CN116436947B

CN116436947B - Bidirectional flying saucer motion information acquisition system, processing method and upper computer

Info

Publication number: CN116436947B
Application number: CN202310401883.6A
Authority: CN
Inventors: 赵毅博; 冯倬; 潘癸名; 蔡亚林; 彭多宝; 乔璐
Original assignee: Hebei Normal University
Current assignee: Hebei Normal University
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-09-19
Anticipated expiration: 2043-04-14
Also published as: CN116436947A

Abstract

The application is suitable for the technical field of motion information acquisition, and provides a bidirectional flying saucer motion information acquisition system, a processing method and an upper computer. In the system, a plurality of inertial sensor nodes are arranged on the body of an athlete and a gun body, and the motion information of the body of the athlete and the gun body in the process of the bidirectional flying saucer is collected; the high-speed camera is arranged at the front side of the athlete and used for collecting video images of the whole bidirectional flying saucer shooting process of the athlete, and the high-speed camera is synchronous with clocks of a plurality of inertial sensor nodes; the upper computer determines the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and performs shooting stage division and shooting action analysis on the motion information according to the stage time. According to the application, the shooting phase division is carried out on the motion information acquired by the inertial sensor node through the video image acquired by the high-speed camera, so that the motion of the athlete is analyzed and guided according to the motion data of each phase, and the accuracy of motion analysis can be improved.

Description

Bidirectional flying saucer motion information acquisition system, processing method and upper computer

Technical Field

The application belongs to the technical field of motion information acquisition, and particularly relates to a bidirectional flying saucer motion information acquisition system, a processing method and an upper computer.

Background

Bidirectional flying saucers are increasingly popular worldwide as a sport that combines entertainment and fitness. Through continuous field practice, the enhancement of control capability and accuracy of the bi-directional flying saucer has been the goal sought by athletes. However, due to the kinematic mechanical complexity of the bi-directional flying saucer itself and the instantaneous changes in the course of the bi-directional flying saucer, statistical analysis of the bi-directional flying saucer process has been very difficult. How to accurately and rapidly acquire the related data of the bidirectional flying saucer motion becomes a necessary condition for analyzing the whole bidirectional flying saucer process.

The training and provision of the bidirectional flying saucer project at the present stage basically stays through analysis of video and then artificial adjustment. However, this training mode is not highly accurate, has a large error, is only macroscopically adjusted significantly, and has limited effectiveness in improving the level of the player's bi-directional flying saucer.

Disclosure of Invention

In order to overcome the problems in the related art, the embodiment of the application provides a bidirectional flying saucer motion information acquisition system, a processing method and an upper computer.

The application is realized by the following technical scheme:

in a first aspect, an embodiment of the present application provides a bidirectional flying saucer motion information acquisition system, including a plurality of inertial sensor nodes, a high-speed camera and an upper computer, where the high-speed camera and the plurality of inertial sensor nodes are respectively connected with the upper computer in a communication manner; the inertia sensor nodes are arranged at a first preset position of the body of the athlete and a second preset position of the gun body, and are used for collecting first motion information of a plurality of limbs of the body of the athlete and second motion information of the gun body in the bidirectional flying saucer shooting process, and sending the first motion information and the second motion information to the upper computer; the high-speed camera is arranged on the right side of the athlete and is used for collecting video images of the entire bidirectional flying saucer shooting process of the athlete and sending the video images to the upper computer; wherein the high speed camera is synchronized with clocks of the plurality of inertial sensor nodes; and the upper computer determines the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and performs shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

According to the embodiment of the application, the inertial sensor node acquires the first motion information of the athlete and the second motion information of the gun body, the high-speed camera acquires the video image of the athlete in the whole bidirectional flying saucer shooting process, and the high-speed camera is synchronous with the clock of the inertial sensor node; the upper computer determines the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and performs shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time, so that the motion information acquired by the inertial sensor node can be subjected to shooting stage division through the video image acquired by the high-speed camera, and further, the actions of the athlete are analyzed and guided according to the motion data of each stage, and the accuracy of the action analysis can be improved relative to the traditional technology.

With reference to the first aspect, in some embodiments, the first preset position includes: the middle parts of the right wrist and the fist face; a right forearm; a right large arm; a left large arm; a left forearm; the outer side edge of the right shoulder blade; the lateral margin of the left shoulder blade; midpoint of the lateral right hip; the lateral midpoint of the left hip; a head; the second preset position includes: gun stock and gun head.

With reference to the first aspect, in some embodiments, each inertial sensor node includes: the device comprises an inertial sensor, a processor, a power supply, a communication module and a clamping seat, wherein the inertial sensor, the communication module and the clamping seat are all connected with the processor; the power supply is used for supplying power to the inertial sensor, the processor and the communication module; the card seat is used for placing a memory card, and the memory card is connected with the processor; the communication module is used for receiving an instruction issued by the upper computer and transmitting the instruction to the processor; the processor is used for responding to the instruction, controlling the inertial sensor to acquire motion information, transmitting the motion information acquired by the inertial sensor to the upper computer through the communication module, and storing the motion information acquired by the inertial sensor to the memory card.

With reference to the first aspect, in some embodiments, each inertial sensor node further includes an indicator light connected with the processor; when the inertial sensor node and the upper computer are not in communication connection, the processor controls the indicator lamp to work in a first working mode; after the inertial sensor node is in communication connection with the upper computer, the processor controls the indicator lamp to work in a second working mode; when the inertial sensor node sends motion information to the upper computer, the processor controls the indicator lamp to work in a third working mode.

With reference to the first aspect, in some embodiments, each inertial sensor node further includes a Type C interface and a linear voltage regulator, the Type C interface is connected with the power supply, and the power supply supplies power to the inertial sensor, the processor and the communication module through the linear voltage regulator.

With reference to the first aspect, in some embodiments, the determining, by the upper computer, a stage time of each shooting stage of the athlete based on the acquisition time of the video image includes: playback of the video image at a speed of 240 frames/second; responding to shooting phase dividing operation input by a user, determining the time from the first frame image to the last frame image of each shooting phase, wherein the time of the first frame image is the starting time of the corresponding shooting phase, and the time of the last frame image is the ending time of the corresponding shooting phase; the shooting stage of single-target shooting comprises a preparation stage, a gun starting stage, a gun transporting stage and a firing moment, and the shooting stage of double-target shooting comprises a preparation stage, a gun starting stage, a single-target gun transporting stage, a target following stage, a two-target gun transporting stage and a two-target firing moment.

The firing of the bidirectional flying saucer is an instant moment, and the first frame is used as an ending mark of the last stage, wherein the shooting stage of single-target shooting comprises a preparation stage, a gun starting stage, a gun transporting stage and a firing instant; the preparation stage: taking the relative rest of the body of the athlete after closing the gun as a starting point, and taking the starting point of the initial frame of starting the movement of the wrist of the gun holding hand; a gun starting stage: taking a first frame of starting the action of a wrist of a gun held by a sportsman as a starting point, and taking a butt close to a cheek as a dead point; gun transporting stage: taking a gun stock of an athlete close to a cheek as a starting point and taking a firing first frame as a dead point; the moment of firing: taking the first frame during firing as the firing moment.

The shooting stage of the double-target shooting comprises a preparation stage, a gun starting stage, a single-target gun transporting stage, a target following stage and a double-target gun transporting stage; the preparation stage: taking the relative rest of the body of the athlete after closing the gun as a starting point, and taking the starting point of the initial frame of starting the movement of the wrist of the gun holding hand; a gun starting stage: taking the first frame of the wrist of the hand of the athlete for starting the activity as a starting point and the first frame of the gunstock face as a dead point; a target gun stage: taking the first frame of the gun stock face of the athlete as a starting point and taking the first frame of the first firing as a dead point; along with the target stage: taking the first frame of the first firing of the athlete as a starting point and taking the first frame of the reverse gun transport of the athlete as a dead point; two-target gun transporting stage: taking the first frame of the athlete reverse gun transport as a starting point and taking the first frame of the second firing as a starting point; two targets are triggered instantly: the first frame of the two targets during the firing is taken as the moment of the firing of the two targets.

