CN115999135B - A bobsleigh and snowmobile simulator control method and system based on somatosensory control - Google Patents

Abstract

The present invention belongs to the field of simulator control, and specifically discloses a bobsleigh and skeleton simulator control method and system based on somatosensory control, which includes: S1, obtaining the three-dimensional coordinate data of the human skeleton joints during the use of the bobsleigh and skeleton; S2, dividing the human body into several parts, determining the center of gravity coordinates of each part of the human body according to the three-dimensional coordinate data of the joints, and then calculating the speed of each part of the human body on the simulator; S3, determining the influence coefficient of each part of the human body on the simulator, and then calculating the combined speed in combination with the speed of each part of the human body on the simulator, thereby realizing the operation control of the bobsleigh and skeleton simulator. The present invention provides a real-time and efficient design and optimization method for the bobsleigh and skeleton simulation motion system, realizing the virtual training of athletes and the experience for the public.

Description

A bobsleigh and snowmobile simulator control method and system based on somatosensory control

Technical Field

The present invention belongs to the field of simulator control, and more specifically, to a bobsleigh and snowmobile simulator control method and system based on somatosensory control.

Background technique

Bobsleigh, luge, and skeleton are essential sports in the Winter Olympics. Currently, due to the influence of seasons and training equipment, professional athletes have very limited training time, and athletes must optimize their speed and strategy during the few training sessions each day. At the same time, due to the danger of the sport, it is difficult for the general public to experience it in person, which cannot promote the popularization of related sports.

To address this issue, how to provide a highly sensitive bobsleigh and luge high-speed sliding simulation experience equipment to support the motion simulation of bobsleigh, luge and skeleton, and realize virtual training of athletes and experience for the general public is a technical problem that needs to be solved urgently.

Summary of the invention

In view of the above defects or improvement needs of the prior art, the present invention provides a bobsleigh and luge simulator control method and system based on somatosensory control, the purpose of which is to accurately simulate the bobsleigh and luge sports and realize virtual training of bobsleigh and luge athletes and experience for the general public.

To achieve the above object, according to one aspect of the present invention, a method for controlling a snowmobile and sled simulator based on somatosensory control is proposed, comprising the following steps:

S1. Acquire the three-dimensional coordinate data of the joint points of the human skeleton during the use of the bobsleigh;

S2, dividing the human body into several parts, determining the coordinates of the center of gravity of each part of the human body according to the three-dimensional coordinate data of the joint points, and then calculating the speed of each part of the human body on the simulator;

S3. Determine the influence coefficient of each part of the human body on the simulator, and then calculate the combined speed based on the speed of the simulator generated by each part of the human body, so as to realize the operation control of the bobsleigh and skeleton simulator.

As further preferred, step S2 specifically includes:

S21, dividing the human body into several parts, dividing the acquired joint points into corresponding parts, and then calculating the center of gravity of each part of the human body according to the three-dimensional coordinate data of the joint points;

S22, determine the normal force N generated by each part of the human body on the simulator, and then calculate the force F ₁ generated by each part of the human body on the simulator, the calculation formula is:

N＝m×(X+Y+Z)×n _t -m×g×n _t

F ₁ = μ × N

Where m is the mass of each part of the human body, X, Y, and Z are the accelerations in the x, y, and z axes respectively, n _t is the direction of the normal line when the human body is moving, g is the acceleration due to gravity, and μ is a preset parameter;

S23, determining the optimized force _F2 of each part of the human body on the simulator according to the force _F1 and the center of gravity position;

S24. Calculate the magnitude and direction of the velocity generated by various parts of the human body on the simulator based on the force _F2 .

As a further preferred step, in step S23, the optimized force _F2 exerted by each part of the human body on the simulator is specifically:

_F2 = β × _F1

Among them, β is a coefficient, which is determined according to the position of the center of gravity; specifically, when the center of gravity of the human body is at the left end of the simulator, β=-1, when the center of gravity is at the right end of the simulator, β=1, and when the center of gravity is in the middle of the simulator, β=0; the coefficient β of the remaining part is obtained according to the linear proportion.

As a further preferred embodiment, step S24 is specifically as follows:

According to the force F ₂ , the acceleration a in the left and right directions is obtained, and the current left and right speed v = v ₀ + at, where v ₀ is the speed of the previous frame and t is the time of each frame;

Then we get the speed generated by the simulator The angle γ between the velocity direction and the horizontal direction is tanγ=v ₁ /v, where v ₁ is the velocity in the front-rear direction.

