CN113033384A - Wheelchair curling motion state detection and target tracking system - Google Patents
Wheelchair curling motion state detection and target tracking system Download PDFInfo
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Abstract
本发明提出一种轮椅冰壶运动状态检测和目标跟踪系统，属于体育运动专用装置技术领域。该系统包括：运动状态检测装置、图像采集装置以及与该两个装置分别连接的中央控制计算机；其中，中央控制计算机包括：冰壶运动状态解算模块、冰壶运动状态数据显示模块、冰壶运动状态数据存储模块和冰壶运动视频图像处理模块；冰壶运动视频图像处理模块包括：冰壶运动轨迹预测子模块、目标跟踪子模块、冰场重建子模块和冰壶运动轨迹复现子模块。本发明可以有效防止遮挡对冰壶目标跟踪的影响，减少计算时间，在训练和比赛过程中为轮椅冰壶运动员以及教练员提供一种科学有效的训练手段和复盘方法。
The invention provides a wheelchair curling motion state detection and target tracking system, which belongs to the technical field of sports special devices. The system includes: a motion state detection device, an image acquisition device, and a central control computer respectively connected to the two devices; wherein, the central control computer includes: a curling motion state calculation module, a curling motion state data display module, a curling motion state data display module, and a curling motion state data display module. A motion state data storage module and a curling motion video image processing module; the curling motion video image processing module includes: a curling motion trajectory prediction sub-module, a target tracking sub-module, an ice rink reconstruction sub-module and a curling motion trajectory reproduction sub-module . The invention can effectively prevent the influence of occlusion on the tracking of the curling target, reduce the calculation time, and provide a scientific and effective training method and replay method for wheelchair curlers and coaches during training and competition.
Description
Technical Field
The invention belongs to the technical field of special sports equipment, and relates to a wheelchair curling motion state detection and target tracking system.
Background
Wheelchair curling motion is a young sport that has emerged in europe and rapidly transferred to europe in the end of the 90 s 20 th century, and is rapidly gaining favor of many sports enthusiasts due to its own enjoyment and competitive nature.
The same track and the same curling stones are used for the wheelchair curling motion and the traditional curling motion, and certain rules of the wheelchair curling motion refer to the rules of the curling motion, but the wheelchair curling motion and the traditional curling motion still have obvious differences. In the movement of the wheelchair curling, an athlete must sit on a wheelchair and throw the curling by using a push rod, the length between the inner edges of two end lines of a track is 45.72 meters due to the long length of an ice field, the wheelchair curling athlete is divided into two ends of the track, and the wheelchair curling athlete cannot directly observe the movement track and the movement state of the curling on the track because the curling is far away from the athlete during the movement of the curling on the track.
In a healthy people curling match, after the curling is thrown, two curling team members can brush ice properly according to the running condition of the curling before the movement track of the curling, so that the surface appearance of the ice surface in front of the curling is changed, the friction coefficient of the ice surface is reduced, the movement time of the curling is further prolonged, and the movement distance of the curling is increased. In the process of brushing ice, a curling athlete can conveniently observe the motion state and the motion track of the curling, and adjust the power and the rotation of the curling in the next time according to the power, but the wheelchair curling athlete is inconvenient to move, so that the motion track and the motion state of the curling on an ice channel are difficult to directly observe.
The intelligent curling capable of collecting self motion parameters in real time and a method thereof are provided in CN 103157262B by Shouguang et al, but the intelligent curling is large in size, can only detect motion state data of the curling, does not provide a further processing and display module, and does not provide a scientific and effective technical and tactical analysis system for athletes; golden crystal and the like provide a curling ball motion state estimation method in CN 111709301A, but in a complex curling game or curling training, more than one curling is often arranged on a ice road, a trained curling ball target detection network cannot accurately identify a curling ball to be tracked, and the curling ball target detection network only obtains an estimation result and cannot provide accurate reference data for wheelchair curling athletes.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wheelchair curling stone motion state detection and target tracking system. The invention can detect the key parameters of angular velocity, acceleration, speed and the like of the curling in the motion process in real time, so that wheelchair curling athletes can obtain quantitative data reference after throwing the curling each time, in addition, the system collects video images of the curling in the motion process by using a high-definition camera and transmits the video images to a central control computer for image processing, a curling target tracking module tracks the curling, a curling track prediction module can predict the motion area of the subsequent curling based on the coordinates of a continuous curling ice field and further tracks the prediction area by the target tracking module, can effectively prevent the influence of shielding on the target tracking of the curling, can further reproduce the motion track condition of the curling on the actual ice road through coordinate conversion, provides a scientific and effective training means and a re-playing method for wheelchair curling athletes and coaches in the training and competition process.