With reference to the first aspect, in some embodiments, the performing shooting phase division and shooting action analysis on the first motion information and the second motion information according to the phase time includes: determining motion data corresponding to each shooting stage from the first motion information and the second motion information according to the starting time and the ending time of the shooting stage; acceleration and angular velocity of the player's body at a plurality of locations during each firing phase and of the gun body during that firing phase are determined based on the motion data.

With reference to the first aspect, in some embodiments, the upper computer is further configured to: and determining the action stability of the athlete in each shooting stage according to the stage time of each shooting stage of the athlete, the acceleration and the angular velocity of a plurality of parts of the athlete body and the gun body in the shooting stage.

In a second aspect, an embodiment of the present application provides a method for collecting motion information of a bidirectional flying saucer, which is applied to an upper computer, where the method for processing motion information of a bidirectional flying saucer includes: acquiring first motion information and second motion information sent by a plurality of inertial sensor nodes, wherein the plurality of inertial sensor nodes are arranged at a first preset position of a player body and a second preset position of a gun body, the first motion information is motion information of a plurality of limbs of the player body in the whole bidirectional flying saucer shooting process, and the second motion information is motion information of the gun body in the whole bidirectional flying saucer shooting process; acquiring video images of athletes in the whole bidirectional flying saucer shooting process, wherein the video images are sent by a high-speed camera, and the high-speed camera is synchronous with clocks of the inertia sensor nodes; and determining the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and carrying out shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

In a third aspect, an embodiment of the present application provides an upper computer, including a memory and a processor, where the memory stores a computer program capable of running on the processor, and the processor implements the bidirectional flying saucer motion information collecting method according to the second aspect when executing the computer program.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to implement the bidirectional flying saucer motion information collecting method according to the second aspect.

In a fifth aspect, an embodiment of the present application provides a computer program product, where the computer program product when run on a host computer causes the host computer to execute the bidirectional flying saucer motion information collecting method according to the second aspect.

It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a system for acquiring motion information of a two-way flying saucer according to an embodiment of the present application;

FIG. 2 is a schematic view of a shooting acquisition point according to an embodiment of the present application;

FIG. 3 is a schematic illustration of an athlete's body provided with inertial sensor nodes in accordance with one embodiment of the present application;

FIG. 4 is a schematic diagram of an inertial sensor node according to an embodiment of the present application;

FIG. 5 is a flow chart of a method for processing information of bi-directional flying saucer motion according to an embodiment of the application;

FIG. 6 (a) is a schematic diagram illustrating the shooting phase division of an acceleration curve according to an embodiment of the present application;

FIG. 6 (b) is a schematic view illustrating shooting phase division of an angular velocity curve according to an embodiment of the present application;

FIG. 7 is a graph showing peak values with target stage at the time of hit and miss for two targets according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a two-way flying saucer motion information processing device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an upper computer according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The flying saucer shooting whole set of technical actions has a lot of details, and reasonable gun starting speed, gun transporting speed, firing time, rhythm and the like are important points of the shooting technology and are also project difficulties. Because the flying saucer shooting action is completed in a very short time, the details of the technical action are difficult to observe by naked eyes, and if the technical action of a sportsman is slightly changed in the long-term training process, a coach is difficult to accurately perceive, and although a plurality of motion capture systems and action analysis instruments are introduced and developed to assist training and scientific research, most of the devices are used under laboratory conditions, have high manufacturing cost and serve as one of outdoor items, and cannot be well attached to the actual training and competition conditions of the flying saucer shooting item.

In recent years, with the continuous maturation of inertial sensing technology, the accuracy of inertial sensors is greatly improved, the volume becomes smaller and smaller, and the cost is lower and lower. It is widely used in the fields of consumer electronics, artificial intelligence, mechanical manufacturing, aerospace and the like, and has become a popular device. The inertial sensor also has the advantages of high precision, stability and small volume, and can accurately and conveniently measure the motion direction and motion amplitude of an object, so that a large number of students develop various human body gesture detection and motion recognition systems based on the inertial sensor. Meanwhile, the wireless communication module is raised, and wireless transmission between the lower computers and the upper computer is more convenient. On the basis, the device suitable for monitoring the movement of the bidirectional flying saucer is possible to develop.

For athletes, the right technical action is developed just when the athletes start to contact the training program, and the method has great significance for the development of the sport lifetime in the future. Therefore, the training aid or training auxiliary system is assisted with the scientific training equipment and the targeted guidance of a coach, which is an effective way for the athlete to lift well and quickly. According to the embodiment of the application, from the shooting action, the state of the art of the athlete is objectively evaluated through the development and application of the flying saucer shooting project movement information acquisition system, and the personalized characteristics of the athlete in shooting are found out through continuous movement information acquisition, so that a coach can find the defects in the shooting action of the athlete more quickly, the purpose of targeted guidance is achieved, and the purpose of improving the athletic performance of the athlete is achieved.

Based on the above, in the embodiment of the application, the inertial sensor is applied to the collection of the motion information of the bidirectional flying saucer, and then the data collected by the inertial sensor is subjected to bidirectional flying saucer shooting phase division by combining the video images collected by the high-speed camera, and the shooting actions of the athlete are analyzed and guided based on the motion information of each shooting phase.

Fig. 1 shows a two-way flying saucer motion information acquisition system provided by an embodiment of the application, which comprises a plurality of inertial sensor nodes 101, a high-speed camera 102 and an upper computer 103. The high-speed camera 102 and the plurality of inertial sensor nodes 101 are respectively connected to the host computer 103 in a communication manner. The inertial sensor nodes 1, 2 to n are shown in fig. 1 as integers greater than or equal to 3, for example n is equal to 12.

The inertial sensor nodes 101 are disposed at a first preset position of the body of the player and a second preset position of the gun body, and are configured to collect first motion information of a plurality of limbs of the body of the player and second motion information of the gun body during a bidirectional flying saucer shooting process, and send the first motion information and the second motion information to the upper computer 103.

The high-speed camera 102 is arranged on the right side of the athlete, and is used for collecting video images of the entire bidirectional flying saucer shooting process of the athlete and sending the video images to the upper computer 103. The high-speed camera 102 is synchronized with the clocks of the inertial sensor nodes 101, so that the stage time of each shooting stage of each bidirectional flying saucer can be determined based on video images, and then the motion information corresponding to each shooting stage can be determined.

The upper computer 103 determines the stage time of each shooting stage of the athlete based on the video image acquisition time, and performs shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

In some embodiments, the first preset position may include: the middle parts of the right wrist and the fist face; a right forearm; a right large arm; a left large arm; a left forearm; the outer side edge of the right shoulder blade; the lateral margin of the left shoulder blade; midpoint of the lateral right hip; the lateral midpoint of the left hip; a head. The second preset position includes: gun stock and gun head.

As shown in FIG. 2, the field of flying saucer shooting is a semicircular arc with a radius of 19.2m, the field is open and free from shielding, and in qualification games of formal games, athletes need to complete single-target and double-target shooting of 8 shooting targets in sequence. Among the 8 shooting targets, the 4-shot target is classified as a difficult target due to large swivel amplitude, long gun transport distance and large advance required for firing. In the embodiment of the application, a high platform with the number 4 is selected as a test target, single and double targets are shot, and the movement information of athletes and gun bodies is acquired.

