS3, selecting all positions with snow melting grade larger than the calibration value S, snow track height larger than the calibration value H and front snow track length larger than the calibration value L from all positions in the skiing environment as alternative positions.
Sss4. Along the alternative location, generating all possible skiing routes by avoiding obstacle rules as alternative routes.
And SSS5. Selecting a route with the turning angle of less than or equal to 40 degrees as a beginner recommended route, selecting a route with the turning angle of 40-65 degrees as a middle-grade snowboard operator recommended route, and selecting a route with the turning angle of more than 65 degrees as a high-grade snowboard operator recommended route for the operator to select from the alternative routes.
Preferably, the MCU control module executes the following program to judge whether the current action of the operator reaches the standard, prompts the operator to adjust corresponding operation when the current action of the operator does not reach the standard, and controls the execution mechanism to automatically adjust the motion state of the snowboard:
SSS6, obtaining a preset value F through the following formula according to the snow field temperature T, the snow melting grade s of the current position, the snow road height h and the snow road length l right ahead 1 A predetermined value of two F 2 A predetermined value of three a and a predetermined value of four theta
Figure BDA0002733509450000181
In the formula, k 7 ～k 13 、α 4 ～α 9 、β 4 ～β 9 、γ 5 ～γ 10 Are coefficients calibrated in advance.
The calibration procedure can be found in 1 ～k 6 、α 1 ～α 3 、β 1 ～β 3 、γ 1 ～γ 4 And (4) calibrating. It is noted that the preset value F is set as follows 1 、F 2 The unit is not considered in a and theta, and the actual unit of the preset value is related to the unit of the data during calibration.
SSS7, the pressure of the front foot of the operator is compared with a preset value F 1 Comparing, judging whether the front foot pressure reaches the standard, if the front foot pressure does not reach the standard, sending a warning to prompt an operator that the front foot pressure is too large or too small, controlling an actuating mechanism to correspondingly reduce or increase the pressure of the front foot area until the front foot pressure reaches the standard, and reaching F 1 Until now.
SSS8, the pressure of the back foot of the operator is compared with the preset value II F 2 Comparing, determining whether the rear foot pressure reaches the standard, if the rear foot pressure does not reach the standard, sending a warning to prompt an operator that the rear foot pressure is too high or too low, controlling the actuating mechanism to correspondingly reduce or increase the pressure of the rear foot area,until the pressure of the heel reaches the standard, F is reached 2 Until now.
And SSS9, comparing the acceleration of the operator with the preset value III a, judging whether the acceleration reaches the standard, if the acceleration does not reach the standard, sending a warning to prompt the operator that the acceleration is too large or too small, and prompting the operator to slide transversely when the acceleration is too large, meanwhile, controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to slide longitudinally when the acceleration is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the acceleration reaches the standard, and thus, reaching the a.
And the SSS10 is used for comparing the rotation angle of the operator with the preset value four theta, judging whether the rotation angle reaches the standard, if the rotation angle does not reach the standard, sending a warning to prompt the operator that the rotation angle is too large or too small, and prompting the operator to reduce the rotation angle when the rotation angle is too large, and simultaneously controlling the execution mechanism to increase the pressure of the rear foot area position, and prompting the operator to increase the rotation angle when the rotation angle is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the rotation angle reaches the standard.
Preferably, the MCU control module further executes the following program to determine whether the current skiing route is suitable for skiing:
SSS11, receiving snow field temperature T, humidity TH, snow path height h of each position, snow path length l right ahead, position coordinates (X, Y) of the obstacle, and position information (X) of each point on the obstacle outline i ,Y i )；
SSS12, the snow field temperature T, the humidity TH, the snow road height h of each position, the snow road length l in front, the position coordinates (X, Y) of the obstacle, and the position information (X) of each point on the obstacle outline i ,Y i ) Inputting the current skiing route into a vector machine trained in advance, and obtaining a judgment result whether the current skiing route is suitable for skiing.
And training the vector machine according to the output training data which is the judgment result whether the manually marked skiing route is suitable for gliding, so as to obtain the trained vector machine.
