Archery Sports Information Collection System

Abstract

This application is applicable to the technical field of sports information collection, and provides an archery sports information collection system. In this system, multiple inertial sensor nodes are arranged on the body of the archery athlete and the recurve bow to collect the motion information of the archery athlete's body and the recurve bow during the archery process; a high-speed camera is arranged in front of the archery athlete to collect video images of the entire archery process of the archery athlete, and the high-speed camera is synchronized with the clocks of the multiple inertial sensor nodes; the host computer determines the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and divides the archery stage and analyzes the archery actions for the motion information according to the stage time. This application divides the archery stage for the motion information collected by the inertial sensor nodes through the video images collected by the high-speed camera, and then analyzes and guides the actions of the archery athlete according to the motion data of each stage, which can improve the accuracy of action analysis.

Description

Technical Field

[0001] This application belongs to the technical field of sports information collection, and particularly relates to an archery sports information collection system. Background Art

[0002] Archery, as a sport that combines entertainment and fitness, is becoming increasingly popular worldwide. Through continuous field practice, enhancing the control ability and accuracy of archery has always been the goal pursued by archery athletes. However, due to the complexity of the kinematics of archery itself and the instantaneous changes during the flight of the arrow, statistical analysis of the archery process has always been very difficult. How to accurately and quickly obtain relevant data on archery sports has become a necessary condition for analyzing the entire archery process.

[0003] At present, the training and provision of this archery project basically still stay at analyzing videos and then making manual adjustments. However, this training mode has low accuracy and large errors, and only makes significant adjustments macroscopically, with limited effects on improving the archery level of athletes. Summary of the Invention

[0004] To overcome the problems existing in the related art, an embodiment of this application provides an archery sports information collection system.

[0005] This application is implemented through the following technical solutions:

[0006] In a first aspect, an embodiment of this application provides an archery sports information collection system, including a plurality of inertial sensor nodes, a high-speed camera, and a host computer. The high-speed camera and the plurality of inertial sensor nodes are respectively communicatively connected to the host computer; the plurality of inertial sensor nodes are arranged at a first preset position on the body of the archery athlete and a second preset position on the recurve bow, and are used to collect first motion information of multiple limbs of the archery athlete and second motion information of the recurve bow during the archery process, and send the first motion information and the second motion information to the host computer; the high-speed camera is arranged in front of the archery athlete and is used to collect video images of the entire archery process of the archery athlete and send the video images to the host computer; wherein, the high-speed camera is synchronized with the clocks of the plurality of inertial sensor nodes; the host computer determines the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and performs archery stage division and archery action analysis on the first motion information and the second motion information according to the stage time.

[0007] In the embodiments of the present application, an inertial sensor node acquires the first motion information of an archery athlete and the second motion information of a recurve bow, and a high-speed camera acquires video images of the archery athlete during the entire archery process, and the high-speed camera is synchronized with the clock of the inertial sensor node; the host computer determines the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and divides the first motion information and the second motion information into archery stages and analyzes the archery actions according to the stage time, so that the motion information collected by the inertial sensor node can be divided into archery stages through the video images collected by the high-speed camera, and then the actions of the archery athlete can be analyzed and guided according to the motion data of each stage, which can improve the accuracy of action analysis compared with the traditional technology.

[0008] In combination with the first aspect, in some embodiments, the first preset positions include: the outer side of the left upper arm, the midpoint between the shoulder and elbow joints; the outer side of the left forearm, the midpoint between the elbow and wrist joints; the outer side of the right upper arm, the midpoint between the shoulder and elbow joints; the outer side of the right forearm, the midpoint between the elbow and wrist joints; the outer side of the left thigh, the midpoint between the hip and knee joints; the outer side of the left lower leg, the midpoint between the knee and ankle joints; the outer side of the right thigh, the midpoint between the hip and knee joints; the outer side of the right lower leg, the midpoint between the knee and ankle joints; the sacral part of the waist; the second preset position is: the right side of the sight.

[0009] In combination with the first aspect, in some embodiments, each inertial sensor node includes: an inertial sensor, a processor, a power supply, a communication module and a card holder, and the inertial sensor, the communication module and the card holder are all connected to the processor; the power supply is used to supply power to the inertial sensor, the processor and the communication module; the card holder is used to place a memory card, and the memory card is connected to the processor; the communication module is used to receive instructions sent by the host computer and transmit the instructions to the processor; the processor is used to respond to the instructions, control the inertial sensor to collect motion information, send the motion information collected by the inertial sensor to the host computer through the communication module, and store the motion information collected by the inertial sensor in the memory card.

[0010] In combination with the first aspect, in some embodiments, each inertial sensor node further includes an indicator light, and the indicator light is connected to the processor; when the communication connection between the inertial sensor node and the host computer is not established, the processor controls the indicator light to work in a first working mode; after the communication connection between the inertial sensor node and the host computer is established, the processor controls the indicator light to work in a second working mode; when the inertial sensor node sends motion information to the host computer, the processor controls the indicator light to work in a third working mode.

[0011] In combination with 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 to the power supply, and the power supply supplies power to the inertial sensor, the processor, and the communication module through the linear voltage regulator; the height of the high-speed camera from the ground is 1.6 meters, and the distance from the archery athlete is 1.5 meters to 2.0 meters.

[0012] In combination with the first aspect, in some embodiments, the host computer determines the stage time of each archery stage of the archery athlete based on the acquisition time of the video image, including: playing back the video image at a speed of 120 frames per second; in response to the archery stage division operation input by the user, determining the time from the first frame image to the last frame image of each archery stage, the time of the first frame image being the start time of the corresponding archery stage, and the time of the last frame image being the end time of the corresponding archery stage.

[0013] Among them, the archery stages include the bow-raising stage, the bow-drawing stage, the holding stage, and the release; the start time of the bow-raising stage is the time of the frame image when the front point of the front balance bar of the bow leaves the ground in the video image, and the end time is the time of the frame image when the hand of the bow-holding arm is at the highest point in the video image; the start time of the bow-drawing stage is the time of the frame image when the hand of the bow-holding arm is at the highest point in the video image, and the end time is the time of the frame image when the string on the side of the bow-drawing arm is close to the mandibular angle in the video image; the start time of the holding stage is the time of the frame image when the string on the side of the bow-drawing arm is close to the mandibular angle in the video image, and the end time is the time of the frame image of the first frame when the arrow leaves the release hand in the video image; the release moment is the time of the frame image when the arrow leaves the release hand in the video image.

[0014] In combination with the first aspect, in some embodiments, the archery stage division and archery action analysis of the first motion information and the second motion information according to the stage time include: determining the motion data corresponding to the archery stage from the first motion information and the second motion information according to the start time and the end time of each archery stage; determining the acceleration and angular velocity of multiple parts of the archery athlete's body and the recurve bow in each archery stage based on the motion data.

[0015] In combination with the first aspect, in some embodiments, the host computer is further configured to: determine the action stability of the archery athlete in each archery stage according to the stage time of each archery stage of the archery athlete, and the acceleration and angular velocity of multiple parts of the archery athlete's body and the recurve bow in the archery stage.

[0016] Second aspect, an embodiment of the present application provides an archery motion information acquisition method, including: obtaining first motion information and second motion information sent by a plurality of inertial sensor nodes, where the plurality of inertial sensor nodes are arranged at a first preset position on the body of an archery athlete and a second preset position on a recurve bow, the first motion information is the motion information of multiple limbs of the archery athlete's body during the entire archery process, and the second motion information is the motion information of the recurve bow during the entire archery process; obtaining video images of the archery athlete during the entire archery process sent by a high-speed camera, where the high-speed camera is synchronized with the clocks of the plurality of inertial sensor nodes; determining the stage times of each archery stage of the archery athlete based on the acquisition time of the video images, and performing archery stage division and archery motion analysis on the first motion information and the second motion information according to the stage times.