As a further preference, the parameter μ=0.01.

As a further preferred step, step S3, determining the influence coefficient of each part of the human body on the simulator, specifically:

The tester uses a bobsleigh to slide n times, where n is equal to the number of divided human body parts; each time only one part is used to adjust the direction to test the sliding process;

For the i-th slide, the coefficient k _i of the i-th slide is calculated according to the formula ΔX ₁ = k _i *ΔX ₂ ; wherein ΔX ₁ represents the change of the center of gravity coordinates between two adjacent frames, and ΔX ₂ represents the change of the displacement trajectory of the bobsleigh between two adjacent frames;

Then we get the influence coefficient of the body part corresponding to the i-th slide Where K is the sum of the coefficients _ki obtained from n gliding operations.

As a further preferred step, step S3, a method for calculating the magnitude of the resultant velocity: multiplying the velocity _vt of each part of the human body by the corresponding influence coefficient, and then summing them to obtain the resultant velocity; a method for calculating the direction of the resultant velocity: multiplying the velocity direction generated by each part of the human body by the influence coefficient, and using the vector operation rule to calculate the final running direction;

The magnitude and direction of the combined speed are then fed back to the simulator's console in real time, and the console adjusts the running speed and direction of the bobsleigh and skeleton simulator in real time based on the acquired data.

As further preferred, the acquired human skeleton joints include: head, neck, left shoulder, right shoulder, left elbow, right elbow, buttocks, left thigh root, right thigh root, left knee, and right knee.

As a further preference, the body parts include: head and neck, torso, arms, and legs.

According to another aspect of the present invention, a snowmobile and luge simulator control system based on somatosensory control is provided, comprising a processor, wherein the processor is used to execute the above-mentioned snowmobile and luge simulator control method based on somatosensory control.

In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

1. The present invention obtains the three-dimensional coordinate data of the human skeleton joint points, and calculates the position coordinates of the center of gravity of each part of the human body through the human body segment method, and then determines the speed of the human body on the snowmobile and luge simulator through the force, speed magnitude and direction, and influence coefficient generated by each part of the human body, thereby controlling the operation of the snowmobile and luge simulator. The present invention provides a real-time and efficient design and optimization method for the snowmobile and luge simulation motion system.

2. The bobsleigh and skeleton simulator control method based on somatosensory control provided by the present invention will well assist the high-speed sliding simulation training of bobsleigh and skeleton events, promote the improvement of competitive ability of bobsleigh and skeleton events, realize the controllable training of athletes in a safe environment, help professional athletes to train independently, and reduce the number of serious injuries in practice and competition; it can be unaffected by weather conditions and reduce the objective impact of the environment on training. At the same time, through the way of public experience, it promotes the popularization of related sports and supports the public's controllable experience in a safe environment.

3. The present invention studies the influence of various parts of the body on the snowmobile and luge simulator, determines the correlation coefficient and calculates the speed and direction generated by the snowmobile and luge simulator, thereby controlling the operation of the snowmobile and luge simulator and improving the simulation accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a method for controlling a snowmobile and sled simulator based on somatosensory control according to an embodiment of the present invention;

FIG2 is a schematic diagram of a human skeleton space according to an embodiment of the present invention;

FIG3 is a diagram showing the skeletal nodes corresponding to the proximal and distal calibration points of various parts of the human body according to an embodiment of the present invention;

FIG. 4 shows the value of the coefficient β corresponding to the center of gravity position of the human body according to an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

A method for controlling a snowmobile and sled simulator based on somatosensory control provided by an embodiment of the present invention, as shown in FIG1 , comprises the following steps:

S1. Use motion capture equipment to obtain the three-dimensional coordinate data of human skeletal joints during movement.

Preferably, according to the particularity of bobsleigh and luge, 11 key skeletal joints of the human body are selected, that is, the three-dimensional coordinate data of the human head, neck, left shoulder, right shoulder, left elbow, right elbow, buttocks, left thigh root, right thigh root, left knee and right knee are extracted, as shown in FIG2.