The actuator further includes a front binding base disposed on the front foot area and a rear binding base disposed on the rear foot area of the snowboard panel, and a detachable servo motor, a booster cylinder, fixedly mounted on each binding base, as shown in fig. 3.
And the front fixer base and the rear fixer base are used for fixing the positions of the servo motor and the booster cylinder which are arranged on the front fixer base and the rear fixer base.
The servo motors are used for controlling the corresponding servo motors to drive the pressure cylinders to change the pressure of the corresponding front foot area and the rear foot area after receiving the control signals sent by the MCU control module, so that the front foot pressure of an operator is increased or reduced, and the rear foot pressure is increased or reduced; or the acceleration or the rotation angle of the operator is changed in cooperation with the transverse sliding and the longitudinal sliding of the operator.
Specifically, in the steps SSS7 to SSS8, when the pressure of the front foot of an operator is increased according to a control signal, the pressure of the front foot area is increased by a pressure cylinder until the pressure reaches the standard; when the control signal indicates that the pressure of the front foot of the operator is reduced, the servo motor drives the pressure cylinder to automatically increase the pressure of the position of the rear foot area until the pressure reaches the standard; the manner in which the control signal is applied to increase the pressure on the operator's rear foot is the same as that described above. The operator may not change his own motion state.
In the step SSS9, when the control signal is to reduce the acceleration, an operator controls the skis to slide transversely, and simultaneously, the servo motor drives the pressure cylinder to automatically increase the pressure of the rear foot area position until the acceleration reaches the standard; when the control signal is to increase the acceleration, the operator controls the snowboard to slide longitudinally, and simultaneously, the servo motor drives the pressure cylinder to automatically increase the pressure of the front foot area. The operator needs to adjust the motion state of the operator according to the prompt.
In the step SSS10, when the control signal is to increase the rotation angle, the operator controls the skis to increase the rotation angle, the servo motor drives the pressure cylinder to automatically increase the pressure of the front foot area to assist in increasing the rotation angle, when the control signal is to decrease the rotation angle, the operator controls the skis to decrease the rotation angle, and the servo motor drives the pressure cylinder to automatically increase the pressure of the rear foot area to assist in decreasing the rotation angle. The operator needs to adjust the motion state of the operator according to the prompt.
The detachable servo motor and the detachable pressurizing are adopted, the battery is convenient to replace, the servo motor and the pressurizing cylinder are timely replaced when the executing mechanism breaks down, and the purpose of enhancing the skiing pleasure of a ski rider is better achieved. If the acceleration is too small, the actuator is controlled to slide longitudinally.
Preferably, the actuator further comprises a rotary motor disposed at the rear end of the snowboard fascia. The executing mechanism changes the angle of the snowboard by adjusting the position of the control end of the rotating motor, realizes longitudinal or transverse sliding and realizes the change of the acceleration.
Preferably, the intelligent auxiliary device further comprises a power supply module and a bluetooth module. The power supply module is respectively connected with the power supply ends of the skiing environment acquisition module, the skiing state monitoring module, the MCU control module and the execution mechanism. The Bluetooth module is connected with the data end of the MCU control module.
And the power supply module is used for supplying power to the skiing environment acquisition module, the skiing state monitoring module, the MCU control module and the executing mechanism, and prompting charging if the electric quantity of the power supply module is too low. Set up power module, realized the power supply of each module of intelligent auxiliary device, send the suggestion of charging when the electric quantity is not enough.