[0017] Third aspect, an embodiment of the present application provides a host computer, including a memory and a processor, where a computer program is stored in the memory and can run on the processor, and when the processor executes the computer program, it implements the archery motion information acquisition method as described in the second aspect.

[0018] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, it implements the archery motion information acquisition method as described in the second aspect.

[0019] Fifth aspect, an embodiment of the present application provides a computer program product, when the computer program product runs on a host computer, it causes the host computer to execute the archery motion information acquisition method as described in the second aspect above.

[0020] It can be understood that the beneficial effects of the above second aspect to fifth aspect can refer to the relevant descriptions in the first aspect above, and will not be repeated here.

[0021] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this specification. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 It is a schematic structural diagram of an archery motion information acquisition system provided by an embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of a simplified human bone model provided by an embodiment of the present application;

[0025] Figure 3 It is a schematic structural diagram of an inertial sensor node provided by an embodiment of the present application;

[0026] Figure 4 It is a schematic flowchart of an archery motion information processing method provided by an embodiment of the present application;

[0027] Figure 5(a) is a schematic diagram of the division of the archery stage of the acceleration curve provided by an embodiment of the present application;

[0028] Figure 5(b) is a schematic diagram of the division of the archery stage of the angular velocity curve provided by an embodiment of the present application;

[0029] Figure 6 It is an acceleration curve graph of the bow and the right forearm of athlete A with a 10 - ring score provided by an embodiment of the present application;

[0030] Figure 7 It is an acceleration curve graph of the bow and the right forearm of athlete B with a 10 - ring score provided by an embodiment of the present application;

[0031] Figure 8 It is a schematic structural diagram of an archery motion information processing device provided by an embodiment of the present application;

[0032] Figure 9 It is a schematic structural diagram of a host computer provided by an embodiment of the present application. Detailed implementation manners

[0033] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are put forward to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well - known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0034] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0035] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0036] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]".

[0037] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0038] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0039] In the related art, two-dimensional high-speed photography or three-dimensional high-speed photography with reflective marker points is usually used to analyze archery projects. At present, such instruments have a good evaluation of characteristics such as joint angles and body posture angles of archery. As a skill-dominated performance accuracy event group, compared with such gross movements as basketball, track and field, and gymnastics, the limb movements in archery are small. Especially during the fixation stage and the release moment, the movements of the limbs and the torso are very subtle and almost stationary visually. Therefore, it is very difficult to measure with traditional vision-based technical methods, and it is also difficult to discover possible problems in the technical movements during archery. So the application of such instruments has certain limitations. In addition, the training and competitions of archery projects are all carried out outdoors. Such instrument devices not only have cumbersome measurement devices, but also cannot monitor the technical movements of athletes well due to various factors such as changes in on-site lighting, occlusion of moving targets, or limitations of laboratory space.

[0040] In recent years, with the continuous maturity of inertial sensing technology, the accuracy of inertial sensors has been greatly improved, the volume has become smaller and smaller, and the cost has become lower and lower. It is widely used in fields such as consumer electronics, artificial intelligence, mechanical manufacturing, aerospace, etc., and has become a popular device. With the advantages of high precision, stability, and small size, inertial sensors can accurately and conveniently measure the movement direction and amplitude of an object. Therefore, a large number of scholars have developed various human body posture detection and motion recognition systems based on inertial sensors. At the same time, with the rise of wireless communication modules, it has become more convenient for wireless transmission between lower-level machines and between lower-level machines and upper-level machines. On this basis, it has become possible to develop a device suitable for monitoring archery sports.

[0041] Based on this, in the embodiments of the present application, inertial sensors are applied to the acquisition of archery motion information, and the data collected by the inertial sensors are divided into archery stages by combining the video images collected by a high-speed camera, so as to analyze and guide the actions of archery athletes.

[0042] Figure 1 FIG. shows an archery motion information acquisition system that can be provided by the embodiments of the present application. The system includes 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 communicatively connected to the upper computer 103. Figure 1 FIG. shows inertial sensor node 1, inertial sensor node 2 to inertial sensor node n, where n is an integer greater than or equal to 3, for example, n is equal to 10.

[0043] The plurality of inertial sensor nodes 101 are arranged at a first preset position on the body of the archery athlete and a second preset position on the recurve bow, and are used to collect first motion information of multiple limbs of the archery athlete and second motion information of the recurve bow during the archery process, and send the first motion information and the second motion information to the upper computer 103.

[0044] The high-speed camera 102 is arranged in front of the archery athlete and is used to collect video images of the entire archery process of the archery athlete, and send the video images to the upper computer 103. Among them, the high-speed camera 102 is synchronized with the clocks of the plurality of inertial sensor nodes 101, so that the stage time of each archery stage can be determined based on the video images, and then the motion information corresponding to each archery stage can be determined.

[0045] The upper computer 103 determines the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and performs archery stage division and archery motion analysis on the first motion information and the second motion information according to the stage time.

[0046] In some embodiments, the first preset position may include: the outer side of the left upper arm, the midpoint of the shoulder and elbow joint; the outer side of the left forearm, the midpoint of the elbow and wrist joint; the outer side of the right upper arm, the midpoint of the shoulder and elbow joint; the outer side of the right forearm, the midpoint of the elbow and wrist joint; the outer side of the left thigh, the midpoint of the hip and knee joint; the outer side of the left calf, the midpoint of the knee and ankle joint; the outer side of the right thigh, the midpoint of the hip and knee joint; the outer side of the right calf, the midpoint of the knee and ankle joint; the sacrum of the waist. The second preset position is: the right side of the aimer.

[0047] For example, each inertial sensor node may be numbered, and the corresponding relationship between each numbered inertial sensor node and the position of the archery athlete's body and the recurve bow is shown in Table 1.

[0048] Table 1 Inertial sensor positions corresponding to body and recurve bow

[0049]

[0050]

[0051] In mechanics, a rigid body refers to an object whose size and shape remain unchanged and the relative positions of its internal points remain unchanged during motion and after being acted upon by a force. However, in reality, an absolute rigid body does not exist. It is just an ideal state and model, because any object will deform to varying degrees after being acted upon by a force. If the degree of deformation is extremely small relative to the geometric size of the object itself, the deformation can be ignored when studying the object's motion. In most sports, the deformation of the human skeleton after being acted upon by a force is very small, and basically maintains its original size and shape. In order to simplify the problem while ensuring the tracking and analysis of the archery action of the archery athlete, a human skeleton model can be constructed based on the principles of rigid body mechanics to further determine the placement of the inertial sensor.

[0052] According to the theoretical knowledge of human anatomy, an adult human body has 206 bones. The bones are connected by joints. Except for 6 auditory ossicles which belong to sensory organs, they can be divided into 23 cranial bones, 51 trunk bones, and 126 limb bones according to their locations. Each bone in the human body exists independently and interacts with each other, and its own motion attributes are restricted by joints. If inertial sensors are placed according to the actual situation of the human bones and real-time motion data of archery athletes are collected and output, the computational workload is large and the motion relationships are too complex. Therefore, it is necessary to ignore the bones with less influence during the motion and simplify the bone model based on rigid body mechanics. According to the human bone structure, the human body's bones are mainly composed of four parts: cranial bones, trunk bones, upper limb bones, and lower limb bones. Further subdivision can be made into head bones, thoracic cavity bones, left upper arm bones, right upper arm bones, left forearm bones, right forearm bones, pelvic bones, left thigh bones, right thigh bones, left calf bones, and right calf bones. After simplification, there is a human body structure model composed of 11 bones. The simplified bone model is as Figure 2 shown.