For example, each inertial sensor node may be numbered, and the positional correspondence of each numbered inertial sensor node to the athlete's body and gun body is shown in table 1.

TABLE 1 inertial sensor nodes correspond to body and gun positions

The inertial sensor nodes 1 to 12 are in one-to-one correspondence with the acquisition points, and as shown in fig. 3, are respectively a right wrist 1 and a fist surface midpoint (hereinafter referred to as right wrist), a right forearm 2, a right forearm 3, a left forearm 4, a left forearm 5, a right shoulder and shoulder blade lateral edge (right shoulder) 6, a left shoulder and shoulder blade lateral edge (left shoulder) 7, a right hip lateral midpoint 8, a left hip lateral midpoint 9 (left hip), a head 10, a gun stock 11 and a gun head 12.

As shown in fig. 4, in some embodiments, inertial sensor node 101 may include an inertial sensor 1011, a processor 1012, a power supply 1013, a communication module 1014, and a cartridge (not shown in fig. 3), where inertial sensor 1011, communication module 1014, and cartridge are all coupled to processor 1012.

The power supply 1013 is configured to supply power to the inertial sensor 1011, the processor 1012, and the communication module 1014. The card holder is used for placing a memory card 1015, and the memory card 1015 is connected to the processor 1012. The communication module 1014 is configured to receive an instruction issued by the host computer 103, and transmit the instruction to the processor 1012. The processor 1012 is configured to control the inertial sensor 1011 to collect motion information in response to the instruction, and send the motion information collected by the inertial sensor 1011 to the host computer 103 through the communication module 1014, and store the motion information collected by the inertial sensor 1011 to the memory card 1015.

Referring to fig. 4, in some embodiments, each inertial sensor node 101 may further include an indicator light 1016, the indicator 1016 being coupled to the processor 1012. When the inertial sensor node 101 and the host computer 103 are not in communication connection, the processor 1012 controls the indicator light 1016 to operate in a first mode of operation. After the inertial sensor node 101 establishes a communication connection with the host computer 103, the processor 1012 controls the indicator light 1016 to operate in a second mode of operation. When the inertial sensor node 101 sends motion information to the host computer 103, the processor 1012 controls the indicator 1016 to operate in a third mode of operation.

For example, the first mode of operation may be a red light for the indicator light 1016, the second mode of operation may be a blue light for the indicator light 1016, and the third mode of operation may be a flashing blue light for the indicator light 1016. The indication lamp 1015 emits red light, which is that the inertial sensor node 101 and the upper computer 103 do not establish communication connection, the indication lamp 1015 emits blue light, which is that the inertial sensor node 101 and the upper computer 103 have established communication connection, and the indication lamp 1015 emits flashing blue light, which is that the inertial sensor node 101 sends motion information to the upper computer 103.

In some embodiments, each inertial sensor node 101 may also include a Type C interface and a linear regulator. The Type C interface is connected with the power supply 1013, and the Type C interface can be connected with an external power supply to charge the energy storage part in the power supply 1013. The power supply 1013 supplies power to the inertial sensor 1011, the processor 1012 and the communication module 1014 through the linear voltage stabilizer, and provides a stable dc output voltage thereto, thereby protecting the safe and long-term reliable operation of the apparatus.

In addition, the placement position of the high-speed camera 102 is also studied in the embodiment of the present application. If the high speed camera 102 is placed directly in front of or right in front of the athlete, it may have an impact on the athlete's target. If the high speed camera 102 is placed in the left front of the athlete, the gun holding operation of the athlete cannot be observed, and the target watching of the athlete is affected. If the high speed camera 102 is placed directly behind, left behind, right left behind, or right behind the athlete, the athlete's hand-holding action cannot be observed. If the high speed camera 102 is placed directly to the right of the athlete, the athlete's complete technical action can be recorded without affecting the athlete's view.

For example, the inertial sensor 1011 may be an MPU6050 inertial sensor module, which includes a three-axis accelerometer, a three-axis gyroscope, and a Digital Motion Processor (DMP), all integrated in a small package of 4 x 0.9mm, which eliminates the problem of the difference between the combined gyroscope and the accelerometer time axis, and reduces a large amount of packaging space. The processor 1012 can select STM32F405RGT6 singlechip under the STM32F4 series of the semiconductor, and the singlechip is based on a high-performance ARM Cortex-M4 bit RISC core architecture, has the working frequency as high as 168 MHz and strong calculation capability, and is very suitable for reading a plurality of sensor data in real time. The communication module 1014 can be an ATK-ESP-01 module, the external dimension of the WiFi module is only 24 x 16 x 3 (+ -0.2) mm, and the communication module is a high-performance 802.11b/g/n WiFi SOC module, the working temperature is-20-85 ℃, and the working humidity is 10-90% RH.

The bidirectional flying saucer motion information acquisition system needs to be transmitted wirelessly, and if a fixed power supply is used for supplying power to the inertial sensor node, the flexibility characteristic can be lost, so that a mobile power supply needs to be selected. As the wearing equipment contacted with the body, the safety quality of the battery is high, the occupied space is as small as possible, meanwhile, the selected power supply module is required to meet the requirement of long-time data acquisition, and the output voltage of the power supply module is also required to be in the working voltage range of the inertial sensor node. In combination with the above, the power supply 1013 may select a 603040 type lithium battery.

In this embodiment, each inertial sensor node may be connected to an upper computer (e.g. a computer) through a writer, and the written wireless communication codes of the connection hardware and software may be sequentially transmitted to each inertial sensor node through the writer, so that each inertial sensor node may establish communication connection with the upper computer software through the same IP address.

In some embodiments, the process of determining the phase time of each shooting phase of the athlete by the upper computer 103 based on the acquisition time of the video image may include: playback of the video image at a speed of 240 frames/second; and responding to the bidirectional flying saucer stage dividing operation input by the user, determining the time from the first frame image to the last frame image of each shooting stage, wherein the time of the first frame image is the starting time of the corresponding shooting stage, and the time of the last frame image is the ending time of the corresponding shooting stage.

The firing of the bidirectional flying saucer is an instant moment, and the first frame is used as an ending mark of the last stage, wherein the shooting stage of single-target shooting comprises a preparation stage, a gun starting stage, a gun transporting stage and a firing instant. The preparation stage: A-B, taking the relative rest of the body after the gun combining of the athlete as a starting point, and taking the starting point of the first frame of the starting activity of the wrist of the gun holding hand. A gun starting stage: B-C, taking the first frame of the wrist of the hand held by the athlete to start to act as a starting point, and taking the butt close to the cheek as a stopping point. Gun transporting stage: C-D, taking a gun stock of the athlete close to the cheek as a starting point and taking a firing first frame as a dead point. The moment of firing: and D, taking the first frame during firing as the firing moment.

The shooting stage of the double-target shooting comprises a preparation stage, a gun starting stage, a single-target gun transporting stage, a target following stage and a double-target gun transporting stage. The preparation stage: a-b, taking the relative rest of the body after the gun combining of the athlete as a starting point, and taking the starting point of the first frame of the starting activity of the wrist of the gun holding hand. A gun starting stage: b-c, taking the first frame of the wrist of the hand of the athlete for starting the activity as a starting point and taking the first frame of the gunstock face as a stopping point. A target gun stage: c-d, taking the first frame of the gun stock face of the athlete as a starting point and taking the first frame of the first firing as a dead point. Along with the target stage: d-e, taking the first frame of the first firing of the athlete as a starting point and taking the first frame of the reverse gun-carrying of the athlete as a dead point. Two-target gun transporting stage: e-f, taking the first frame of the athlete reverse gun as a starting point and taking the first frame of the second firing as a starting point. Two targets are triggered instantly: f, taking the first frame of the two targets during firing as the firing moment.

