Archery sports information processing method, device and host computer

Abstract

This application is applicable to the field of sports information processing technology, and provides an archery sports information processing method, device and host computer. The method includes: obtaining first motion information of an archery athlete and second motion information of a recurve bow; obtaining video images of the archery athlete during the entire archery process sent by a high-speed camera, and synchronizing the clocks of the high-speed camera and the inertial sensor nodes; determining the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and dividing the first motion information and the second motion information into archery stages and analyzing the archery actions according to the stage time. This application divides 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 processing, and particularly relates to an archery sports information processing method, device and host computer. 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, it has always been very difficult to statistically analyze the archery process. 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 the stage of 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, embodiments of this application provide an archery sports information processing method, device and host computer.

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

[0006] In a first aspect, embodiments of this application provide an archery sports information processing method, including: obtaining first motion information of an archery athlete and second motion information of a recurve bow, where the first motion information is collected based on a plurality of inertial sensors disposed on the body of the archery athlete, and the second motion information is based on an inertial sensor disposed 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; obtaining video images of the archery athlete during the entire archery process sent by a high-speed camera, where the high-speed camera is clock-synchronized with the plurality of inertial sensor nodes; determining the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and dividing the archery stages and analyzing the archery actions for the first motion information and the second motion information according to the stage time.

[0007] In the embodiments of the present application, first motion information of an archery athlete and second motion information of a recurve bow are obtained; video images of the archery athlete during the entire archery process sent by a high-speed camera are obtained, and the high-speed camera is synchronized with the clock of the inertial sensor node; the stage time of each archery stage of the archery athlete is determined based on the acquisition time of the video images, and the first motion information and the second motion information are divided into archery stages and archery motion analysis is performed according to the stage time. It is possible to divide the motion information collected by the inertial sensor node into archery stages through the video images collected by the high-speed camera, and then analyze and guide the actions of the archery athlete according to the motion data of each stage, which can improve the accuracy of motion analysis compared with the traditional technology.

[0008] In combination with the first aspect, in some embodiments, the installation positions of multiple inertial sensors on the body of the archery athlete 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 region of the waist; the installation position of the inertial sensor on the recurve bow is: the right side of the sight.

[0009] In combination with the first aspect, in some embodiments, the determining the stage time of each archery stage of the archery athlete based on the acquisition time of the video images includes: playing back the video images 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.

[0010] 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 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 when the arrow leaves the release hand in the video image; the release moment is the time of the first frame image when the arrow leaves the release hand in the video image.

[0011] In combination with the first aspect, in some embodiments, the archery stage division and archery motion analysis of the first motion information and the second motion information according to the stage time include: determining, from the first motion information and the second motion information, motion data corresponding to the archery stage according to the start time and end time of each archery stage; and determining, based on the motion data, the accelerations and angular velocities of multiple parts of the archer's body and the recurve bow in each archery stage.

[0012] In combination with the first aspect, in some embodiments, the archery stage division and archery motion analysis of the first motion information and the second motion information according to the stage time 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 accelerations and angular velocities of multiple parts of the archer's body and the recurve bow in the archery stage.

[0013] In combination with the first aspect, in some embodiments, 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 accelerations and angular velocities of the archer's limbs, and the second motion information includes the accelerations and angular velocities of the recurve bow.

[0014] The 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 accelerations and angular velocities of multiple parts of the archer's body and the recurve bow in the archery stage includes:

[0015] For each archer, determining the time stability and limb motion stability of the archer in each archery stage according to the first motion information corresponding to the multiple bows and arrows and the ring value of each bow and arrow. 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 archery stage corresponding to the multiple bows and arrows, the limb acceleration stability is determined based on the variance of the limb accelerations in each archery stage corresponding to the multiple bows and arrows, and the limb angular velocity stability is determined based on the variance of the limb angular velocities in each archery stage corresponding to the multiple bows and arrows;

[0016] Determining the recurve bow acceleration stability and recurve bow angular velocity stability of the archer in each archery stage according to the second motion information corresponding to the multiple bows and arrows. The recurve bow acceleration stability is determined based on the variance of the recurve bow accelerations in each archery stage corresponding to the multiple bows and arrows, and the recurve bow angular velocity stability is determined based on the variance of the recurve bow angular velocities in each archery stage corresponding to the multiple bows and arrows.