[0053] Through expert interviews and actual observations, archery mainly relies on holding the bow with the left hand and pulling the string with the right hand. The trunk and lower limbs need to maintain a stable posture to shoot the arrow steadily. According to the above characteristics of archery and the human bone model, 9 inertial sensors need to be bound to various limb parts of the archery athlete, respectively bound to 9 parts: left upper arm, right upper arm, left forearm, right forearm, left thigh, right thigh, left calf, right calf, and waist.

[0054] When the human body is in motion, the associated joints will cause deformation of the nearby muscles and skin. If inertial sensors are placed at the joints of each part, it will cause relative displacement or rotational motion of the inertial sensors, which will damage the ideal rigid body motion model, and then directly affect the data measurement of the inertial sensors, bringing a large error to the results. Therefore, the specific placement positions of the inertial sensors can be uniformly set away from the joints, which can largely avoid the data acquisition error caused by the deformation of muscles and skin.

[0055] Placing inertial sensors on the recurve bow is to monitor the motion of the recurve bow during archery. The recurve bow mainly consists of a riser, a handle, an upper limb, a lower limb, a string, a sight, and a stabilizer, as Figures 3 - 9 shown. Initially, it was decided to place inertial sensors on the limb. However, in actual observations, it was found that when the archery athlete pulls the string during the bow-drawing stage, the recurve bow composed of the upper and lower limbs and the riser will generate a bow opening angle, and when releasing the arrow, the upper and lower limbs will generate a strong bow tension. If the inertial sensor is placed on the limb, the bow tension will surely cause the sensor to fall off and bounce, which will seriously affect the safety of the athlete and the tester.

[0056] In order to reduce unsafe factors and test the movement of the bow well, the position of the bow limb is abandoned, and the position where the inertial sensor node is placed is selected in the middle part of the bow handle. This part is just in the middle of the whole bow and is hardly affected by the bow tension. Later, it was learned that placing it on the bow handle would affect the athlete's grip on the bow. Moreover, during the aiming stage, the athlete uses the sight to aim and adjusts the bow according to the aiming situation. This position can well reflect the movement of the recurve bow. Based on this, a detailed observation was made on the sight on the recurve bow, and it was found that the aiming point on the sight is on the left side of the support. If the inertial sensor is placed on the right side of the support, it will not affect the athlete's aiming at the target, and the support of the sight is very flat, which can well place the inertial sensor.

[0057] As Figure 3 shown, in some embodiments, the inertial sensor node 101 may include an inertial sensor 1011, a processor 1012, a power supply 1013, a communication module 1014, and a card holder ( Figure 3 not shown), and the inertial sensor 1011, the communication module 1014, and the card holder are all connected to the processor 1012.

[0058] The power supply 1013 is used to supply power to the inertial sensor 1011, the processor 1012, and the communication module 1014. The card holder is used to place the memory card 1015, and the memory card 1015 is connected to the processor 1012. The communication module 1014 is used to receive the instructions issued by the host computer 103 and transmit the instructions to the processor 1012. The processor 1012 is used to respond to the instructions, control the inertial sensor 1011 to collect motion information, 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 into the memory card 1015.

[0059] See Figure 3 , in some embodiments, each inertial sensor node 101 may further include an indicator light 1016, and the indicator 1016 is connected to the processor 1012. When the communication connection between the inertial sensor node 101 and the host computer 103 is not established, the processor 1012 controls the indicator light 1016 to work in a first working mode. After the communication connection between the inertial sensor node 101 and the host computer 103 is established, the processor 1012 controls the indicator light 1016 to work in a second working mode. When the inertial sensor node 101 sends motion information to the host computer 103, the processor 1012 controls the indicator light 1016 to work in a third working mode.

[0060] For example, in the first working mode, the indicator light 1016 emits red light; in the second working mode, the indicator light 1016 emits blue light; in the third working mode, the indicator light 1016 emits flashing blue light. When the indicator light 1016 emits red light, it means that the inertial sensor node 101 and the host computer 103 have not established a communication connection; when the indicator light 1016 emits blue light, it means that the inertial sensor node 101 and the host computer 103 have established a communication connection; when the indicator light 1016 emits flashing blue light, it means that the inertial sensor node 101 is sending motion information to the host computer 103.

[0061] In some embodiments, each inertial sensor node 101 may further include a Type C interface and a linear voltage regulator. The Type C interface is connected to the power supply 1013. The Type C interface can be connected to 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 regulator, providing a stable DC output voltage to protect the device and enable it to work safely and reliably for a long time.

[0062] In some embodiments, the height of the high-speed camera 102 from the ground may be 1.6 meters, and the distance from the archery athlete may be 1.5 meters to 2.0 meters.

[0063] The archery athlete stands with the left and right feet parallel across the starting line. The starting line is 70m away from the archery target paper in a straight line. The left side of the body, i.e., the left sagittal plane, faces the archery target paper. Through on-site observation, the coronal plane directly in front of the athlete's body can record the complete archery action of the athlete. Therefore, the high-speed camera 102 is placed directly in front of the archery athlete's body. In addition, in order to record the archery action of the athlete completely and accurately, the height and distance of the high-speed camera 102 are adjusted before the test. When the height of the high-speed camera 102 from the ground is 1.60m and the distance from the archery athlete is 1.5m - 2m, the collected video images are better.

[0064] As an example, the inertial sensor 1011 can use the 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*4*0.9mm, eliminating the problem of the difference between the time axis of the combined gyroscope and the accelerometer, and reducing a lot of packaging space. The processor 1012 can use the STM32F405RGT6 microcontroller under the STMicroelectronics STM32F4 series, which is based on the high-performance ARM Cortex-M4 32-bit RISC core architecture, with an operating frequency of up to 168MHz and strong computing power, and is very suitable for real-time reading of multiple sensor data. The communication module 1014 can use the ATK-ESP-01 module, which has a size of only 24*16*3(±0.2)mm. It is a high-performance 802.11b / g / n WiFi SOC module with an operating temperature of -20℃~85℃ and an operating humidity of 10%RH~90%RH.

[0065] The archery sports information collection system needs to be transmitted wirelessly. If a fixed power supply is used to power the inertial sensor node, the flexibility will be lost, so a mobile power supply should be selected. As a wearable device that comes into contact with the body, the battery safety quality should be high and the space occupied should be as small as possible. At the same time, the selected power module should meet the needs of long-term data collection, and its output voltage should also be within the working voltage range of the inertial sensor node. Based on the above content and combined with the actual situation, the power supply 1013 can select a 603040 lithium battery.

[0066] In this embodiment, each inertial sensor node can be connected to a host computer (such as a computer) through a burner, and the written wireless communication code connecting the hardware and software is transmitted to each inertial sensor node in turn through the burner, so that each inertial sensor node can establish a communication connection with the host computer software through the same IP address.

[0067] In some embodiments, the process of the host computer 103 determining the stage time of each archery stage of the archery athlete based on the acquisition time of the video image may include: playing back the video image at a speed of 120 frames per second; responding to the archery stage division operation input by the user, determining the time from the first frame image to the last frame image of each archery stage, the time of the first frame image being the start time of the corresponding archery stage, and the time of the last frame image being the end time of the corresponding archery stage.

[0068] Among them, the archery stage may include the bow-raising stage, the bow-drawing stage, the holding stage, and the release. These four parts are divided according to the movement characteristics of the bow, string, and upper limbs in space. To clarify the definitions of each stage, in the embodiments of the present application, all athletes hold the bow with their left hand. The bow-holding arm consists of the left upper arm, left forearm, and left hand, and the bow-drawing arm consists of the right upper arm, right forearm, and right hand. Among them, the releasing hand refers to the right hand used to draw the string.