S2. Divide the human body and determine the center of gravity coordinates of various parts of the human body according to the three-dimensional coordinate data of the joint points; based on the center of gravity coordinates of various parts of the human body, calculate the speed and direction of each part of the human body on the bobsleigh simulator.

Preferably, the human body segment method is used, combined with the sliding characteristics of bobsleigh and luge, to divide the human body into four segments, including the head and neck, torso, arms, and legs.

Specifically, the specific steps for calculating the magnitude and direction of the speed generated by various parts of the human body on the bobsleigh simulator are as follows:

S21. Divide the human body and use a classical algorithm to calculate the three-dimensional coordinate data of the center of gravity of each part.

The classic algorithm expression is:

Among them, _Xcomi , _Ycomi , _Zcomi represent the coordinates of the center of mass of segment i, _Xp , _Yp , _Zp represent the coordinates of the proximal joint point of segment i along the X, Y, and Z axes, _Xd , _Yd , and _Zd represent the coordinates of the distal joint point of segment i along the X, Y, and Z axes; _lp represents the percentage of the segment length of the proximal joint point of the segment, and _ld represents the percentage of the segment length of the distal joint point of the segment. For the specific values of _lp and _ld in this embodiment, see Table 1, and for the specific calibration points, see Figure 3.

Table 1 _{l p} , l _d values

S22. According to the principle of mechanics, calculate the normal force N generated by the human body on the snowmobile and sled simulator; set the parameter μ, calculate the force F ₁ generated by the human body on the snowmobile and sled simulator, and the expressions of the normal force N and the force F ₁ are:

N＝m×(X+Y+Z)×n _t -m×g×n _t

F ₁ = μ × N

Wherein, m refers to the mass of each part of the human body, X, Y, and Z refer to the acceleration on the x-axis, y-axis, and z-axis respectively (the x-axis refers to the horizontal direction, the y-axis refers to the vertical direction, and the z-axis refers to the vertical direction. The xyz-axis acceleration information here is obtained through the sensor bound to the snowmobile); n _t refers to the direction of the normal when the human body moves, and g is the gravitational acceleration; in this embodiment, μ=0.01.

S23. Determine the force F ₂ exerted by various parts of the human body on the bobsleigh simulator according to the position of the center of gravity.

First, determine the coefficient β of different positions of the center of gravity according to the linear equation; then determine the force F ₂ of each part of the human body on the bobsleigh simulator. The calculation formula is:

_F2 = β × _F1

During the movement, when the center of gravity of a certain part is at the leftmost end of the bobsleigh simulator, set β = -1, when the center of gravity is at the rightmost end of the bobsleigh simulator, set β = 1, when the center of gravity is in the middle of the bobsleigh simulator, set β = 0, and the coefficients of the remaining points are obtained according to the linear proportion, as shown in Figure 4.

S24. Calculate the magnitude and direction of the speed of the bobsleigh simulator generated by various parts of the human body based on the force _F2 .

First calculate the acceleration and velocity in the left and right directions; then combine the velocity in the front and back directions (i.e., the y-axis direction) to calculate the resultant velocity and the direction of the resultant velocity.

Specifically, according to Newton's second law: F=ma, the acceleration in the left and right directions is obtained, that is: a=F/m, where F refers to the force _F2 calculated in S23; the motion is approximated as uniformly accelerated motion, and according to the uniformly accelerated motion formula, the speed in the left and right directions v= _v0 +at is obtained, where _v0 refers to the speed of the previous frame, and t refers to the time of each frame.

Then, based on the left-right speed v and the known front-back speed v ₁ , the speed generated by the simulator is obtained. At the same time, according to the velocity v in the left-right direction and the velocity v ₁ in the front-back direction, the angle γ between the velocity direction and the horizontal direction is obtained: tanγ=v ₁ /v.

S3. Based on the influence coefficients of various parts of the human body on the bobsleigh and luge, the magnitude and direction of the combined speed are calculated to control the running speed and direction of the bobsleigh and luge simulator.

Specifically, after determining the influence coefficient, the magnitude and direction of the combined speed are obtained by multiplying the influence coefficient of each part of the human body with the speed and direction respectively, and then adding the sum. The speed magnitude and direction are fed back to the control console of the bobsleigh and luge simulator in real time. The console adjusts the running speed and direction of the bobsleigh and luge simulator in real time according to the acquired data.