The upper computer 103 performs shooting phase division and shooting action analysis on the first motion information and the second motion information according to the phase time, which may include: determining motion data corresponding to each shooting stage from the first motion information and the second motion information according to the starting time and the ending time of the shooting stage; acceleration and angular velocity of the player's body at a plurality of locations during each firing phase and of the gun body during that firing phase are determined based on the motion data.

For example, the shooting stage of single-target shooting can be divided into four parts of a preparation stage, a gun-starting stage, a gun-transporting stage and a firing moment, and then the upper computer 103 divides the first motion information and the second motion information according to the stage time corresponding to each shooting stage, so that the motion data corresponding to the four parts of the preparation stage, the gun-starting stage, the gun-transporting stage and the firing moment can be obtained. Then, the upper computer 103 can determine the acceleration and angular velocity of the gun body at the four parts and a plurality of parts of the body according to the motion data of the four parts of the preparation stage, the gun starting stage, the gun transporting stage and the moment of firing.

For example, the shooting stage of the dual-target shooting includes six parts including a preparation stage, a gun starting stage, a target carrying stage, a target following stage, a target carrying stage and a target firing moment, and then the upper computer 103 divides the first motion information and the second motion information according to the stage time corresponding to each shooting stage, so that motion data corresponding to the six parts including the preparation stage, the gun starting stage, the target carrying stage, the target following stage, the target carrying stage and the target firing moment can be obtained. Then, the upper computer 103 can determine the acceleration and angular velocity of the gun body at the four parts and a plurality of parts of the body according to the motion data of the six parts, such as the preparation stage, the gun starting stage, the first target gun carrying stage, the target following stage, the second target gun carrying stage and the second target firing moment.

In addition, the host computer 103 is further configured to: and determining the action stability of the athlete in each shooting stage according to the stage time of each shooting stage of the athlete, the acceleration and the angular velocity of a plurality of parts of the athlete body and the gun body in the shooting stage.

The main functions of the inertial sensor node include: (1) measuring acceleration of the body and the gun body of the athlete in X, Y, Z directions in the shooting process; (2) a curve of the triaxial acceleration over time can be measured; (3) the curve of the magnitude of resultant acceleration and the change of the resultant acceleration with time can be obtained; (4) the size and the change of the body and the gun body in the X, Y, Z directions of the athlete in the shooting process can be measured; (5) a curve of the triaxial angular velocity over time can be measured; (6) the data can be sent and the acquisition command can be received in a WiFi mode; (7) the built-in memory card performs data backup, and automatically covers the stored data when the power is turned on again.

In addition, the upper computer 103 may further perform the following processing on the first motion information and the second motion information sent by the inertial sensor node 101: (1) The acceleration and angular speed data of each inertial sensor node in the X, Y, Z directions are read in real time; (2) Displaying acceleration and angular velocity curves of all inertial sensor nodes in X, Y, Z directions in real time; (3) The curve in the step (2) can be intercepted, enlarged, reduced and stored; (4) The real-time receiving interface of the data of each inertial sensor node can be switched at will; (5) Acceleration or angular velocity curves of one axis can be displayed and hidden at will; (6) The raw data of acceleration and angular velocity in three directions X, Y, Z can be stored in Excel; (7) The original data of the existing acceleration and angular velocity can be imported into software to form a curve.

Fig. 5 is a schematic flowchart of a bidirectional flying saucer motion information processing method according to an embodiment of the present application, and referring to fig. 5, the bidirectional flying saucer motion information processing method is described in detail as follows:

step 201, obtaining first movement information of an athlete and second movement information of a gun body.

The first movement information is acquired based on a plurality of inertial sensors arranged on the body of the athlete, the second movement information is acquired based on the inertial sensors arranged on the gun body, the first movement information is movement information of a plurality of limbs of the body of the athlete in the whole bidirectional flying saucer shooting process, and the second movement information is movement information of the gun body in the whole bidirectional flying saucer shooting process.

For the location of the inertial sensor node on the athlete's body and the location of the inertial sensor node on the gun body, please refer to the above-mentioned related matters, and the details are not repeated here.

Step 202, obtaining video images of athletes in the whole bidirectional flying saucer shooting process sent by a high-speed camera, wherein the high-speed camera is synchronous with clocks of the plurality of inertial sensor nodes.

The high-speed camera is synchronous with the clock of the inertial sensor node, and the phase time of each design phase of the bidirectional flying saucer can be determined based on the video image, so that the movement information corresponding to each shooting phase can be determined.

Step 203, determining the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and performing shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

In some embodiments, determining the stage time of each shooting stage of the athlete based on the video image acquisition time may include: playback of the video image at a speed of 240 frames/second; and responding to shooting stage dividing operation input by a user, determining the time from the first frame image to the last frame image of each shooting stage, wherein the time of the first frame image is the starting time of the corresponding shooting stage, and the time of the last frame image is the ending time of the corresponding shooting stage.

The division of each shooting stage is referred to the above related content, and will not be described herein.

By way of example, the motion information (acceleration and angular velocity) collected by the inertial sensor nodes located at the gun head will be described. The video image is used for dividing each shooting stage of the athlete, so that the stage time of each shooting stage can be determined. Then, the angular velocity data acquired by the inertial sensor node on the gun head is segmented according to the phase time to obtain each shooting phase shown in fig. 6 (a), and the angular velocity data acquired by the inertial sensor node on the gun head is segmented according to the phase time to obtain each shooting phase shown in fig. 6 (b).

In some embodiments, the shooting phase division and shooting action analysis for the first motion information and the second motion information according to the phase time includes: determining motion data corresponding to each shooting stage from the first motion information and the second motion information according to the starting time and the ending time of the shooting stage; acceleration and angular velocity of the player's body at a plurality of locations during each firing phase and of the gun body during that firing phase are determined based on the motion data.

In some embodiments, the shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time may include: and determining the action stability of the athlete in each shooting stage according to the stage time of each shooting stage of the athlete, the acceleration and the angular velocity of a plurality of parts of the athlete body and the gun body in the shooting stage.

The stage time of each shooting stage, the acceleration and the angular velocity of multiple positions of the body, and the acceleration and the angular velocity of the gun body are all in a certain regular range, if the fluctuation of the data is too large in a certain shooting stage, the action stability of the athlete can be determined to be poor, so that the action of the athlete can be analyzed and guided according to specific data of the acceleration and the angular velocity and specific stage.

For example, for each player, first and second movement information corresponding to a plurality of shots are collected, the first movement information including acceleration and angular velocity of the player's limb, and the second movement information including acceleration and angular velocity of the gun body.

The determining the motion stability of the athlete in each shooting phase according to the phase time of each shooting phase of the athlete, the acceleration and the angular velocity of a plurality of parts of the athlete body and the gun body in the shooting phase may include:

for each athlete, determining the time stability and the limb action stability of the athlete in each shooting stage according to the first movement information and the shooting hit rate corresponding to the shooting for a plurality of times, wherein the limb action stability comprises limb acceleration stability and limb angular velocity stability; the time stability is determined based on the variances of the time used by each shooting stage corresponding to a plurality of shots, the limb acceleration stability is determined based on the variances of the limb acceleration of each shooting stage corresponding to a plurality of shots, and the limb angular velocity stability is determined based on the variances of the limb angular velocities of each shooting stage corresponding to a plurality of shots;

and determining the gun body acceleration stability and the gun body angular velocity stability of the athlete in each shooting stage according to the second motion information corresponding to the plurality of shots, wherein the gun body acceleration stability is determined based on the variance of the gun body acceleration in each shooting stage corresponding to the plurality of shots, and the gun body angular velocity stability is determined based on the variance of the gun body angular velocity in each shooting stage corresponding to the plurality of shots.