[0069] The starting time of the bow-raising stage can be the time of the frame image when the front point of the front balance bar of the bow leaves the ground in the video image, and the ending time can be the time of the frame image when the hand of the bow-holding arm is at the highest point in the video image. The starting time of the bow-drawing stage can be the time of the frame image when the hand of the bow-holding arm is at the highest point in the video image, and the ending time can be the time of the frame image when the string on the bow-drawing arm side is close to the mandibular angle in the video image. The starting time of the holding stage can be the time of the frame image when the string on the bow-drawing arm side is close to the mandibular angle in the video image, and the ending time can be the time of the frame image of the first frame when the arrow leaves the releasing hand in the video image. The release moment is the time of the frame image when the arrow leaves the releasing hand in the video image.

[0070] The host computer 103 divides the first motion information and the second motion information into archery stages and analyzes the archery actions according to the stage time, which may include: determining the motion data corresponding to the archery stage from the first motion information and the second motion information according to the starting time and ending time of each archery stage; and determining the acceleration and angular velocity of multiple parts of the archery athlete's body and the recurve bow in each archery stage based on the motion data.

[0071] For example, if the archery stage is divided into four parts: the bow-raising stage, the bow-drawing stage, the holding stage, and the release, then the host computer 103 divides the first motion information and the second motion information according to the stage time corresponding to each archery stage, and can obtain the motion data corresponding to the bow-raising stage, the bow-drawing stage, the holding stage, and the release respectively. Then, the host computer 103 can determine the acceleration and angular velocity of multiple parts of the body and the recurve bow in these four parts based on the motion data of the bow-raising stage, the bow-drawing stage, the holding stage, and the release.

[0072] In addition, the host computer 103 is further configured to: determine the motion stability of the archery athlete in each archery stage according to the stage time of each archery stage of the archery athlete, and the acceleration and angular velocity of multiple parts of the archery athlete's body and the recurve bow in the archery stage.

[0073] In addition, the host computer 103 can also process the first motion information and the second motion information sent by the inertial sensor nodes 101 as follows: (1) Read the acceleration and angular velocity data of each inertial sensor node in the X, Y, and Z directions in real time; (2) Display the acceleration and angular velocity curves of each inertial sensor node in the X, Y, and Z directions in real time; (3) Be able to intercept, zoom in, zoom out, and save the curves in (2); (4) Be able to arbitrarily switch the real-time data reception interfaces of each inertial sensor node; (5) Be able to arbitrarily display and hide the acceleration or angular velocity curve of one of the axes; (6) Be able to save the original data of the acceleration and angular velocity in the X, Y, and Z directions to Excel; (7) Be able to import the existing original data of the acceleration and angular velocity into the software to form curves.

[0074] Figure 4 is a schematic flowchart of an archery motion information processing method provided by an embodiment of the present application. Referring to Figure 4 , the details of the archery motion information processing method are as follows:

[0075] Step 201, obtain the first motion information of the archer and the second motion information of the recurve bow.

[0076] Among them, the first motion information is collected based on a plurality of inertial sensors arranged on the body of the archer, and the second motion information is based on the inertial sensor arranged on the recurve bow. The first motion information is the motion information of multiple limbs of the archer's body during the entire archery process, and the second motion information is the motion information of the recurve bow during the entire archery process.

[0077] Regarding the setting positions of the inertial sensor nodes on the archer's body and on the recurve bow, please refer to the foregoing relevant content and will not be elaborated here.

[0078] Step 202, obtain the video images of the archer during the entire archery process sent by the high-speed camera, and the high-speed camera is synchronized with the clocks of the plurality of inertial sensor nodes.

[0079] Among them, the synchronization of the clocks of the high-speed camera and the inertial sensor nodes can determine the stage times of each archery stage based on the video images, and further determine the corresponding motion information for each archery stage.

[0080] Step 203, determine the stage times of each archery stage of the archer based on the acquisition time of the video images, and perform archery stage division and archery action analysis on the first motion information and the second motion information according to the stage times.

[0081] In some embodiments, determining the stage time of each archery stage of the archer based on the acquisition time of the video image may include: playing back the video image at a speed of 120 frames per second; in response to the archery stage division operation input by the user, determining the time from the first frame image to the last frame image of each archery stage, where the time of the first frame image is the start time of the corresponding archery stage, and the time of the last frame image is the end time of the corresponding archery stage.

[0082] For the division of each archery stage, please refer to the foregoing relevant content and will not be elaborated here.

[0083] As shown in FIG. 5(a), taking the motion information (acceleration and angular velocity) collected by the inertial sensor node on the left upper arm of the archer as an example for illustration. By dividing each archery stage of the archer through the video image, the stage time of each archery stage can be determined. Then, according to the stage time, the angular velocity data collected by the inertial sensor node on the left upper arm is segmented to obtain each archery stage as shown in FIG. 5(a). According to the stage time, the angular velocity data collected by the inertial sensor node on the left upper arm is segmented to obtain each archery stage as shown in FIG. 5(b).

[0084] In some embodiments, the above-mentioned archery stage division and archery action analysis according to the stage time for the first motion information and the second motion information include: determining the motion data corresponding to the archery stage from the first motion information and the second motion information according to the start time and end time of each archery stage; based on the motion data, determining the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in each archery stage.

[0085] In some embodiments, the above-mentioned archery stage division and archery action analysis according to the stage time for the first motion information and the second motion information may include: determining the motion stability of the archer in each archery stage according to the stage time of each archery stage of the archer, and the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in the archery stage.

[0086] Among them, the stage time of each archery stage, the acceleration and angular velocity of multiple body parts, and the acceleration and angular velocity of the recurve bow usually have a certain regular range. If the fluctuations of these data are too large in a certain archery stage, it can be determined that the motion stability of the archer is poor, and thus the motion of the archer can be analyzed and guided according to the specific stage and the specific data of the acceleration and angular velocity.

[0087] Exemplarily, for each archer, the first motion information and the second motion information corresponding to multiple bows and arrows are collected. The first motion information includes the acceleration and angular velocity of the archer's limbs, and the second motion information includes the acceleration and angular velocity of the recurve bow.

[0088] Determining the motion stability of the archer in each shooting stage according to the stage time of each shooting stage of the archer, as well as the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in this shooting stage may include:

[0089] For each archer, according to the first motion information corresponding to multiple bows and arrows and the ring value of each bow and arrow, determine the time stability and limb motion stability of the archer in each shooting stage. The limb motion stability includes limb acceleration stability and limb angular velocity stability; the time stability is determined based on the variance of the time used in each shooting stage corresponding to multiple bows and arrows, the limb acceleration stability is determined based on the variance of the limb acceleration in each shooting stage corresponding to multiple bows and arrows, and the limb angular velocity stability is determined based on the variance of the limb angular velocity in each shooting stage corresponding to multiple bows and arrows;

[0090] Determine the recurve bow acceleration stability and recurve bow angular velocity stability of the archer in each shooting stage according to the second motion information corresponding to multiple bows and arrows. The recurve bow acceleration stability is determined based on the variance of the recurve bow acceleration in each shooting stage corresponding to multiple bows and arrows, and the recurve bow angular velocity stability is determined based on the variance of the recurve bow angular velocity in each shooting stage corresponding to multiple bows and arrows.

[0091] In some embodiments, the above method may further include: sampling the first motion information of the archer in the bow-drawing stage and the fixed-posture stage. The first motion information includes limb acceleration and the time used; 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 less than the first variance threshold and the variance of the time used is less than the second variance threshold, then determine that the archer has good stability; otherwise, determine that the archer has poor stability; wherein, the first variance threshold and the second variance threshold are determined based on the motion information of the archer in the bow-drawing stage and the fixed-posture stage when the ring value is greater than the preset value.

[0092] The following further illustrates the embodiments of the present application by collecting and analyzing the motion information of multiple archers.