And the Bluetooth module is used for sending the skiing route in the MCU control module and the real-time motion state information of the ski board operator to the mobile phone of the operator for displaying. The Bluetooth module is arranged, so that the skiing route obtained by the MCU control module and each real-time motion state information of a ski operator are visually displayed in the mobile phone, and the improvement of user experience is facilitated.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (9)

1. An intelligent snowboard control method, comprising:
collecting current skiing environment information;
generating a plurality of skiing routes for an operator to select according to the current skiing environment information;
generating a plurality of skiing routes for an operator to select according to the current skiing environment information, further comprising:
according to the temperature and the humidity of the snow field, acquiring an accumulated snow melting calibration value S, a snow road height calibration value H and a snow road length calibration value L right ahead by the following formulas
Figure FDA0003922550860000011
Figure FDA0003922550860000012
Figure FDA0003922550860000013
Wherein T is the temperature of the snow field, RH is the humidity of the snow field, INT () is the rounding function, k 1 ～k 6 、α 1 ～α 3 、β 1 ～β 3 、γ 1 ～γ 4 The coefficient is calibrated in advance;
selecting all positions which simultaneously meet the conditions that the snow melting grade is greater than the calibration value S, the snow track height is greater than the calibration value H and the snow track length right ahead is greater than the calibration value L from all positions of the skiing area as alternative positions;
generating all possible skiing routes as alternative routes by avoiding the obstacle rule along the alternative positions; the obstacle avoiding rule is that the distance between the obstacle avoiding rule and the obstacle is always larger than or equal to a preset value;
obtaining the turning angle of each alternative route;
selecting a route with a turning angle of less than or equal to 40 degrees from the alternative routes as a beginner recommended route, selecting a route with a turning angle of 40-65 degrees as a middle-level snowboard operator recommended route, and selecting a route with a turning angle of more than 65 degrees as a high-level snowboard operator recommended route for an operator to select one of the routes as a selected snowboard route;
collecting real-time motion state information of a snowboard operator after a snowboard is started and moves along the selected skiing route;
judging whether the current action of the operator reaches the standard or not according to the real-time motion state information of the operator, prompting the operator to adjust corresponding operation when the current action of the operator does not reach the standard, controlling an executing mechanism to automatically adjust the motion state of the snowboard, and otherwise, maintaining the motion state unchanged.
2. The snowboard intelligent control method of claim 1, wherein the current skiing environment information includes at least one of a snow field temperature, humidity, environment information of each location, position coordinates of an obstacle, and feature information of each location.
3. The snowboard intelligent control method of claim 2, wherein collecting current skiing environment information further comprises:
collecting the temperature and the humidity of the snow field through a temperature and humidity sensor;
acquiring a current skiing environment image through a depth camera;
and sequentially carrying out image preprocessing, environment recognition of each position, obstacle recognition, image enhancement and obstacle contour feature extraction on the current skiing environment image to obtain environment information of each position, position coordinates of the obstacle and feature information of each position.
4. A snowboard intelligent control method according to claim 3, wherein the image preprocessing, the environment recognition of each position, the obstacle recognition, the image enhancement, the obstacle contour feature extraction are sequentially performed on the current skiing environment image to obtain the environment information of each position, the position coordinates of the obstacle, and the feature information of each position, further comprising:
detecting a skiing area in the current skiing environment image;
amplifying the skiing area, and sequentially carrying out Gaussian low-pass filtering and image sharpening on image details in the area to obtain a feature-enhanced skiing environment image;
performing environment recognition of each position on the characteristic-enhanced skiing environment image to obtain snow melting grade, snow road height and snow road length right ahead of each position as environment information of each position;
and carrying out obstacle positioning and obstacle outline identification on the characteristic-enhanced skiing environment image to obtain the position coordinates of the obstacle and the position information of each point on the obstacle outline as the characteristic information of each part.
5. A snowboard intelligent control method according to any one of claims 1 to 4, characterized in that the real-time movement status information of the snowboard operator includes at least one of forefoot pressure, rearfoot pressure, acceleration, rotation angle.
6. The snowboard intelligent control method of claim 5, wherein collecting real-time motion status information of the snowboard operator further comprises:
the method comprises the steps that pressure applied to an area by the front foot of an operator is collected through a front foot pressure sensor arranged in a front foot treading area of a ski to be used as front foot pressure of the operator;
the method comprises the steps that through a rear foot pressure sensor arranged in a rear foot treading area of a snowboard, the pressure applied to the area by the rear foot of an operator is collected and used as the rear foot pressure of the operator;
acquiring real-time acceleration of the snowboard as the acceleration of an operator through an acceleration sensor arranged on the back or the side of the snowboard;
the real-time rotation angle of the snowboard is collected as the rotation angle of an operator through a three-axis gyroscope arranged on the back or the side of the snowboard.