The invention provides a wheelchair curling motion state detection and target tracking system, which is characterized by comprising the following components: the device comprises a motion state detection device, an image acquisition device and a central control computer which is respectively connected with the two devices;
the motion state detection device is arranged in the center of the upper surface of the body of the selected curling and is used for acquiring motion state data of the curling in the motion process in real time, and the motion state detection device sends the acquired motion state data to the central control computer;
the image acquisition device is used for acquiring a video of curling training or competition and sending the video to the central control computer;
the central control computer is used for respectively receiving the motion state data sent by the motion state detection device and the video data sent by the image acquisition device; the central control computer calculates the motion state data to obtain the hand-out speed and the hand-out angular speed of the curling, displays and stores the hand-out speed and the hand-out angular speed, and processes the video data to obtain the reappearance result of the motion track of the curling in the actual ice field, and displays and stores the reappearance result;
wherein the central control computer comprises: the device comprises a curling motion state resolving module, a curling motion state data display module, a curling motion state data storage module and a curling motion video image processing module; the curling motion video image processing module comprises: the ice kettle motion track prediction sub-module, the target tracking sub-module, the ice field reconstruction sub-module and the ice kettle motion track reproduction sub-module; the input end of the curling motion state resolving module is connected with the output end of the curling motion state detection device, and the output end of the curling motion state resolving module is respectively connected with the input end of the curling motion state data storage module and the input end of the curling motion video image processing module; the input end of a curling motion track prediction submodule and the input end of an ice field reconstruction submodule in the curling motion video image processing module are respectively connected with the output end of the image acquisition device, the output end of the curling motion track prediction submodule is connected with the input end of a target tracking submodule, and the output end of the target tracking submodule and the output end of the ice field reconstruction submodule are respectively connected with the input end of the curling motion track reproduction submodule.
The invention has the characteristics and beneficial effects that:
because the development history of the wheelchair curling in China is short, and the training means of wheelchair curling athletes and coaches are deficient, the invention provides a motion state detection and target tracking system of the wheelchair curling, which can detect key parameters such as angular velocity, acceleration, speed and the like of the curling in the motion process in real time, so that the wheelchair curling athletes can obtain quantitative data reference after putting the curling, in addition, the system collects video images of the curling in the motion process by using a high-definition camera and transmits the video images to a central control computer for image processing, a curling motion track prediction submodule can determine the approximate area of the curling motion, and then the target tracking submodule is used for tracking the target area, thereby effectively preventing the influence of shielding on curling target tracking, reducing the calculation time of the computer, and further obtaining the motion track condition of the curling on an actual ice field through coordinate conversion, provides a scientific and effective training means and a re-playing method for wheelchair curling athletes and coaches in the training and competition process.
Drawings
Fig. 1 is a schematic structural diagram of a wheelchair curling motion state detection and target tracking system according to an embodiment of the invention.
Fig. 2 is a schematic view of the movement state detection device of the curling in the embodiment of the invention.
Detailed Description
The invention provides a wheelchair curling motion state detection and target tracking system, which is further described in detail in the following by combining the accompanying drawings and specific embodiments. In the following description, numerous details are set forth to provide a thorough explanation of the development and specific parameters of the invention, but it will be apparent that the invention need not be developed in the exact detail description and that simple structural substitutions and modifications of some of the details can still achieve the same object and therefore fall within the scope of the invention.
The wheelchair curling motion state detection and target tracking system of the embodiment of the invention is structurally shown as figure 1 and comprises: the device comprises a motion state detection device, an image acquisition device and a central control computer. The motion detection device is wirelessly connected with the central control computer, and the image acquisition device is connected with the central control computer through a wire;
the motion state detection device is arranged in the center of the upper surface of the body of the selected curling and is used for collecting motion state data in the motion process of the curling in real time during training, the motion state data comprise the acceleration, the angular velocity and the angle of the curling at each moment during motion, and the motion state detection device transmits the collected motion state data to the central control computer in a wireless transmission mode;
the image acquisition device is used for acquiring video images of curling motion in the process of wheelchair curling competition or training and transmitting the video images to the central control computer;
the central control computer is used for respectively receiving the motion state data sent by the motion state detection device and the video image data sent by the image acquisition device; the central control computer obtains the hand-out speed and the hand-out angular speed of the curling through resolving the motion state data, displays and stores the hand-out speed and the hand-out angular speed, and the central control computer obtains the reappearance result of the motion track of the curling in the actual ice rink through processing the video image data, displays and stores the reappearance result.