[0017] In combination with the first aspect, in some embodiments, the first motion information includes that the method further comprises: sampling the first motion information of the archery athlete during the bow-drawing stage and the aiming stage, where the first motion information includes limb acceleration and the time taken; calculating the variance of the limb acceleration and the variance of the time taken in the sampling results; if the variance of the limb acceleration is less than a first variance threshold and the variance of the time taken is less than a second variance threshold, it is determined that the archery athlete has good stability; otherwise, it is determined that the archery athlete has poor stability; wherein, the first variance threshold and the second variance threshold are determined based on the motion information of the archery athlete during the bow-drawing stage and the aiming stage when the score is greater than a preset ring value.

[0018] In a second aspect, an embodiment of the present application provides an archery motion information processing device, comprising:

[0019] A motion information acquisition module, configured 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 disposed on the body of the archery athlete, and the second motion information is based on an inertial sensor disposed 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;

[0020] A video image acquisition module, configured to acquire the 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;

[0021] A processing module, configured to determine the stage time of each archery stage of the archery athlete based on the acquisition time of the video images, and perform archery stage division and archery motion analysis on the first motion information and the second motion information according to the stage time.

[0022] In a third aspect, an embodiment of the present application provides a host computer, comprising a memory and a processor. A computer program is stored in the memory and can run on the processor. When the processor executes the computer program, it implements the archery motion information processing method according to any one of the first aspects.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the archery motion information processing method according to any one of the first aspects.

[0024] In a 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 processing method according to any one of the first aspects above.

[0025] It is understandable that the beneficial effects of the second to fifth aspects above can be referred to the relevant descriptions in the first aspect above, and will not be elaborated here.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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 drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 is a schematic structural diagram of an archery motion information acquisition system provided by an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of a simplified human bone model provided by an embodiment of the present application;

[0030] Figure 3 is a schematic structural diagram of an inertial sensor node provided by an embodiment of the present application;

[0031] Figure 4 is a schematic flowchart of an archery motion information processing method provided by an embodiment of the present application;

[0032] FIG. 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;

[0033] FIG. 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;

[0034] Figure 6 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;

[0035] Figure 7 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;

[0036] Figure 8 is a schematic structural diagram of an archery motion information processing device provided by an embodiment of the present application;

[0037] Figure 9 is a schematic structural diagram of a host computer provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] In the following description, for purposes of illustration and not limitation, specific details such as particular system architectures, technologies, etc. are set forth in order to provide a thorough understanding of embodiments of the present application. However, those skilled in the art should understand that the present application may be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0039] It should be understood that when used in the specification and claims of the present application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their combinations.

[0040] It should also be understood that the term "and / or" as used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0041] As used in the specification and claims of the present application, 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 phrase "if determined" or "if detected [the described condition or event]" may be construed, depending on the context, as meaning "once determined" or "in response to determining" or "once detected [the described condition or event]" or "in response to detecting [the described condition or event]".

[0042] In addition, in the description of the specification and claims of the present application, the terms "first", "second", "third", etc. are used only for descriptive distinction and should not be construed as indicating or implying relative importance.

[0043] Reference to "an embodiment" or "some embodiments" or the like described in the specification of the present application means that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the present application. Thus, statements such as "in an embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring 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.

[0044] In related technologies, two-dimensional high-speed photography or three-dimensional high-speed photography with reflective marker points is usually used to analyze the archery event. At present, such instruments have a good evaluation of the characteristics such as joint angles and body posture angles of archery. As a skill-dominated event of performance accuracy, compared with such gross movements as basketball, track and field, and gymnastics, the limb movements of archery are small. Especially in the fixation stage and the release moment, the movements of the limbs and the trunk 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 the archery event 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.

[0045] 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, and aerospace, and has become a popular device. Inertial sensors can also accurately and conveniently measure the movement direction and movement amplitude of an object by virtue of the advantages of high precision, stability, and small size. 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 movements.

[0046] Based on this, in the embodiments of the present application, inertial sensors are applied to the acquisition of archery movement information, and then combined with the video images collected by high-speed cameras to divide the data collected by inertial sensors into archery stages, so as to analyze and guide the movements of archery athletes.

[0047] Figure 1 FIG. shows an archery movement 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.

[0048] The multiple inertial sensor nodes 101 are arranged at a first preset position on the body of the archer and a second preset position on the recurve bow, and are used for collecting first motion information of multiple limbs of the archer's body and second motion information of the recurve bow during the archery process, and sending the first motion information and the second motion information to the host computer 103.