7. The intelligent snowboard control method of claim 6, wherein the real-time motion state information of the operator is used to determine whether the current action of the operator meets the standard, and when the current action of the operator does not meet the standard, the operator is prompted to adjust the corresponding operation, and the execution mechanism is controlled to automatically adjust the motion state of the snowboard, further comprising:
according to the snow field temperature T, the snow melting grade s of the current position, the snow road height h and the snow road length l right ahead, the preset value F is obtained through the following formula 1 A predetermined value of two 2 A predetermined value of three a, a predetermined value of four θ
Figure FDA0003922550860000031
Figure FDA0003922550860000032
Figure FDA0003922550860000033
Figure FDA0003922550860000041
In the formula, k 7 ～k 13 、α 4 ～α 9 、β 4 ～β 9 、γ 5 ～γ 10 The coefficient is calibrated in advance;
the forefoot pressure of the operator is compared with the above-mentioned preset value-F 1 Comparing, judging whether the pressure of the front foot reaches the standard, if the pressure of the front foot does not reach the standard, sending out a warning promptThe pressure of the front foot of the operator is indicated to be too high or too low, and the actuator is controlled to correspondingly reduce or increase the pressure of the front foot area until the pressure of the front foot reaches the standard;
comparing the pressure of the operator's rear foot with the preset value II F 2 Comparing, judging whether the rear foot pressure reaches the standard, if the rear foot pressure does not reach the standard, sending a warning to prompt an operator that the rear foot pressure is too large or too small, and controlling an execution mechanism to correspondingly reduce or increase the pressure of a rear foot area until the rear foot pressure reaches the standard;
comparing the acceleration of the operator with the preset value III a, judging whether the acceleration reaches the standard, if the acceleration does not reach the standard, sending a warning to prompt the operator that the acceleration is too large or too small, and prompting the operator to slide transversely when the acceleration is too large, simultaneously controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to slide longitudinally when the acceleration is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the acceleration reaches the standard;
and comparing the rotation angle of an operator with the preset value four theta, judging whether the rotation angle reaches the standard, if the rotation angle does not reach the standard, sending a warning to prompt the operator that the rotation angle is too large or too small, and prompting the operator to reduce the rotation angle when the rotation angle is too large, simultaneously controlling the execution mechanism to increase the pressure of the rear foot area position, prompting the operator to increase the rotation angle when the rotation angle is too small, and simultaneously controlling the execution mechanism to increase the pressure of the front foot area position until the rotation angle reaches the standard.
8. A snowboard intelligent control method as claimed in claim 7, wherein the actuator further comprises:
the front foot booster comprises a servo motor and a booster cylinder which are sequentially connected and positioned in the front foot area of a ski panel, and a front fixer base for fixing the servo motor and the booster cylinder;
the rear foot booster comprises a servo motor and a booster cylinder which are sequentially connected with each other and are positioned in the rear foot area of the snowboard panel, and a rear foot fixer for fixing the servo motor and the booster cylinder; wherein, the first and the second end of the pipe are connected with each other,
the servo motors are used for driving the corresponding servo motors to drive the corresponding pressure cylinders to change the pressure of the corresponding areas when the current action of an operator does not reach the standard, so that the pressure of the front feet of the operator is increased or reduced, the pressure of the rear feet of the operator is increased or reduced, or the acceleration or the rotation angle is increased or reduced by matching with the transverse sliding and the longitudinal sliding of the operator;
and the pressurizing cylinder is used for increasing the pressure of the corresponding area of the snowboard under the driving of the corresponding servo motor.
9. A snowboard intelligent control method according to any one of claims 1 to 4 and 6 to 8, characterized in that the method further comprises the step of determining whether the current snow track is suitable for taxiing:
acquiring the temperature and humidity of a snow field, the height of a snow track at each position, the length of the snow track right ahead, the position coordinates of an obstacle and the position information of each point on the outline of the obstacle;
and inputting the temperature and the humidity of the snow field, the snow track height of each position, the snow track length right in front, the position coordinates of the obstacle and the position information of each point on the outline of the obstacle into a vector machine trained in advance to obtain a judgment result of whether the current skiing route is suitable for gliding.
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CN108510099A (en) * 2017-02-28 2018-09-07 华为技术有限公司 A kind of method and wearable device of path planning
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