[0093] Collect the motion information of 10 athletes in the archery team. Each athlete shoots 36 arrows, and a total of 360 arrows are shot by 10 athletes. Organize the time data, acceleration and angular velocity data of the 360 arrows shot by 10 athletes, and then conduct quantitative analysis.

[0094] 1. Analysis of time data.

[0095] Table 2 Descriptive statistical table of the time used in each stage of 360 arrows

[0096] Phase time M ± SD (s) Max (s) Min (s) Bow - raising time 1.76±0.47 3.18 0.80 Bow - drawing time 2.15±0.35 3.45 1.13 Stance - holding time 3.03±1.61 11.33 0.62 Total time 6.94±1.70 15.40 3.79

[0097] As can be seen from Table 2, the mean values of the action times in each stage of the 360 arrows, from largest to smallest, are: fixing posture time (3.03 ± 1.61 s) > drawing bow time (2.15 ± 0.35 s) > raising bow time (1.76 ± 0.47 s). Considering the actual situation of the archery event: In the raising bow stage, the athlete only needs to steadily raise the bow upwards, with no excessive limb movements and no excessive aiming tasks, so the raising bow action is relatively faster and takes less time compared to the actions in other stages; in the drawing bow stage, the athlete needs to slowly draw the bowstring to ensure that the limb movements enter the fixing posture stage in a stable state, and at the same time, a rough aim at the target is also required in this stage, so the drawing bow stage takes relatively longer; in the fixing posture stage, the athlete not only has to resist the tension of the bow but also perform precise aiming tasks to find the right timing for release, so it takes a longer time to complete this stage.

[0098] In addition, from the maximum and minimum values of the time used in each stage of the 360 arrows, it can be seen that there is a relatively large variation in the time rhythm shown by the 10 athletes in terms of the total time; while the difference between the maximum and minimum values of the drawing bow time is the smallest, indicating that the 10 athletes are more concentrated in the drawing bow time and the time rhythm of drawing the bow is highly consistent.

[0099] Table 3 One-way ANOVA of time in different levels of stages

[0100]

[0101] Note: * indicates p < 0.05, ** indicates p < 0.01

[0102] As shown in Table 3, there is no significant difference in bow holding time and total time between different levels (p>0.05), but from the numerical point of view, the total time of athletes is less than that of first-level athletes and second-level athletes, indicating that the overall archery rhythm of athletes is faster. There are significant differences in bow opening time and fixed time between different levels (p<0.01), which is manifested as athletes have longer bow opening time than first-level athletes and second-level athletes, and shorter fixed time than first-level athletes and second-level athletes. Combined with the actual archery: In the bow opening stage, athletes have to aim at the archery target paper while pulling the string, and athletes have a long bow opening time, which is conducive to slowing down the action, thereby reducing the shaking amplitude of the upper limbs when opening the bow, and increasing the body stability when aiming at the target paper. The short fixed time can also indirectly indicate that athletes consciously slow down the bow opening action when shooting arrows, so that the bow opening action can be done fully and stably, so that they can calmly enter the fixed stage and find the right time to release decisively, so athletes will not consume more time in the fixed stage.

[0103] Table 4 T-test of time in different gender stages

[0104]

[0105] Note: * indicates p < 0.05, ** indicates p < 0.01

[0106] As shown in Table 4, there is no significant difference in the bow opening time and total time between different genders (p>0.05), indicating that male and female athletes are consistent in the bow opening time and total time. There are significant differences in the bow holding time and fixed time between different genders (p<0.01). From the numerical point of view, the bow holding time and fixed time of male athletes are significantly shorter than those of female athletes, which is manifested in that the time rhythm of male athletes holding the bow is faster than that of female athletes. This may be the physiological difference in muscle strength and speed between male and female athletes; secondly, the fixed time of male athletes in the archery process is shorter, and the time required for them to aim at the target paper is relatively less, which shows that male athletes are more decisive in the rhythm of archery release than female athletes.

[0107] 2. Analysis of acceleration data.

[0108] Table 5 Mean acceleration of each stage of 360 arrows

[0109]

[0110] From Table 5, we can see that, from the acceleration point of view, among the 360 arrows:

[0111] During the bow raising phase, the average acceleration of the left forearm and bow is 10 m / s 2 Above, 10.08m / s respectively 2 、10.25m / s2 , indicating that the movement amplitudes of these two parts are relatively large during the bow-raising stage, while the average acceleration values of the remaining parts are all around 9.8 m / s 2 , indicating that the movements of these parts are relatively stable during the bow-raising process.

[0112] During the bow-drawing stage, the average acceleration values of all parts of the bow, the bow-holding arm, and the bow-drawing arm are significantly less than 9.8 m / s 2 , which is due to the increased movement amplitude caused by the bow-drawing actions of various parts of the upper limb. Among them, the right forearm has the largest movement amplitude, which is related to the direct participation of the right forearm in the string-drawing action; from the perspective of the average acceleration value, during the bow-drawing process, all parts of the lower limb and the trunk remain in a stable state.

[0113] During the holding stage, the average acceleration values of all parts are around 9.8 m / s 2 , indicating that the movement amplitudes of all parts are very small during the holding stage, and the athlete is in a relatively static state. During this stage, the athlete mainly aims at the bull's-eye and stabilizes the body posture to find the right time to release the arrow.

[0114] At the moment of release, except for the lower limb, the average acceleration values of all other parts change significantly. In particular, the bow and the right forearm have the largest movement amplitudes. Among them, the average acceleration value of the right forearm is 34.6 m / s 2 , and the average acceleration value of the bow is 35.43 m / s 2 .

[0115] Overall, during the archery process, the average acceleration values of the upper limb and the bow parts change to varying degrees, while the average acceleration values of the lower limb and the trunk parts are always around 9.8 m / s 2 , indicating that the athlete's lower limb remains relatively stable during archery without violent movements. This also shows that archery is mainly a movement of the upper limb, and secondly, it is related to the better support provided by the athlete's direct contact with the ground by the left and right feet during the archery process.

[0116] 3. Analysis of the angular velocity data.

[0117] Table 6 Average angular velocity values of each part at each stage for 360 arrows

[0118]

[0119] As can be seen from Table 6, the angular velocity values of all parts during the static potential stage are very small, basically in the range of 0 to 1° / s. The athlete is in the aiming state during this stage, so there is no obvious movement of each part. However, the angular velocity values of the left upper arm, left forearm, right upper arm, right forearm, and bow during the bow-raising stage, draw-holding stage, and release instant all change to varying degrees, while the change range of the angular velocity values of the lower limbs and trunk is not large. In practice, when the athlete shoots each arrow, the upper limbs will repeat the actions of raising, drawing, and releasing the bow many times, and it is impossible to replicate exactly the same stage actions during the entire archery process, so there will be relatively large fluctuations in the angular velocity of the upper limbs. The lower limbs and trunk of the athlete mainly maintain a stable body posture during the archery process and do not have excessive movements, so there will be no relatively large fluctuations in the angular velocity.

[0120] From the average values of acceleration and angular velocity of each part at each stage of the 360 arrows output by the archery motion information acquisition system, it can be seen that the average values of acceleration and angular velocity of each part during the archery process all change to varying degrees. However, the average values of acceleration and angular velocity of each part during the bow-raising, draw-holding, and static potential stages are generally small and the degree of change is small, accounting for the vast majority of the entire archery process. This shows that archery is mainly a static exercise. From the average values of acceleration and angular velocity of each part at the release instant, the greatest differences in changes are in the right forearm and the bow parts. These two parts may be where the differences among athletes lie.

[0121] The following combines Figure 6 to analyze the archery actions of athlete A.