[0049] The high-speed camera 102 is arranged on the front side of the archer and is used for collecting video images of the entire archery process of the archer, and sending the video images to the host computer 103. Wherein, the high-speed camera 102 is synchronized with the clocks of the multiple 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.

[0050] The host computer 103 determines the stage time of each archery stage of the archer 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.

[0051] In some embodiments, the first preset positions may include: the outer side of the left upper arm, the midpoint between the shoulder and the elbow joint; the outer side of the left forearm, the midpoint between the elbow and the wrist joint; the outer side of the right upper arm, the midpoint between the shoulder and the elbow joint; the outer side of the right forearm, the midpoint between the elbow and the wrist joint; the outer side of the left thigh, the midpoint between the hip and the knee joint; the outer side of the left lower leg, the midpoint between the knee and the ankle joint; the outer side of the right thigh, the midpoint between the hip and the knee joint; the outer side of the right lower leg, the midpoint between the knee and the ankle joint; the sacral part of the waist. The second preset position is: on the right side of the sight.

[0052] For example, each inertial sensor node can be numbered, and the corresponding relationship between the inertial sensor nodes with each number and the positions of the archer's body and the recurve bow is shown in Table 1.

[0053] Table 1 Positions of inertial sensors corresponding to the body and the recurve bow

[0054] Number Placement Location 1 Outer side of the left upper arm, midpoint between the shoulder and elbow joints 2 Outer side of the left forearm, midpoint between the elbow and wrist joints 3 Outer side of the right upper arm, midpoint between the shoulder and elbow joints 4 Outer side of the right forearm, midpoint between the elbow and wrist joints 5 Outer side of the left thigh, midpoint between the hip and knee joints 6 Outer side of the left lower leg, midpoint between the knee and ankle joints 7 Outer side of the right thigh, midpoint between the hip and knee joints 8 Outer side of the right lower leg, midpoint between the knee and ankle joints 9 Lumbar sacral region 10 Right side of the recurve bow - sight

[0055] 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.

[0056] According to the theoretical knowledge of human anatomy, there are 206 bones in an adult human body, and the bones are connected by joints. Except for the 6 ossicles that are sensory organs, they can be divided into 23 skull bones, 51 trunk bones, and 126 limb bones according to the parts. Each bone of the human body exists independently and interacts with each other, and its own motion properties are constrained by the joints. If the inertial sensor is placed according to the actual situation of the human skeleton, and the real-time motion collection and data output of the archery athlete are carried out, the amount of calculation is large and the motion relationship is too complicated, so it is necessary to ignore the bones with less influence during the movement and simplify the bone model according to rigid body mechanics. According to the human skeletal structure, the human skeleton is mainly composed of four parts: skull, trunk bones, upper limb bones, and lower limb bones. It can be further divided into head bones, chest 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 are 11 bones in the human body structure model. The simplified skeletal model is as follows Figure 2 shown.

[0057] Through expert interviews and actual observations, it is found that archery mainly relies on holding the bow with the left hand and pulling the string with the right hand, and the trunk and lower limbs must maintain a stable posture to shoot the arrow steadily. According to the above archery characteristics and the human skeleton model, 9 inertial sensors need to be bound to each limb of the archer, which are bound to the left upper arm, right upper arm, left forearm, right forearm, left thigh, right thigh, left calf, right calf, and waist.

[0058] 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 various parts, relative displacement or rotational motion will occur to the inertial sensors, which will destroy the ideal rigid body motion model, directly affect the data measurement of the inertial sensors, and bring large errors 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 errors caused by the deformation of muscles and skin.

[0059] The inertial sensors are placed on the recurve bow 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 bowstring, a sight, and a stabilizer, as Figures 3 - 9 shown. Initially, it was decided to place the inertial sensors on the limbs. However, during actual observation, it was found that when the archer draws 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 strong bow tension will be generated on the upper and lower limbs during the release. If the inertial sensors are placed on the limbs, the bow tension will surely cause the sensors to fall off and bounce, which will seriously affect the safety of the athletes and testers.

[0060] In order to reduce the unsafe factors and test the motion of the bow well, the position of the limbs was abandoned, and the placement position of the inertial sensor nodes was selected in the middle part of the 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 the sensor on the handle would affect the athlete's grip on the bow, and during the aiming stage, the athlete would use the sight to aim and adjust the bow according to the aiming situation. This position can well reflect the motion 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. Placing the inertial sensor on the right side of the support 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.

[0061] 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 seat ( Figure 3 not shown), and the inertial sensor 1011, the communication module 1014, and the card seat are all connected to the processor 1012.