In some embodiments, the method may further include: sampling first movement information of the athlete in a gun starting stage and a gun transporting stage, wherein the first movement information comprises limb acceleration and time; calculating the variance of the limb acceleration and the variance of the time used in the sampling result; if the variance of the limb acceleration is smaller than a first variance threshold and the variance of the used time is smaller than a second variance threshold, determining that the athlete has good stability; otherwise, determining that the athlete has poor stability; the first variance threshold and the second variance threshold are determined based on the motion information of the player in a gun starting stage and a gun transporting stage when the player is larger than a preset hit rate.

In some embodiments, the method may further include: sampling second movement information of the athlete in a gun starting stage and a gun transporting stage, wherein the second movement information comprises gun body acceleration and time; calculating the variance of gun acceleration and the variance of the used time in the sampling result; if the variance of the gun acceleration is smaller than a third variance threshold and the variance of the used time is smaller than a fourth variance threshold, determining that the athlete has good stability; otherwise, determining that the athlete has poor stability; wherein the third variance threshold and the fourth variance threshold are determined based on movement information of the player at a gun firing stage and a gun delivery stage when the player is greater than a preset hit rate.

In some embodiments, the method may further include: sampling first movement information of the athlete in a target following stage, wherein the first movement information comprises limb acceleration and time; calculating the variance of the limb acceleration and the variance of the time used in the sampling result; if the variance of the limb acceleration is smaller than a fifth variance threshold and the variance of the used time is smaller than a sixth variance threshold, determining that the athlete has good stability; otherwise, determining that the athlete has poor stability; wherein the fifth variance threshold and the sixth variance threshold are determined based on motion information of the player at the target following stage when the player is greater than a preset hit rate.

In some embodiments, the method may further include: sampling second movement information of the athlete in the target following stage, wherein the second movement information comprises gun acceleration and time; calculating the variance of gun acceleration and the variance of the used time in the sampling result; if the variance of the gun acceleration is smaller than a seventh variance threshold and the variance of the used time is smaller than an eighth variance threshold, determining that the athlete has good stability; otherwise, determining that the athlete has poor stability; wherein the seventh variance threshold and the eighth variance threshold are determined based on information of the player's movements along with the target phase at a time greater than a preset hit rate.

Embodiments of the present application are further described below by collecting and analyzing athletic information for a plurality of athletes.

The test adopts a GoPro8 motion camera to shoot the athlete, the shooting frame rate is 240 frames/s, the test target position is a high platform with the number 4, the number 1-12 inertial sensor nodes are placed according to the attachment positions, and the athlete is subjected to 1 single and 1 double shooting motion information acquisition.

The test results were as follows:

TABLE 2 phase time for two tests

As can be seen from Table 2, the gun delivery time for single-target shooting was as short as 0.15s, and the time spent (0.28 s) for two-target gun delivery stage in double-target shooting was longer than the time spent (0.24 s) for one-target gun delivery stage, and the results of both shots were hits.

The athlete remained relatively stationary during the preparation phase, and had no redundant motion, and the acceleration value fluctuated up and down at 1 g.

The sportsman changes from a relatively static state to a moving state in the gun starting stage, the accelerating process is quick acceleration, smooth acceleration, fine adjustment change and firing, the maximum acceleration value of the sportsman in the stage is near 2g, the maximum acceleration value of the sportsman is at a gun stock, and the movement of the gun stock is mainly used in the stage to finish the action of gun-carrying face. And after the gun starting stage is finished, the player actively carries out gun matching with the flying track of the disc target, adjusts the gun carrying acceleration of the player according to the disc target track, completes gun carrying action and fires, wherein the gun carrying stage of single-target shooting and one target of double targets carry out gun carrying, the time for testing two shots is respectively 0.15s and 0.24s, and the gun carrying time for single-target and double-target shooting has certain difference, but the action is essentially tracking the first disc target.

The target following stage of double-target shooting refers to the movement in a period from the first firing to the time before the second disc target is tracked by the gun returning, and covers the firing and gun following actions of one target, and the important stage of receiving two targets and transporting the gun is that the time of the tested athlete is 0.31s. In the stage, the athlete can be influenced by the recoil of shooting of a target, the maximum value of record can appear at each collecting point, and the values at other points except for a gun stock are smaller, which is the reason for controlling the action of the athlete, and the smaller the influence of the recoil, the more stable the action of the stage, and the smoother the connection of the subsequent stages.

The two-target gun-carrying stage of double-target shooting refers to the tracking of a second disc target, which is influenced by the first three stages, and belongs to the difficulty of the two-way flying disc shooting technology, the two-target gun-carrying stage is longer than the one-target gun-carrying stage, and the time of a player in the test is 0.28s longer than that of the one-target player. When the athlete tracks the second disc target, the sensor records the change of the measured value, and only the gun-carrying target tracking action is performed at the stage, and the acceleration curve in the stage is stable.

The peak value of the sensor of the rest points except the sensor at the gun stock after firing occurs later. Taking the gun stock and the gun head as examples, when the gun stock sensor is affected by firing and has a peak value of about 0.02s, the sensor at the gun head has a peak value, and the appearance in a video is that the gun head starts to rise after 5-8 frames (about 0.03s in 8 frames) after the gun stock moves after firing, so that the maximum value of the combined acceleration is generated.

Tables 2 and 3 show the acceleration values at each acquisition point stage for single-target and double-target shots.

Table 3 acceleration values at each acquisition point stage of single target shooting

Note that: the values of the speeds in the table are given in g,1 g=9.8 m/s

TABLE 4 acceleration values at each acquisition Point stage for double target shooting

Note that: the values of the speeds in the table are given in g,1 g=9.8 m/s

As can be seen from tables 3 and 4, the acceleration values of all parts in the preparation stage are about 1.000+ -0.020 g, wherein the average value of the acceleration at the right wrist is the largest (single target shooting 1.006g, double target shooting 1.009 g), the standard deviation at the stock is the largest (0.20 g), which is influenced by the holding of the gun by the player, the player holds the gun handle by the right hand, and the position of the stock is changed when the right wrist is jogged. The overall change amplitude of all the acquisition points in the stage is small, the athlete acts stably after completing the preparation posture, the body keeps relatively static, and the body action change cannot occur greatly.

In the stage of gun starting, the acceleration values of all parts of the athlete show that the double-target shooting is larger than that of the single-target shooting, in the stage, the motions of a gun stock part (1.404+/-0.449 g for single-target shooting and 1.510+/-0.476 for double-target shooting) and a right wrist part (1.375+/-0.550 g for single target and 1.395+/-0.390 g for double target) are mainly used, the acceleration values of the two parts are the largest, and the gun holding hand (right forearm ), gun holding hand (left forearm and left forearm) and gun head in other points need to be matched to complete the gun starting action, and the values of the gun holding hand, the gun holding hand (right forearm and the left forearm) and the gun head are correspondingly increased, so that the action amplitude is larger. The trunk (shoulders and hip) and head have small variation of acceleration and small action amplitude for maintaining the stability of the body and the stability of looking at the target.

The action of the single-target shooting in the single-target shooting gun transporting stage and the action of the double-target shooting in the single-target gun transporting stage are that the gun body is driven to move by the cooperative cooperation of the body, the gun holding hand and the gun holding hand, so that the target is tracked, the movement amplitude of the hand and the gun body in the stage is larger, the acceleration value change is obvious, and the phenomenon that the acceleration value of the double-target shooting is larger than that of the single-target shooting is shown.