[0122] During the bow-raising stage, the athlete holds the bow with the bow-holding arm and raises the draw-holding arm with the hand hooking the string. This stage is mainly to stretch the shoulder for better draw-holding. From the curve, it can be seen that during this stage, the acceleration of the bow generally rises slowly, indicating that the action of the bow-holding arm during bow-raising is stable. When the bow-raising is about to end, the acceleration curve becomes smaller, indicating that the bow reaches the highest point of bow-raising and is ready to draw. The acceleration curve of the right forearm shows an irregular curve around 1 s, which is generated by the athlete pre-drawing the string during the bow-raising process of the right forearm. Subsequently, the curve tends to be stable. This stage takes 1.43 s.

[0123] During the draw-holding stage, the athlete holds the bow with the bow-holding arm and extends it forward to support, and the draw-holding arm pulls backward to draw the arrow string. During this stage, attention should be paid to applying force smoothly with the forward support and backward pull on the same extension line. From the curve, it can be seen that the acceleration curves of the bow and the right forearm fluctuate very little and generally tend to a straight line. The acceleration is around 9.8 m / s 2 indicating that athlete A applies force evenly with the bow-holding arm and the right forearm, and the draw-holding action is very stable. This stage takes 2.2 s.

[0124] The holding stage is the stage from drawing the bowstring to releasing the arrow. In this stage, the archer mainly maintains the bow-drawing state continuously and aims at the target star, finding the right timing for arrow release. Throughout this stage, the right hand keeps applying force continuously. The main purpose is to increase the draw length to improve the initial velocity of the arrow at the moment of release. At the beginning, the continuous application of force is an unstable process, and the position of the hand against the bowstring cannot move, so it is very difficult for conventional instruments to monitor this subtle process. From the curve, in the initial stage of this stage, there is a peak and valley on the right forearm, which is the initial stage of the archer's continuous application of force. The duration is 0.94 s, and the average acceleration is 10.02 m / s 2 , and then the curve tends to be stable, entering the precise aiming stage. In this stage, the acceleration curve of the bow does not change significantly all the time, indicating that the holding arm shows a very stable state when holding the bow during the holding stage. The duration of this stage is 3.14 s.

[0125] At the moment of arrow release, mainly the right hand performs the action of releasing the bowstring. From the curve, at the moment of arrow release, the acceleration curves of the bow and the right forearm do not change, indicating that Lin *run released the arrow in a stable state. Immediately after the release, a peak appears on the acceleration curves of the bow and the right forearm respectively. Among them, due to the action of releasing the bowstring, the acceleration of the right arm reaches 36.28 m / s 2 , and the acceleration of the bow reaches 52.26 m / s 2 . The total time taken for this 10-ring action is 6.77 s.

[0126] Table 7 Statistics of acceleration, time and ring value at key stages and parts of 10 archery shots of Athlete A

[0127]

[0128] As can be seen from Table 7, the difference between the average acceleration in the initial stage of continuous force application for a 10-ring shot of Athlete A and 9.8 m / s 2 is 0.24±0.03. The duration of the initial stage of continuous force application for a 10-ring shot is 0.97±0.02 s. The peak acceleration of the bow is 52.75±0.62 m / s 2 , and the peak acceleration of the right forearm is 38.25±1.46 m / s 2 . The difference between the average acceleration in the initial stage of continuous force application for a non-10-ring shot and 9.8 m / s 2 is 0.31±0.14. The duration of the initial stage of continuous force application for a non-10-ring shot is 0.94±0.04 s. The peak acceleration of the bow is 51.73±0.75 m / s 2 , and the peak acceleration of the right forearm is 36.93±1.81 m / s 2 .

[0129] In terms of time, the time difference between the initial stage of continuous force application for athlete A's 10-ring and non-10-ring shots is small, indicating that the time rhythm in the initial stage of continuous force application is very stable. In terms of acceleration, the mean acceleration in the initial stage of continuous force application for the 10-ring shot and the difference with 9.8m / s 2 show small changes, indicating that athlete A applies force evenly with the right forearm during the continuous force application of the 10-ring shot and the action is stable; while there are differences in the amplitude of the action in the initial stage of continuous force application for non-10-ring shots, indicating that the stability of athlete A's right forearm action is relatively poor during the continuous force application of non-10-ring shots. The peak difference in the acceleration values of the bow at the moment of release for 10-ring and non-10-ring shots is small, but there is a difference in the peak acceleration of the right forearm at the moment of release for non-10-ring shots compared to the 10-ring shot, and the difference reaches 4.86m / s 2 , and the peak acceleration of the right forearm at the moment of release for non-10-ring shots fluctuates more than that for the 10-ring shot.

[0130] The following combines Figure 7 to analyze the archery actions of athlete B.

[0131] In the bow-raising stage, the athlete holds the bow with the bow-holding arm and raises the hand-hooked string with the bow-drawing arm. This stage is mainly to stretch the shoulders upward for better bow opening. From the curve, it can be seen that in this stage, the acceleration curve of athlete B does not fluctuate much, indicating that the bow-raising action is stable. The acceleration curve of the right forearm shows irregular curves, which is because the athlete pre-draws the string with the right forearm during the bow-raising process. This stage takes 1.19s.

[0132] In the bow-opening stage, the athlete holds the bow with the bow-holding arm and stretches it forward to support, and the bow-drawing arm pulls backward to draw the arrow string. In this stage, attention should be paid to applying force smoothly with the forward support and backward pull on the same extension line. From the curve, it can be seen that the acceleration curve of the bow is relatively flat, indicating that athlete B keeps the bow very stable during the bow-opening process. The acceleration curve of the right forearm shows multiple small wave peaks and valleys, but overall, it fluctuates regularly without large fluctuations. This may be the individual characteristic of athlete B's right forearm when opening the bow. This stage takes 1.2s.

[0133] In the holding stage, it is the stage between drawing the string to releasing. This stage is mainly to continuously maintain the bow-drawing state and aim at the target star to find the right moment to release. From the curve, it can be seen that the initial stage of continuous force application for athlete B in this stage is 0.98s, and the average acceleration is 10.09m / s 2 . Subsequently, the acceleration curves of the right forearm and the bow coincide, and the two parts show consistent stability; the holding stage takes 3.5s.

[0134] At the moment of release, the entire body posture should be highly stable. Secondly, the right hand performs the action of releasing the string. From the curve, it can be seen that when releasing the string, the curves of the bow and the right forearm continue to maintain a straight line, indicating that the release action is stable. After the release, a peak appears instantaneously in the acceleration curves of the bow and the right forearm. Due to the string release action of the right arm, the acceleration reaches 35.88 m / s 2 , and the acceleration of the bow reaches 52.17 m / s 2 . The total time taken for this 10-ring action is 5.89 s.

[0135] Table 8 Statistics of acceleration, time, and ring value at key stages and parts of 10 archery shots of athlete B

[0136]

[0137] As can be seen from Table 8, the difference between the average acceleration at the initial stage of continuous force application for the 10-ring of athlete B and 9.8 is 0.30 m / s 2 ±0.05. The duration of the initial stage of continuous force application for the 10-ring is 0.97 ± 0.05 s, the peak acceleration of the bow is 52.30 ± 0.79 m / s 2 , and the peak acceleration of the right forearm is 35.55 ± 1.07 m / s 2 . The difference between the average acceleration at the initial stage of continuous force application for non-10-ring and 9.8 m / s 2 is 0.54 ± 0.18, the duration of the initial stage of continuous force application for non-10-ring is 0.63 ± 0.39 s, the peak acceleration of the bow is 48.45 ± 7.11 m / s 2 , and the peak acceleration of the right forearm is 34.21 ± 6.16 m / s 2 .