The system comprises the following components in an implementation mode:
the motion state detection device has the following specific implementation mode: the device includes: the three-axis gyroscope, the three-axis accelerometer, the attitude calculation module, the signal differential amplification circuit, the filter circuit, the data transmission module and the power supply module are integrated on the chip module; the system comprises a three-axis gyroscope, a three-axis accelerometer, a signal differential amplifying circuit, a filter circuit, an attitude calculation module, a data transmission module and a central control computer, wherein the three-axis gyroscope and the three-axis accelerometer are connected with the input end of the attitude calculation module sequentially through the signal differential amplifying circuit and the filter circuit and are used for transmitting analog signals of three-axis angular velocity and three-axis acceleration of a curling to the attitude calculation module through digital filtering and dynamic Kalman filtering, and the attitude calculation module converts the received filtered analog signals into digital signals containing information such as time, space angle and acceleration (specifically, a pitch angle, a roll angle and a yaw angle are calculated according to quaternion or other conventional algorithms by using data such as the filtered three-axis gyroscope and the filtered three-axis accelerometer) and transmits; the data transmission module is welded with the chip module through a serial port, the data transmission module can be a wireless data transmission module (such as 433MHz, Bluetooth or Zigbee wireless module), and the Bluetooth wireless module is adopted for wireless transmission in the embodiment; the power module is used for supplying power to other devices in the motion state detection device, and can adopt a 3.3V/5V power supply, wherein the anode of the power supply is connected with the VCC port of the device through a lead, and the cathode of the power supply is connected with the GND port of the device through a lead. Furthermore, the motion state detection device also comprises a three-axis magnetometer arranged on the chip module, and the three-axis magnetometer is connected with the input end of the signal differential amplification circuit and used for eliminating the drift error of the three-axis accelerometer. In addition, the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer, the signal differential amplification circuit, the filter circuit and the attitude calculation module can be replaced by a six-axis motion sensor or a nine-axis motion sensor, so that the overall size of the motion parameter measurement unit can be further reduced; in this embodiment, a six-axis motion sensor of the type MPU6050 is used. (patent application No.: 201910490859.8). Further, the time of the hand-out stage of the curling is short, so that the three-axis gyroscope and the three-axis accelerometer of the curling motion state detection device have high sampling speed requirements, and generally, the sampling speed is not lower than 100 Hz.
The motion state detection device is subjected to flattening packaging and is mounted at the center of the upper surface of the curling kettle body in a bonding mode and the like, and the flattening packaging aims to prevent a push rod of a wheelchair curling kettle athlete from interfering with the curling kettle motion state detection device in the kettle pushing process so as to influence the kettle throwing effect. Fig. 2 shows an installation schematic diagram of the curling motion state detection device of the embodiment, when the motion state detection device 3 is installed, the motion state detection device 3 is packaged in a flattened manner, and then the motion state detection device 3 is installed at the center of the curling stone pot body 4 in a bonding manner. In this embodiment, the minimum distance between the motion state detection device 3 and the push rod head 1 and between the motion state detection device and the curling kettle handle 2 is not less than 10mm, so that the push rod of the wheelchair curling kettle athlete can be ensured not to interfere with the curling kettle motion state detection device in the kettle pushing process.
The image acquisition device can adopt a high-definition camera, can be erected at any end of the ice rink, can be used as a starting point or a terminal point of the ice rink, or can be erected at an auditorium of the ice rink, so that the shooting angle is higher, the whole ice rink can be shot, more shelters can be avoided in the movement process of the curling as far as possible, and a satisfactory curling tracking effect can be obtained. When the camera is used, auxiliary shooting devices such as a tripod and the like can be utilized, and the tripod can be used for adjusting the shooting height and the shooting angle of the camera; and the shot video image is sent to a central control computer through a wired transmission cable. In this embodiment, the model of the high-definition video camera is a sony interchangeable lens digital camera ILCE-7M2, and the shooting frame rate is 50 frames per second.
The central control computer can be the host computer of arbitrary model, the central control computer includes: the device comprises a curling motion state resolving module, a curling motion state data display module, a curling motion state data storage module and a curling motion video image processing module; wherein curling motion video image processing module includes: the ice kettle motion track prediction sub-module, the target tracking sub-module, the ice field reconstruction sub-module and the ice kettle motion track reproduction sub-module; the input end of the curling motion state resolving module is connected with the output end of the curling motion state detection device, and the output end of the curling motion state resolving module is respectively connected with the input end of the curling motion state data storage module and the input end of the curling motion video image processing module; the input end of a curling motion track prediction submodule and the input end of an ice field reconstruction submodule in the curling motion video image processing module are respectively connected with the output end of the image acquisition device, the output end of the curling motion track prediction submodule is connected with the input end of a target tracking submodule, and the output end of the target tracking submodule and the output end of the ice field reconstruction submodule are respectively connected with the input end of the curling motion track reproduction submodule.