[0062] The power supply 1013 is used to supply power to the inertial sensor 1011, the processor 1012, and the communication module 1014. The card slot 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 sent 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.

[0063] 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.

[0064] For example, the first working mode may be that the indicator light 1016 emits red light, the second working mode may be that the indicator light 1016 emits blue light, and the third working mode may be that the indicator light 1016 emits flashing blue light. The inertial sensor node 101 is not in communication connection with the host computer 103 when the indicator light 1016 emits red light, the inertial sensor node 101 is in communication connection with the host computer 103 when the indicator light 1016 emits blue light, and the inertial sensor node 101 is sending motion information to the host computer 103 when the indicator light 1016 emits flashing blue light.

[0065] , 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, and 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, provides a stable DC output voltage for them, and protects the device to work safely and reliably for a long time.

[0066] In some embodiments, the high-speed camera 102 may be 1.6 meters above the ground and 1.5 to 2.0 meters away from the archery athlete.

[0067] The archery athlete stands with their left and right feet parallel across the starting line. The straight-line distance from the starting line to the archery target paper is 70m. The left side of the body, i.e., the left sagittal plane, faces the archery target paper. Through on-site observation, it is the frontal coronal plane of the body that can record the complete archery action of the athlete. Therefore, the high-speed camera 102 is placed in the position directly in front of the archery athlete's body. Additionally, in order to completely and accurately record the athlete's archery action, the height and distance of the high-speed camera 102 were adjusted before the test. When the height of the high-speed camera 102 from the ground is 1.60m and the distance from the placed archery athlete is 1.5m - 2m, the collected video images are better.

[0068] As an example, the inertial sensor 1011 can select the MPU6050 inertial sensing module, which includes a three-axis accelerometer, a three-axis gyroscope, and a digital motion processor (DMP), all integrated in a small 4*4*0.9mm package, eliminating the problem of the time axis difference between the combined gyroscope and accelerometer and reducing a large amount of packaging space. The processor 1012 can select the STM32F405RGT6 single-chip microcomputer under the STM32F4 series of STMicroelectronics. This single-chip microcomputer is based on a high-performance ARM Cortex-M4 32-bit RISC core architecture, with a working frequency as high as 168MHz and strong computing power, making it very suitable for real-time reading of data from multiple sensors. The communication module 1014 can select the ATK-ESP-01 module. The shape size of this WiFi module is only 24*16*3 (±0.2)mm. It is a high-performance 802.11b / g / n WiFi SOC module, with a working temperature of -20°C to 85°C and a working humidity of 10%RH to 90%RH.

[0069] The archery motion information acquisition system needs to perform wireless transmission. If a fixed power supply is used to supply power to the inertial sensor node, the flexibility feature will be lost. Therefore, a mobile power supply should be selected. As a wearable device in contact with the body, the safety quality of the battery should be high, the occupied space should be as small as possible, and at the same time, the selected power supply module should meet the requirement of long-term data acquisition, and its output voltage should also be within the working voltage range of the inertial sensor node. Considering the above content and the actual situation, the power supply 1013 can select the 603040 model lithium battery.

[0070] In this embodiment, each inertial sensor node can be connected to the host computer (such as a computer) through a burner, and the written wireless communication code connecting the hardware and software is sequentially transmitted to each inertial sensor node through the burner. In this way, each inertial sensor node can establish a communication connection with the host computer software through the same IP address.

[0071] In some embodiments, the process by which the host computer 103 determines 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.

[0072] Among them, the archery stages 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, the athletes in the embodiments of the present application all 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.

[0073] The start time of the bow-raising stage may 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 end time may 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 start time of the bow-drawing stage may 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 end time may 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 start time of the holding stage may 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 end time may be the time of the frame image when the arrow leaves the first frame of 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.

[0074] The host computer 103 performs archery stage division and archery action analysis on the first motion information and the second motion information 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 start time and end time of each archery stage; determining the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in each archery stage based on the motion data.

[0075] 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 the motion data corresponding to the four parts of the bow-raising stage, the bow-drawing stage, the holding stage, and the release can be obtained. 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 four parts of the bow-raising stage, the bow-drawing stage, the holding stage, and the release.

[0076] In addition, the host computer 103 is further configured to: determine the motion stability of the archer in each archery stage based on the stage time of each archery 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 archery stage.

[0077] 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 receiving 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.