[0138] In terms of time, the duration of the initial stage of continuous force application for ring values 8 and 7 in non-10-ring of athlete B is much shorter than that of other ring values, with a maximum difference of 0.71 s. Moreover, the difference between these two ring values and 9.8 m / s 2 is larger than that of other ring values. This may be because the right forearm of athlete B pulls too fast at the initial stage of continuous force application, resulting in a larger movement amplitude, which is reflected in a larger difference from 9.8 m / s 2 . This is not conducive to the stability of the bow and the right forearm during the fixed posture stage, and thus affects the final ring value. In terms of acceleration, there are obvious differences in the peak accelerations of the bow and the right forearm between 10-ring and non-10-ring at the moment of release. The maximum differences in the peak accelerations of the bow and the right forearm are respectively: 14.13 m / s 2 , 12.05 m / s 2 ; Overall, the peak accelerations of the bow and the right forearm in the 10-ring action of athlete B are significantly more stable than those in non-10-ring, while the peak accelerations of the bow and the right forearm in non-10-ring show relatively large fluctuations.

[0139] As an event group that demonstrates accuracy, action consistency is an important manifestation of the level of archery athletes. Previous monitoring of archery consistency mostly used methods such as surface electromyography and three-dimensional high-speed cameras to evaluate the force exerted by athletes during archery, joint angles, and time. According to the analysis of some athletes mentioned above, it can be shown that the embodiments of the present application can quickly monitor the average acceleration value and the time used at the initial stage of continuous force application during the fixation phase, as well as the peak acceleration values of the bow and the right forearm during release. Since athletes develop their own time and action rhythms during multiple trainings and competitions, with strong individual characteristics, it is not appropriate to directly use the standard deviation to describe the consistency of athletes. Therefore, the coefficient of variation (SD / MN), which is the standard deviation divided by the mean, is selected to describe the consistency of 5 athletes.

[0140] 1. The fixation phase of 5 athletes.

[0141] Table 9 Average acceleration, duration, and consistency table of 5 athletes at the initial stage of continuous force application

[0142]

[0143] As can be seen from Table 9, from the perspective of the coefficient of variation of the difference between the average acceleration value at the initial stage of continuous force application and 9.8 m / s 2 , from small to large: Athlete A < Athlete C < Athlete D < Athlete B < Athlete E, indicating that at the initial stage of continuous force application, the action consistency of the right forearm of Athlete A is the best, followed by Athletes C, D, and B, while the action consistency of the right forearm of Athlete E is the worst at the initial stage of continuous force application. From the perspective of the coefficient of variation of time at the initial stage of continuous force application, from small to large: Athlete C < Athlete A < Athlete D < Athlete B < Athlete E, indicating that Athlete C has the best consistency in time at the initial stage of continuous force application, followed by Athletes A, D, and B, while Athlete E has the worst consistency in time at the initial stage of continuous force application.

[0144] From the perspective of the difference between the average acceleration value at the initial stage of continuous force application and 9.8 m / s 2 , from small to large: Athlete C < Athlete A < Athlete B < Athlete D < Athlete E, indicating that at the initial stage of continuous force application, the amplitude of the right forearm movement of Athlete C is the smallest, followed by Athletes A, B, and D, while the amplitude of the right forearm movement of Athlete E is the largest. Athlete C takes the most time at the initial stage of continuous force application, with an average value of 1.03 s and an average difference value of 0.25; while Athlete E takes the least time at the initial stage of continuous force application, with an average value of 0.43 s and a difference of 0.83, and correspondingly, the amplitude of the right forearm movement relative to Athlete C is larger. From the trend of the difference and time, the longer the time at the initial stage of continuous force application, the greater the difference between the average acceleration value at the initial stage and 9.8 m / s 2The smaller the difference is, it indicates that slowing down the action rhythm at the initial stage of continuous exertion is conducive to reducing the amplitude of the action, improving the stability of the action, and better entering the fixed stage for aiming tasks.

[0145] 2. The release moments of 5 athletes.

[0146] The peak acceleration value of the bow at the release moment is due to the fact that during the bow-drawing stage and the fixed potential stage, the string is continuously pulled backward by the right forearm of the athlete's releasing hand, causing the upper and lower bow limbs connected to the string to deform and have elastic potential energy. At the moment of release, the energy of the bow limb's rebound is instantaneously reflected on the recurve bow, resulting in a peak acceleration value. Elastic potential energy is related to the material and the degree of deformation. In actual archery, when the bow poundage is the same, the greater the consistency of the draw length, the more consistent the degree of deformation of the bow limb, and the more stable the peak acceleration value reflected on the bow.

[0147] Table 10 Mean and consistency table of the peak acceleration values of the bow at the release moments of 5 athletes

[0148]

[0149] As can be seen from Table 10, the differences in the mean peak acceleration values of the recurve bows at the release moments of the 5 athletes are related to the differences in the bow poundage of each person. The greater the bow poundage, the greater the relative elastic potential energy, and the greater the value reflected on the peak acceleration. Among the 5 people, the coefficient of variation of the peak acceleration values of the bow at the release moment from small to large is: Athlete A < Athlete C < Athlete D < Athlete B < Athlete E. From the coefficient of variation, the coefficient of variation of Athlete A is the lowest, indicating that the consistency of the draw length is good during the bow-drawing stage and the fixed potential stage, and the peak acceleration value reflected on the recurve bow is more stable. Followed by Athlete C, Athlete B, and Athlete D, while the coefficient of variation of Athlete E is the highest, indicating that the draw length of each arrow of Athlete E fluctuates greatly and the consistency of the draw length is poor. This is an aspect that Athlete E needs to pay special attention to in future training. In addition, both Athlete A and Athlete C are master athletes, and their coefficients of variation are smaller compared to those of first-level and second-level athletes. The first-level is smaller than the second-level, which shows that the higher the level of the athlete, the more stable the peak acceleration value of the bow at the release moment and the stronger the consistency; it indicates that master athletes launch with a stable draw length when shooting arrows.

[0150] Table 11 Mean and consistency table of the peak acceleration values of the right forearm at the release moments of 5 athletes

[0151]

[0152] As shown in Table 11, the coefficient of variation among the five athletes is as follows: Athlete C < Athlete A < Athlete B < Athlete D < Athlete E. Athlete C has the smallest coefficient of variation, which means that the peak value of the acceleration of the right forearm of athlete C fluctuates little when releasing the bow, and the consistency is the best. Athlete A, Athlete B and Athlete D follow closely, and Athlete E has the largest coefficient of variation, which means that the right forearm action is not highly programmed and has poor consistency when releasing the bow. In addition, Athlete A and Athlete C are both strong athletes, and their coefficients of variation are smaller than those of Level 1 and Level 2, and Level 1 is smaller than Level 2. This means that the peak value of the right forearm acceleration of athletes with higher levels is more stable and more consistent at the moment of releasing the bow, which is reflected in the actual archery, that is, after the string is released, the right forearm changes naturally and moves backward to a fixed position at the same speed, and the release action is highly programmed.

[0153] The above-mentioned archery motion information processing method obtains the first motion information of the archer and the second motion information of the recurve bow; obtains the video image of the archer in the whole archery process sent by the high-speed camera, and the clock of the high-speed camera is synchronized with the inertial sensor node; determines the stage time of each archery stage of the archer based on the acquisition time of the video image, and divides the first motion information and the second motion information into archery stages and analyzes the archery action according to the stage time. The motion information collected by the inertial sensor node can be divided into archery stages through the video image collected by the high-speed camera, and then the action of the archer is analyzed and guided according to the motion data of each stage. Compared with the traditional technology, the accuracy of the action analysis can be improved.

[0154] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0155] Corresponding to the archery motion information processing method described in the above embodiment, Figure 8 A structural block diagram of an archery motion information processing device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0156] See also Figure 8 The archery motion information processing device in the embodiment of the present application may include a motion information acquisition module 301, a video image acquisition module 302 and a processing module 303.