At the moment of firing of single target shooting, the impact of gun firing recoil is recorded on the acquisition points on each part of the body of the athlete, the change condition of the body affected by the firing recoil is recorded on the acquisition points, the values of all the acquisition points are changed greatly, and the overall rule of the change is that the value acquired by the closer to the gun body is larger. The axis of the gun barrel applies a firing recoil backwards during firing, and the most obvious value recorded by the gun stock collection point (6.67+/-5.226 g) is greater than that of the gun head (4.50+/-4.664 g); the acquisition point of the hand is positioned at the far end of the body and is not fixed, the influence of recoil is also larger, and the recorded acceleration value shows that the holding gun is larger than the holding gun; the acquisition point at the trunk is close to the gun body, but in order to maintain the stability of the body in the process of movement, the athlete can actively exert force to generate recoil force, so that the aim of maintaining the stability of the body posture is fulfilled, and the acquisition point is well verified in the target following stage of double-target shooting. The dual-target shooting following stage comprises a target firing step and a following step after the target firing step, recoil force generated by a gun to an athlete during the target firing step can be completely recorded, the average value and the standard deviation are used for displaying acceleration change of each collecting point under the influence of the recoil force, the influence of the recoil force on a gun stock (7.280 +/-7.318 g) during the firing step is the greatest, and secondly, a gun head (4.396 +/-5.819 g) is the most important, the average value of the acceleration of a gun holder is larger than that of a gun holder, and the average value of the acceleration of a trunk collecting point is the least important.

In the two-target gun-carrying stage of double-target shooting, except the gun head with the largest movable part, the average acceleration value of other points is smaller, and in the stage, the athlete needs to stably carry out gun-carrying and target-following, so that the hit rate of the two targets is improved.

For more visual presentation, the athlete was divided into two groups of acceleration values for single-target and double-target shooting 1 st acquisition point (right wrist), and the acceleration values were analyzed in detail as follows.

For single-target shooting, the acceleration value of the athlete is in an inverted U-shaped peak in the shooting stage, in the stage, the athlete moves from rest to activity, the acceleration peak appears in the middle of the shooting stage of the athlete, the right wrist of the athlete is started, when the acceleration curve has a larger change, the athlete applies a larger force to drive the shooting through the wrist, then the action is controlled gradually, the acceleration increase range at the wrist is slowed down, and the continuous movement of the acceleration is carried out with a smaller acceleration, so that the shooting is more stable, and the foundation is laid for the next shooting stage.

The acceleration value at the right wrist approaches to 0 value from the final stage of the gun starting stage to the initial stage of the gun transporting stage, the wrist has completed moving in the vertical direction, and then the horizontal displacement is started along with the rotation of the body, namely gun transporting and target tracking. The acceleration curve of the athlete at the later stage of the gun transporting stage has a section of rising value, the athlete needs to accelerate the target, the self-activity is matched with the movement of the disc target, then the athlete can control the movement to smoothly accelerate, the operator can make the self-movement coincide with the disc target, which is the key of the gun transporting movement, the change trend of the acceleration curve of the male and female athlete at the gun transporting stage is more consistent, but the personal movement difference exists, the fine movement difference exists at the middle and later stages of the stage, the curve has a certain peak change, and the difference is relatively smaller in single-target shooting.

For dual-target shooting, the time consumption is basically about 1.2s, and the whole time consumption of the 1 st shot is relatively consistent. The changes in the preparation phase, the firing phase and the one-target gun-delivery phase of dual-target shooting are more consistent with those of single targets, and are not described herein.

The target following stage comprises the firing of the first target of the athlete and the inertial target following action before the two targets are carried out, the action change amplitude of the body under the influence of recoil can be completely recorded in the stage, the firing is the firing, the firing (first target) peak value change along with the target stage is smaller than the firing peak value change of the second target, and the amplitude change is particularly obvious in female athletes. The impact of gun control during firing on the target following action after firing is larger, the acceleration peak value recorded at the right wrist part during firing of a target is larger, the amplitude is larger during following inertia following the target, and the quality of finishing the stage action is poorer.

In the two-target gun-carrying stage, after the target following stage is completed, the player reverses the gun-carrying target-following process, and the more uniform the player gun-carrying acceleration is in the stage, the better the action quality is. The greater the range of variation of the acceleration profile of the athlete's segment at this stage, the more unstable the motion.

The acceleration data (taking the sampling point at the wrist of the right hand of the number 1 as an example) of the preparation phase 0.5s before the starting phase of 8 athletes are selected for display from the moment that the athletes close the gun until the starting action starts (before the wrist of the gun holds the hand starts to move). At the right wrist position of the 8 athletes in the preparation stage when the single targets are 1 st, acceleration values among different measurement points of the single targets are not changed greatly, the values of the acceleration values fluctuate around 1 g+/-0.1 g, at the moment, the motion of the athletes is stable, the body is in a relatively static state, and the acceleration change of the preparation stage is consistent with that of the single targets during double targets shooting, so that independent discussion on the motion of the preparation stage is not needed.

The acceleration curves of different athletes in the gun starting stage are different, and the different athletes show respective characteristics, but the overall change trend of the different athletes is similar, and the acceleration curves of most athletes can be overlapped.

In the gun starting stage, the acceleration change trend of the positions of the right wrist, the right small arm, the right large arm and the gun stock is consistent, the right arm is a gun holding arm, the gun stock is controlled to displace in the gun starting stage, the active force is exerted to enable the point location acceleration curve change trend in the face stage of the gun stock to be consistent, the action is smooth, the acceleration trend is quick and slow, the stage action is smooth, and the acceleration curve is smooth. The left small arm, the left large arm and the gun head are changed consistently, in the stage of gun starting, the left arm is a gun supporting arm, the gun head is maintained stably, the gun supporting arm and the gun stock are matched to construct a sighting base line, the three parts are in passive matching, the starting time of the action is consistent with that of a gun supporting hand, but the amplitude and the acceleration of the action are changed less than those of the gun supporting hand in the stage. The acceleration of the right shoulder, the left shoulder, the right hip, the left hip and the head part is basically unchanged in the early stage and the middle stage of the gun starting stage, and after the gun starting is basically completed, a sportsman basically builds a gun transporting base line and then acts for connecting the next stage, and the five parts can only change a smaller acceleration value.

In the gun-carrying stage, the athlete needs to make gun-carrying and target-following actions, the direction of the gun head is kept to be consistent with the flying track of the disc target, in the stage, the athlete drives the gun body to move by rotating the body, and at the moment, the action task of the gun-holding hand is to stabilize the gun body and enable the gun body to be clung to a gun-abutting point of the body; the gun holder is used for maintaining the stability of the movement of the gun head, including the stability of target tracking and the stability of base line aiming; the trunk is responsible for turning, and the movement of the gun body is influenced by the trunk; the head is mainly a staring disc target at this stage, and the player should make the head and the gun move in the same direction.

The starting point of the target following stage is the moment when a target of the athlete is triggered, at the moment, the collecting points at all parts record the acceleration value change influenced by the trigger recoil, in the process, the athlete needs to keep the body, particularly the gun head, after triggering, the gun head cannot be lifted forward along with the trigger recoil, so that the subsequent target following action is carried out to cater for the next two targets of gun transportation and triggering, the athlete needs to keep the gun muzzle pointing after shooting of one target, actively overcomes the trigger recoil, the action of the athlete at the tail end of the stage tends to be static, and the gun muzzle is roughly pointed to the position where the disc target is to fly, and the action of the next stage is carried out after the actual disc target is slightly waited to see.

The starting points of acceleration values at the right wrists of different athletes are not consistent, which can reflect the degree of active resistance of the sportsman to the percussion recoil force when a target is struck, and the smaller the initial value of the stage is, the smaller the fluctuation range of the acceleration value in the stage is, and the more stable the stage action is. The initial values of acceleration of different acquisition points in the target stage are inconsistent, the degrees of influence of firing recoil on different positions are different, initial values of gun stocks and gun heads are maximum, the change of each acquisition point in the stage is small, the time consumption is short, the acceleration value of each position of an athlete gradually approaches to 1g after the recoil is overcome, and the athlete is ready for two-target gun transportation.