The running speed calculation formula is: _vtotal = ∑( _vt(i) × _Wi ), where vt _(i) and _Wi represent the speed _vt and influence coefficient corresponding to the i-th part of the human body, respectively. The running direction calculation method is: the speed direction generated by each part is multiplied by the influence coefficient, and the final running direction is calculated using the vector operation rule.

Preferably, in this embodiment, the method for determining the snowmobile and sled influence coefficient is as follows:

S31. Test preparation: Check the test equipment, including skeleton, motion capture equipment, sensors, cameras, and tripods. Before the test begins, the tester should wear the motion capture equipment correctly and perform zero-point positioning. The relevant staff should accurately place the computer and camera and the sensor on the skeleton.

S32. Based on the power characteristics of bobsleigh and luge, four rounds of experiments are set up, including:

A. When gliding, the head is mainly used to adjust the direction.

B. When gliding, the neck is mainly used to adjust the direction.

C. When skating, use your hands mainly to adjust the direction.

D. When gliding, the legs are mainly used to adjust the direction.

It should be noted that the hand includes the left arm and the right arm, and the leg includes the left leg and the right leg, and they can also be experimented separately.

S33. Each tester completes four tests in turn. The motion capture device is used to obtain the three-dimensional coordinate data of key parts of the body in each frame, the sensor is used to obtain the acceleration of the skeleton in each frame, and the camera is used to obtain the video of the entire sliding process.

S34. Calculate the center of gravity coordinates of the main force-generating part of the body in each frame through the three-dimensional coordinate data of each key part of the body in each frame, and connect the center of gravity coordinates of each frame.

S35. Based on the acceleration of each frame of the skeleton, the displacement trajectory of the skeleton is obtained by frequency domain integration.

S36. Draw the center of gravity trajectory of the main force-generating part of the body and the displacement trajectory of the skeleton in the same coordinate system, and preliminarily remove the part with obvious error. Calculate the influence of the change of the center of gravity coordinates of two adjacent frames on the change of the displacement trajectory of the skeleton, and then determine the influence of the main force-generating part of the body on sliding.

Specifically, the coefficient k of two adjacent frames is calculated according to the formula: ΔX ₁ = k*ΔX ₂ , where ΔX ₁ represents the change in the coordinates of the center of gravity of two adjacent frames, and ΔX ₂ represents the change in the displacement trajectory of the skeleton of two adjacent frames. The coefficients of each adjacent frame are added and averaged to obtain the final coefficient k.

S37, the coefficients of the four rounds are redistributed in proportion according to the principle that the sum is 1, the formula is _Ki represents the coefficient of the i-th round, and _Wi represents the coefficient after redistribution in the i-th round. The calculation results of multiple testers will be different. The interval range can be set according to multiple experimental results, and each coefficient can be set within the interval range.

S38. To test the accuracy of the experiment, based on the sliding video, the sliding trajectories of each wheel are plotted in the same coordinate system for comparison to determine whether the selection of the influence coefficient is consistent with the actual situation.

Specifically, through the sliding video, video recognition related technology is used to obtain the three-dimensional coordinate data of each frame of the skeleton, and the sliding trajectory of the tester in each frame is connected, and finally the four-wheel sliding trajectory is drawn in the same coordinate system.

Specifically, video recognition uses background separation technology. The tester is extracted from the gliding video and displayed as a white area. Then, the foreground is kept white as much as possible through erosion technology, which helps to remove small white noise. Then, the threshold technology is used to classify the gray area in the image so that only black and white areas exist in the image. Finally, the white area is selected with a rectangular frame, and the center of the box is marked as the position of the tester. Visualization technology is used to connect the running trajectory of each frame of the athlete.

S39, verify whether the four-wheel sliding trajectory matches the corresponding _Wi . It is verified that the sliding trajectory is consistent with the influence coefficient, that is, the influence coefficient set in the experiment is feasible. The range of the influence coefficient _Wi obtained in this embodiment is shown in Table 2.