Wherein, the curling motion state resolving module is used for receiving the motion state data that motion state detection device sent, utilizes this state data, the time stamp that mark curling angular velocity corresponds from the zero beginning grow, be the curling out the initial time stamp of hand stage promptly, the time stamp that mark curling angular velocity maximum value corresponds, be curling out the end time stamp of hand stage promptly, the motion state data of curling in intercepting these two time stamps, carry out the integral to the curling acceleration in this period of time, can obtain curling out the speed of hand. Acquiring angular velocity data of an initial timestamp of the curling hand-out stage to obtain curling hand-out angular velocity, and then respectively sending the calculated curling hand-out velocity and hand-out angular velocity to a curling motion state data display module and a curling motion state data storage module;
the curling motion state data display module is used for displaying received curling hand-out acceleration and hand-out angular velocity data, so that a coach and a wheelchair curling player can conveniently and visually acquire the thrown hand-out data in time; the curling motion state data storage module stores the received curling hand-out acceleration and hand-out angular velocity data into a database, so that a coach and a wheelchair curling athlete can call a reply disc for analysis after competition or training in time;
the curling motion track prediction submodule and the ice field reconstruction submodule respectively acquire a curling motion video image from the image acquisition device; the curling motion track prediction submodule can process a curling motion video to obtain an approximate area of curling motion and send a processed video image to the target tracking submodule; the ice rind motion trail reconstruction sub-module reconstructs an ice rind image in the video image to a coordinate conversion matrix between an ice rind pixel point coordinate and an actual ice rind position and sends the coordinate conversion matrix to the ice rind motion trail reconstruction sub-module, and the ice rind motion trail reconstruction sub-module obtains the motion position change condition of the ice rind in the actual ice rind according to the received ice rind pixel point motion trail and the coordinate conversion matrix, so that the ice rind motion trail can be reconstructed.
The system working method comprises the following steps:
the wheelchair curling player pushes out a curling provided with a curling motion state detection device on an ice rind by using a curling push rod, the curling motion state detection device collects motion state data of the curling in real time and transmits the motion state data back to the central control computer in real time, the image collection device collects movement video images of the curling at the same time, and the video images are transmitted back to the central control computer in a wired connection mode;
the central control computer transmits the curling motion state data obtained through feedback to the curling motion state calculating module, and the curling hand-out angular speed and the curling hand-out speed are obtained through calculation;
the curling motion state resolving module transmits the calculated curling hand-out angular speed and hand-out speed into a curling motion state data display module and a curling motion state data storage module, the curling state data display module displays the curling hand-out angular speed and hand-out speed in real time, and the curling motion state data storage module stores the curling motion state data of the wheelchair curling athlete in a corresponding database;
the central control computer transmits the curling motion video image obtained by feedback into a curling motion video image processing module, and the curling motion video image processing module comprises: the ice kettle motion track prediction sub-module, the target tracking sub-module, the ice field reconstruction sub-module and the ice kettle motion track reproduction sub-module;
the curling motion track prediction submodule can determine the approximate area and range of the curling in the ice field in the video image, and assists the target tracking submodule in tracking the movement of the curling so as to obtain the actual motion track of the curling. The operating principle of the curling motion track prediction submodule is interframe difference, and the principle of interframe difference is as follows: when moving objects exist in the video, the adjacent frames have difference in gray level, and the absolute value of the gray level difference of the two frames of images is obtained, so that the static objects are all 0 on the difference image, and the moving objects, particularly the outlines of the moving objects, are changed into non-0 due to the gray level, and when the absolute value exceeds a certain threshold value, the moving objects can be judged to be moving objects, so that the detection function of the objects is realized. The mathematical formula is described as follows:
where D (x, y) is a difference image between two consecutive frames of images, I (T) and I (T-1) are images at time T and T-1, respectively, T is a threshold for difference, which may be selected as appropriate, and D (x, y) ═ 1 represents a foreground, and D (x, y) ═ 0 represents a background.
The target tracking submodule tracks a target curling in the processed video image received from the curling motion track prediction submodule to obtain a curling pixel point motion track consisting of coordinates of pixel points at the center position of the curling in each frame of image and sends the curling pixel point motion track to the curling motion track reproduction submodule, and the curling reconstruction submodule reconstructs a curling image in the video image to obtain a coordinate conversion matrix between the curling pixel point coordinates and the actual curling position and sends the coordinate conversion matrix to the curling motion track reproduction submodule; the curling motion track reproduction submodule obtains the motion position change condition of the curling in the actual ice field according to the received curling pixel point motion track and the coordinate conversion matrix, and then can realize reproduction of the curling motion track.
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| CN114359342A (en) * | 2021-12-31 | 2022-04-15 | 北京市商汤科技开发有限公司 | Data processing method, apparatus, device, and computer-readable storage medium |
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