The two-target gun-carrying stage is started from the reverse target-following of the athlete, the athlete has done the target-viewing of the two targets at the moment, the subsequent action is to trace the two targets with uniform acceleration, and the stable gun-carrying is required in the stage, so that the self action is matched with the flying saucer flight. The acceleration curve of the second gun transporting stage is smoother than that of the first gun transporting stage, the change of the acceleration value in the stage is uniform, the time consumption of the stage is longer than that of the first target gun transporting stage, and an athlete needs to better coincide with a disc target during gun transporting and then fire.

Table 5 athlete stage time

As shown in Table 5, M+ -SD for single-target and double-target shots are 0.466+ -0.046 s and 1.073+ -0.071 s, respectively, and double-target shots require tracking and firing of two different disc targets for a total time longer than single-target shots.

The standard deviation (0.047) of the gun transporting stage is larger than that of the gun starting stage (0.027) when the single target shooting is used in the gun starting stage (0.282+/-0.027 s) and is longer than that of the gun transporting stage (0.189+/-0.047 s), and the action of the gun starting stage of an athlete is more stable when the single target shooting is used.

The two targets are two targets (0.375 + -0.075 s) and two targets (0.281 + -0.030 s) when shooting each stage, and the two targets are two targets (0.223 + -0.050 s) and one targets (0.194 + -0.045 s), wherein the standard deviation of two targets is the largest (0.075 s), and the difference between different athletes in the two targets.

The time mean value and standard deviation of the two stages are extremely small, which indicates that the tested athlete has better action consistency when completing the action of starting and the action of transporting the gun.

The time of the double-target shooting along with the target stage is 0.223+/-0.050 s, and certain difference exists among different athletes. The average time of two-target gun-transporting stages is 0.375s, which is the longest stage of two-target shooting, and the standard deviation (+ -0.075 s) of the stage time is the largest, and the difference among different athletes is larger.

The overall hit rate for the selected player was 75%, with a single target shot hit rate (83%) greater than a double target shot (72%). The hit rate (86%) of the double-target shooting one target is larger than that of the double-target shooting two targets (58%), and according to the shooting difficulty of the target position, the double-target shooting is difficult to shoot on a single target, the hit rate of the double-target shooting two targets is more difficult than that of the double-target shooting two targets, and the hit rate of an athlete at the double-target shooting two targets is far lower than that of the single-target shooting and the double-target shooting one target.

For athletes with a certain training level, the hit rate of the double-target shooting is the key of the performance breakthrough, and the athletes are most likely to miss at the second shot of the double-target shooting. The hit result also shows that the hit rate of the two targets shooting of the measured athlete is different from that of other two shots, and the hit rate of the two targets is lower. The hit result of the two targets in the two-target shooting of the athlete is determined by the two-target gun-carrying stage, but the hit result is also influenced by the target-following stage, the degree of automation of the excellent athlete at the two targets is higher, the stage action consistency is better, so that the athlete action is better diagnosed, the defect of the athlete in the two targets in the two-target shooting is found, and the application discusses the difference of the athlete from the target-following stage. The average value and standard deviation of acceleration peak values along with the target stage are used for reflecting the control of the athlete on the percussion recoil, and the influence of the athlete on the hit result of the two targets is analyzed according to the acceleration peak values recorded at the target stage along with each point position when the targets are hit and miss.

TABLE 6 hit and miss comparison

As can be seen from the data in table 6, the peak acceleration change amplitude of the mobilizer during hit is smaller than that during miss, the overall trend during hit is that the average value and standard deviation measured by the gun body point position are the largest, and secondly, the value of the gun holder, the gun support, the shoulder and the hip, on the side where the gun body is located, is larger than the opposite side value, and the result reflects that the mobilizer during hit has better resistance to the percussion recoil, the body has strong capability of overcoming the recoil, and the stage action is more stable.

As can be seen from table 5, the peak values of the player in the target following stage in the double-target shooting will be different for the teleoperator a in the double-target hit and the miss, and the peak values of the player in the target following stage in the double-target hit will be compared laterally to find whether the hit of the player in the double-target hit is affected by the peak values of the target following stage, and the peak values of the body collecting points of each player in the double-target hit and the miss are selected. Figure 7 shows the magnitude of peak acceleration of athlete a with target phase at both the time of two-target hit and the time of miss.

TABLE 7 peak values with target phase for two target hits and misses for male athletes

TABLE 8 peak values with target stage for female athlete during two-target hits and misses

As can be seen from tables 7 and 8, the peak acceleration values of the body acquisition points at the time of hit are generally smaller than those at the time of miss, the tendency of the body to resist the recoil of the gun body is more obvious when the player hits, and the player can control the stability of the body parts at the time of firing, so that the player can perform a stage action and stably transition to the two-target gun.

The peak of the female athlete in the stages of hit and miss is generally larger than that of the male, which is probably related to the magnitude of the self-strength, the male absolute strength is larger than that of the female, and the advantage of the same action for overcoming the percussion recoil is obvious. Female athlete G appeared at a value of 27.14G when hit, which was particularly different than hit.

From the athlete's level, the peak values for athlete a and athlete E at each point along the target phase were smaller relative to other athletes of the same gender.

According to the bidirectional flying saucer motion information processing method, the first motion information of the athlete and the second motion information of the gun body are obtained; acquiring video images of athletes in the whole bidirectional flying saucer process, which are sent by a high-speed camera, wherein the high-speed camera is synchronous with a clock of an inertial sensor node; the method comprises the steps of determining the stage time of each shooting stage of the athlete based on the acquisition time of the video image, carrying out shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time, carrying out shooting stage division on the motion information acquired by the inertial sensor node through the video image acquired by the high-speed camera, and further analyzing and guiding the action of the athlete according to the motion data of each stage, wherein the accuracy of the action analysis can be improved compared with the traditional technology.

The embodiment of the application can be used in daily training, and the truest action data can be acquired on the premise of not damaging the technical actions of the athlete, and can be used for recording the personal technical action changes of the same athlete in different training periods, the action changes of the same athlete in single training, the training movement information comparison of different level athletes and the like. The training instruction of the coach is significant, not only can the change of technical actions of the athlete in different training stages be judged, but also the training effect of the athlete in the stage can be checked; the method can also find the change of the front and back actions of the athlete in single training, improves the efficiency of single training, and finds more differences in action details by comparing the motion information of the athlete, thereby facilitating the guiding training, recording the motions by a scientific means and playing an important role for getting rid of the previous practice of fully relying on the experience of a coach.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Corresponding to the bidirectional flying saucer motion information processing method described in the above embodiment, fig. 8 shows a block diagram of the bidirectional flying saucer motion information processing device according to the embodiment of the present application, and for convenience of explanation, only the parts related to the embodiment of the present application are shown.

Referring to fig. 8, the bidirectional flying saucer motion information processing apparatus in an embodiment of the present application may include a motion information acquisition module 301, a video image acquisition module 302, and a processing module 303.

The motion information acquisition module 301 is configured to acquire first motion information of an athlete and second motion information of a gun body, where the first motion information is acquired based on a plurality of inertial sensors disposed on the athlete, the second motion information is acquired based on the inertial sensors disposed on the gun body, the first motion information is motion information of a plurality of limbs of the athlete during the whole bidirectional flying saucer shooting process, and the second motion information is motion information of the gun body during the whole bidirectional flying saucer shooting process.

The video image acquisition module 302 is configured to acquire video images of the athlete during the entire bidirectional flying saucer shooting process sent by a high-speed camera, where the high-speed camera is synchronized with clocks of the plurality of inertial sensor nodes.