Table 2 Value range of influence coefficient _Wi

It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A method for controlling a snowmobile and sled simulator based on somatosensory control, characterized in that it comprises the following steps: S1. Acquire the three-dimensional coordinate data of the joint points of the human skeleton during the use of the bobsleigh; S2, dividing the human body into several parts, determining the coordinates of the center of gravity of each part of the human body according to the three-dimensional coordinate data of the joint points, and then calculating the speed of each part of the human body on the simulator; S3, determining the influence coefficient of each part of the human body on the simulator, and then calculating the combined speed in combination with the speed of the simulator generated by each part of the human body, so as to realize the operation control of the bobsleigh and snowmobile simulator; Determine the influence coefficient of each part of the human body on the simulator, specifically: The tester uses a bobsleigh to slide n times, where n is equal to the number of divided human body parts; each time only one part is used to adjust the direction to test the sliding process; For the i-th slide, the coefficient k _i of the i-th slide is calculated according to the formula ΔX ₁ = k _i *ΔX ₂ ; wherein ΔX ₁ represents the change of the center of gravity coordinates between two adjacent frames, and ΔX ₂ represents the change of the displacement trajectory of the bobsleigh between two adjacent frames; Then we get the influence coefficient of the body part corresponding to the i-th slide Where K is the sum of the coefficients k _i obtained from n gliding operations; The method for calculating the magnitude of the combined speed is to multiply the speed _vt of each part of the human body by the corresponding influence coefficient, and then sum them up to get the combined speed. The method for calculating the direction of the combined speed is to multiply the speed direction generated by each part of the human body by the influence coefficient, and use the vector operation rule to calculate the final running direction. The magnitude and direction of the combined speed are then fed back to the simulator's console in real time, and the console adjusts the running speed and direction of the bobsleigh and skeleton simulator in real time based on the acquired data. 2. The method for controlling a snowmobile and sled simulator based on somatosensory control according to claim 1, wherein step S2 specifically comprises: S21, dividing the human body into several parts, dividing the acquired joint points into corresponding parts, and then calculating the center of gravity of each part of the human body according to the three-dimensional coordinate data of the joint points; S22, determine the normal force N generated by each part of the human body on the simulator, and then calculate the force F ₁ generated by each part of the human body on the simulator, the calculation formula is: N＝m×(X+Y+Z)×n _t -m×g×n _t F ₁ = μ × N Where m is the mass of each part of the human body, X, Y, and Z are the accelerations in the x, y, and z axes respectively, n _t is the direction of the normal line when the human body is moving, g is the acceleration due to gravity, and μ is a preset parameter; S23, determining the optimized force _F2 of each part of the human body on the simulator according to the force _F1 and the center of gravity position; S24. Calculate the magnitude and direction of the velocity generated by various parts of the human body on the simulator based on the force _F2 . 3. The method for controlling a snowmobile and luge simulator based on somatosensory control as claimed in claim 2, characterized in that, in step S23, the optimized force _F2 exerted by each part of the human body on the simulator is specifically: _F2 = β × _F1 Among them, β is a coefficient, which is determined according to the position of the center of gravity; specifically, when the center of gravity of the human body is at the left end of the simulator, β=-1, when the center of gravity is at the right end of the simulator, β=1, and when the center of gravity is in the middle of the simulator, β=0; the coefficient β of the remaining part is obtained according to the linear proportion. 4. The method for controlling a snowmobile and sled simulator based on somatosensory control according to claim 2, wherein step S24 is specifically: According to the force F ₂ , the acceleration a in the left and right directions is obtained, and the current left and right speed v = v ₀ + at, where v ₀ is the speed of the previous frame and t is the time of each frame; Then we get the speed generated by the simulator The angle γ between the velocity direction and the horizontal direction is tanγ=v ₁ /v, where v ₁ is the velocity in the front-rear direction. 5. The bobsleigh and snowmobile simulator control method based on somatosensory control as described in claim 2 is characterized in that the parameter μ=0.01. 6. The bobsleigh and snowmobile simulator control method based on somatosensory control as described in any one of claims 1-5 is characterized in that the acquired human skeletal joints include: head, neck, left shoulder, right shoulder, left elbow, right elbow, buttocks, left thigh, right thigh, left knee, and right knee. 7. The bobsleigh and snowmobile simulator control method based on somatosensory control as described in claim 6 is characterized in that the body parts include: head and neck, torso, arms, and legs. 8. A bobsleigh and snowmobile simulator control system based on somatosensory control, characterized in that it comprises a processor, wherein the processor is used to execute the bobsleigh and snowmobile simulator control method based on somatosensory control as described in any one of claims 1-7.