[0157] Among them, the motion information acquisition module 301 is used to acquire the first motion information of the archery athlete and the second motion information of the recurve bow. The first motion information is collected based on a plurality of inertial sensors arranged on the body of the archery athlete, and the second motion information is based on the inertial sensor arranged on the recurve bow. The first motion information is the motion information of multiple limbs of the archery athlete's body during the entire archery process, and the second motion information is the motion information of the recurve bow during the entire archery process.

[0158] The video image acquisition module 302 is used to acquire the video images of the archery athlete during the entire archery process sent by the high-speed camera, and the high-speed camera is synchronized with the clocks of the multiple inertial sensor nodes.

[0159] The processing module 303 is used to determine the stage time of each archery stage of the archery athlete based on the acquisition time of the video image, and perform archery stage division and archery action analysis on the first motion information and the second motion information according to the stage time.

[0160] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units, due to being based on the same concept as the method embodiment of the present application, for its specific functions and the technical effects brought, please refer to the method embodiment part for details, and will not be elaborated here.

[0161] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0162] The embodiment of the present application also provides a host computer. Refer to Figure 9 , the host computer 400 may include: at least one processor 410 and a memory 420. The memory 420 stores a computer program that can run on the at least one processor 410. When the processor 410 executes the computer program, it implements the steps in any of the above method embodiments, such as Figure 4Steps 201 to 203 in the illustrated embodiments. Alternatively, when the processor 410 executes the computer program, it implements the functions of each module / unit in the above-described apparatus embodiments, for example Figure 8 the functions of the illustrated modules 301 to 303.

[0163] Exemplarily, the computer program can be divided into one or more modules / units. One or more modules / units are stored in the memory 420 and executed by the processor 410 to complete the present application. The one or more modules / units can be a series of computer program segments capable of performing specific functions, and these program segments are used to describe the execution process of the computer program in the host computer 400.

[0164] Those skilled in the art can understand that Figure 9 merely examples of the host computer, which do not constitute a limitation to the host computer, and may include more or fewer components than those shown in the figure, or combine some components, or different components, such as input / output devices, network access devices, buses, etc.

[0165] The processor 410 can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0166] The memory 420 can be an internal storage unit of the host computer, or can also be an external storage device of the host computer, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 420 is used to store the computer program and other programs and data required by the host computer. The memory 420 can also be used to temporarily store the data that has been output or will be output.

[0167] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0168] The archery sports information processing method provided by the embodiments of this application can be applied to upper computers (such as computers, tablet computers, laptop computers, servers, etc.), wearable devices, vehicle-mounted devices, netbooks, personal digital assistants (PDAs), augmented reality (AR) / virtual reality (VR) devices, mobile phones and other devices. The embodiments of this application do not impose any restrictions on the specific types of upper computers.

[0169] The embodiments of this application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the various embodiments of the above-mentioned archery sports information processing method can be implemented.

[0170] The embodiments of this application provide a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal is enabled to execute the steps in the various embodiments of the above-mentioned archery sports information processing method.

[0171] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of this application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / host computer, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. For example, USB flash drive, mobile hard disk, magnetic disk or optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0172] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0173] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0174] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0175] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0176] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An archery sports information collection system, characterized in that, It includes multiple inertial sensor nodes, a high-speed camera and a host computer. The high-speed camera and the multiple inertial sensor nodes are respectively communicatively connected to the host computer; The multiple inertial sensor nodes are arranged at a first preset position on the body of the archery athlete and a second preset position on the recurve bow, and are used to collect first motion information of multiple limbs of the archery athlete and second motion information of the recurve bow during the archery process, and send the first motion information and the second motion information to the host computer; The high-speed camera is arranged on the front side of the archery athlete and is used to collect video images of the entire archery process of the archery athlete, and send the video images to the host computer; wherein, the high-speed camera is clock-synchronized with the multiple inertial sensor nodes; The host computer determines the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and divides the first motion information and the second motion information into archery stages and analyzes the archery actions according to the stage time.

2. The archery sports information acquisition system according to claim 1, wherein, The first preset positions include: the outer side of the left upper arm, the midpoint of the shoulder and elbow joints; the outer side of the left forearm, the midpoint of the elbow and wrist joints; the outer side of the right upper arm, the midpoint of the shoulder and elbow joints; the outer side of the right forearm, the midpoint of the elbow and wrist joints; the outer side of the left thigh, the midpoint of the hip and knee joints; the outer side of the left lower leg, the midpoint of the knee and ankle joints; the outer side of the right thigh, the midpoint of the hip and knee joints; the outer side of the right lower leg, the midpoint of the knee and ankle joints; the sacral part of the waist; The second preset position is: on the right side of the sight.

3. The archery motion information acquisition system according to claim 1, characterized in that, Each inertial sensor node includes: an inertial sensor, a processor, a power supply, a communication module and a card slot. The inertial sensor, the communication module and the card slot are all connected to the processor; The power supply is used to supply power to the inertial sensor, the processor and the communication module; The card slot is used to place a memory card, and the memory card is connected to the processor; The communication module is used to receive instructions sent by the host computer and transmit the instructions to the processor; The processor is used to respond to the instructions, control the inertial sensor to collect motion information, send the motion information collected by the inertial sensor to the host computer through the communication module, and store the motion information collected by the inertial sensor into the memory card.

4. The archery sports information collection system according to claim 3, characterized in that, Each inertial sensor node further includes an indicator light, and the indicator light is connected to the processor; When the communication connection between the inertial sensor node and the host computer is not established, the processor controls the indicator light to work in a first working mode; After the communication connection between the inertial sensor node and the host computer is established, the processor controls the indicator light to work in a second working mode; When the inertial sensor node sends motion information to the host computer, the processor controls the indicator light to work in a third working mode.

5. The archery sports information collection system according to claim 3, characterized in that, Each inertial sensor node further includes a Type C interface and a linear voltage regulator. The Type C interface is connected to the power supply, and the power supply supplies power to the inertial sensor, the processor and the communication module through the linear voltage regulator; The high-speed camera is 1.6 meters above the ground and 1.5 to 2.0 meters away from the archer.

6. The archery sports information collection system according to claim 1, characterized in that, The host computer determines the stage time of each archery stage of the archer based on the acquisition time of the video image, including: Play back the video image at a speed of 120 frames per second; Respond to the archery stage division operation input by the user, and determine the time from the first frame image to the last frame image of each archery stage. The time of the first frame image is the start time of the corresponding archery stage, and the time of the last frame image is the end time of the corresponding archery stage; Among them, the archery stages include the bow-raising stage, the bow-drawing stage, the holding stage, and the release; The start time of the bow-raising stage is the time of the frame image when the front point of the front balance bar in front of the bow leaves the ground in the video image, and the end time is the time of the frame image when the hand of the bow-holding arm is at the highest point in the video image; The start time of the bow-drawing stage is the time of the frame image when the hand of the bow-holding arm is at the highest point in the video image, and the end time is the time of the frame image when the string on the bow-drawing arm side is close to the mandibular angle in the video image; The start time of the holding stage is the time of the frame image when the string on the bow-drawing arm side is close to the mandibular angle in the video image, and the end time is the time of the frame image of the first frame when the arrow leaves the release hand in the video image; The release moment is the time of the frame image when the arrow leaves the release hand in the video image.

7. The archery sports information acquisition system according to claim 6, wherein The dividing the first motion information and the second motion information into archery stages and analyzing the archery actions according to the stage time includes: Determine the motion data corresponding to the archery stage from the first motion information and the second motion information according to the start time and the end time of each archery stage; Based on the motion data, determine the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in each archery stage.

8. The archery sports information acquisition system according to claim 7, wherein, The host computer is also used for: determining the action stability of the archer in each archery stage according to the stage time of each archery stage of the archer, and the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in the archery stage.

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