The processing module 303 is configured to determine a stage time of each shooting stage of the athlete based on the video image acquisition time, and perform shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiment of the present application also provides an upper computer, referring to fig. 9, the upper computer 400 may include: at least one processor 410 and a memory 420, said memory 420 having stored therein a computer program executable on said at least one processor 410, said processor 410 implementing steps in any of the various method embodiments described above, such as steps 201 to 203 in the embodiment shown in fig. 4, when said computer program is executed. Alternatively, the processor 410 may implement the functions of the modules/units in the above-described embodiments of the apparatus, such as the functions of the modules 301 to 303 shown in fig. 8, when executing the computer program.

By way of example, a computer program may be partitioned into one or more modules/units that are stored in memory 420 and executed by processor 410 to perform the present application. The one or more modules/units may be a series of computer program segments capable of performing specific functions for describing the execution of the computer program in the upper computer 400.

It will be appreciated by those skilled in the art that fig. 9 is merely an example of a host computer, and is not limiting of the host computer, and may include more or fewer components than shown, or may combine certain components, or different components, such as input-output devices, network access devices, buses, etc.

The processor 410 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 420 may be an internal memory unit of the host computer, or may be an external memory device of the host computer, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. The memory 420 is used for storing the computer program and other programs and data required by the host computer. The memory 420 may also be used to temporarily store data that has been output or is to be output.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.

The bidirectional flying saucer motion information processing method provided by the embodiment of the application can be applied to devices such as an upper computer (e.g. a computer, a tablet computer, a notebook computer, a server and the like), wearable devices, vehicle-mounted devices, a netbook, personal digital assistants (personal digital assistant, PDA), augmented reality (augmented reality, AR)/Virtual Reality (VR) devices, mobile phones and the like.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps in each embodiment of the bidirectional flying saucer motion information processing method when being executed by a processor.

Embodiments of the present application provide a computer program product that, when executed on a mobile terminal, enables the mobile terminal to implement the steps of the embodiments of the two-way flying saucer motion information processing method described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/upper computer, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The bidirectional flying saucer motion information acquisition system is characterized by comprising a plurality of inertial sensor nodes, a high-speed camera and an upper computer, wherein the high-speed camera and the plurality of inertial sensor nodes are respectively in communication connection with the upper computer;

The inertia sensor nodes are arranged at a first preset position of the body of the athlete and a second preset position of the gun body, and are used for collecting first motion information of a plurality of limbs of the body of the athlete and second motion information of the gun body in the bidirectional flying saucer shooting process, and sending the first motion information and the second motion information to the upper computer;

the high-speed camera is arranged on the right side of the athlete and is used for collecting video images of the entire bidirectional flying saucer shooting process of the athlete and sending the video images to the upper computer; wherein the high speed camera is synchronized with clocks of the plurality of inertial sensor nodes;

and the upper computer determines the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and performs shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

2. The two-way flying saucer motion information gathering system as set forth in claim 1 wherein said first preset position comprises: the middle parts of the right wrist and the fist face; a right forearm; a right large arm; a left large arm; a left forearm; the outer side edge of the right shoulder blade; the lateral margin of the left shoulder blade; midpoint of the lateral right hip; the lateral midpoint of the left hip; a head;

The second preset position includes: gun stock and gun head.

3. The two-way flying saucer motion information gathering system as set forth in claim 1 wherein each inertial sensor node comprises: the device comprises an inertial sensor, a processor, a power supply, a communication module and a clamping seat, wherein the inertial sensor, the communication module and the clamping seat are all connected with the processor;

the power supply is used for supplying power to the inertial sensor, the processor and the communication module;

the card seat is used for placing a memory card, and the memory card is connected with the processor;

the communication module is used for receiving an instruction issued by the upper computer and transmitting the instruction to the processor;

the processor is used for responding to the instruction, controlling the inertial sensor to acquire motion information, transmitting the motion information acquired by the inertial sensor to the upper computer through the communication module, and storing the motion information acquired by the inertial sensor to the memory card.

4. The two-way flying saucer motion information gathering system as set forth in claim 3 wherein each inertial sensor node further comprises an indicator light, said indicator light being coupled to said processor;

When the inertial sensor node and the upper computer are not in communication connection, the processor controls the indicator lamp to work in a first working mode;

after the inertial sensor node is in communication connection with the upper computer, the processor controls the indicator lamp to work in a second working mode;

when the inertial sensor node sends motion information to the upper computer, the processor controls the indicator lamp to work in a third working mode.

5. The two-way flying saucer motion information gathering system as recited in claim 3 wherein each inertial sensor node further comprises a Type C interface and a linear voltage regulator, said Type C interface being connected to said power supply, said power supply powering said inertial sensor, said processor and said communication module through said linear voltage regulator.

6. The two-way flying saucer motion information gathering system as set forth in claim 1 wherein said host computer determines the phase time of each shooting phase of the player based on the gathering time of said video image, comprising:

playback of the video image at a speed of 240 frames/second;

responding to shooting phase dividing operation input by a user, determining the time from the first frame image to the last frame image of each shooting phase, wherein the time of the first frame image is the starting time of the corresponding shooting phase, and the time of the last frame image is the ending time of the corresponding shooting phase;

The firing of the bidirectional flying saucer is an instant moment, and the first frame is used as an ending mark of the last stage, wherein the shooting stage of single-target shooting comprises a preparation stage, a gun starting stage, a gun transporting stage and a firing instant; the preparation stage: taking the relative rest of the body of the athlete after closing the gun as a starting point, and taking the starting point of the initial frame of starting the movement of the wrist of the gun holding hand; a gun starting stage: taking a first frame of starting the action of a wrist of a gun held by a sportsman as a starting point, and taking a butt close to a cheek as a dead point; gun transporting stage: taking a gun stock of an athlete close to a cheek as a starting point and taking a firing first frame as a dead point; the moment of firing: taking the first frame during firing as the firing moment;

7. The two-way flying saucer motion information gathering system as set forth in claim 6 wherein said performing shooting phase division and shooting action analysis on said first motion information and said second motion information according to said phase time comprises:

determining motion data corresponding to each shooting stage from the first motion information and the second motion information according to the starting time and the ending time of the shooting stage;

acceleration and angular velocity of the player's body at a plurality of locations during each firing phase and of the gun body during that firing phase are determined based on the motion data.

8. The two-way flying saucer motion information gathering system as set forth in claim 7 wherein said host computer is further configured to: and determining the action stability of the athlete in each shooting stage according to the stage time of each shooting stage of the athlete, the acceleration and the angular velocity of a plurality of parts of the athlete body and the gun body in the shooting stage.

9. The bidirectional flying saucer motion information processing method is characterized by being applied to an upper computer and comprises the following steps of:

acquiring first motion information and second motion information sent by a plurality of inertial sensor nodes, wherein the plurality of inertial sensor nodes are arranged at a first preset position of a player body and a second preset position of a gun body, the first motion information is motion information of a plurality of limbs of the player body in the whole bidirectional flying saucer shooting process, and the second motion information is motion information of the gun body in the whole bidirectional flying saucer shooting process;

Acquiring video images of athletes in the whole bidirectional flying saucer shooting process, wherein the video images are sent by a high-speed camera, and the high-speed camera is synchronous with clocks of the inertia sensor nodes;

and determining the stage time of each shooting stage of the athlete based on the acquisition time of the video image, and carrying out shooting stage division and shooting action analysis on the first motion information and the second motion information according to the stage time.

10. A host computer comprising a memory and a processor, the memory having stored thereon a computer program executable on the processor, wherein the processor, when executing the computer program, performs the steps of the method as claimed in claim 9.