[0078] Figure 4 is a schematic flowchart of an archery motion information processing method provided by an embodiment of the present application. Refer to Figure 4 , and the details of this archery motion information processing method are as follows:

[0079] Step 201, obtain the first motion information of the archer and the second motion information of the recurve bow.

[0080] Among them, the first motion information is collected based on multiple inertial sensors arranged on the archer's body, 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.

[0081] 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.

[0082] 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 clock-synchronized with the multiple inertial sensor nodes.

[0083] Among them, the high-speed camera is clock-synchronized with the inertial sensor nodes, and the stage time of each archery stage can be determined based on the video images, and then the corresponding motion information of each archery stage can be determined.

[0084] Step 203: Determine the stage time of each archery stage of the archer based on the acquisition time of the video image, and divide the first motion information and the second motion information into archery stages and analyze the archery actions according to the stage time.

[0085] 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 an archery stage division operation input by the user, determine 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.

[0086] For the division of each archery stage, please refer to the foregoing relevant content and will not be elaborated here.

[0087] 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), and the angular velocity data collected by the inertial sensor node on the left upper arm is segmented according to the stage time to obtain each archery stage as shown in FIG. 5(b).

[0088] In some embodiments, dividing the first motion information and the second motion information into archery stages and analyzing the archery actions according to the stage time includes: 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; determining the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in each archery stage based on the motion data.

[0089] In some embodiments, dividing the first motion information and the second motion information into archery stages and analyzing the archery actions according to the stage time may include: 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.

[0090] 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 in a certain archery stage are too large, it can be determined that the action stability of the archery athlete is poor. Thus, the action of the archery athlete can be analyzed and guided according to the specific stage and the specific data of the acceleration and angular velocity.

[0091] Exemplarily, for each archery athlete, 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 limbs of the archery athlete, and the second motion information includes the acceleration and angular velocity of the recurve bow.

[0092] The determination of 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 this archery stage may include:

[0093] For each archery athlete, according to the first motion information corresponding to multiple bows and arrows and the ring value of each bow and arrow, the time stability and limb action stability of the archery athlete in each archery stage are determined. The limb action 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 archery stage corresponding to multiple bows and arrows, the limb acceleration stability is determined based on the variance of the limb acceleration in each archery 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 archery stage corresponding to multiple bows and arrows;

[0094] According to the second motion information corresponding to multiple bows and arrows, the recurve bow acceleration stability and recurve bow angular velocity stability of the archery athlete in each archery stage are determined. The recurve bow acceleration stability is determined based on the variance of the recurve bow acceleration in each archery 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 archery stage corresponding to multiple bows and arrows.

[0095] In some embodiments, the above method may further include: sampling the first motion information of the archery athlete in the bow-drawing stage and the holding 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, it is determined that the archery athlete has good stability; otherwise, it is determined that the archery athlete has poor stability; wherein, the first variance threshold and the second variance threshold are determined based on the motion information of the archery athlete in the bow-drawing stage and the holding stage when the ring value is greater than the preset value.

[0096] The embodiments of the present application will be further described below by collecting and analyzing the motion information of multiple archery athletes.

[0097] 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.

[0098] 1. Analysis of time data.

[0099] Table 2 Descriptive statistics table of the time used in each stage of 360 arrows

[0100] 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 Holding Position Time 3.03±1.61 11.33 0.62 Total Time 6.94±1.70 15.40 3.79

[0101] 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: the fixed posture time (3.03 ± 1.61 s) > the bow drawing time (2.15 ± 0.35 s) > the bow holding time (1.76 ± 0.47 s). From the actual situation of the archery event: in the bow holding stage, the athlete only needs to steadily lift the bow upwards, with no excessive limb movements and no excessive aiming tasks, so the bow holding action is relatively faster and takes less time compared to the actions in other stages; in the bow drawing stage, the athlete needs to slowly draw the bowstring to ensure that the limb movements enter the fixed 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 bow drawing stage takes a relatively long time; in the fixed posture stage, the athlete not only has to resist the tension of the bow but also has to perform precise aiming tasks to find the right moment to release the arrow, so it takes a longer time to complete this stage.

[0102] 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 bow drawing time is the smallest, indicating that the 10 athletes are relatively concentrated in the bow drawing time, and the time rhythm of bow drawing is highly consistent.

[0103] Table 3 One-way ANOVA of time in different grade stages

[0104]

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

[0106] 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.

[0107] Table 4 T-test of time in different gender stages

[0108]

[0109] Note: * indicates p < 0.05, ** indicates p < 0.01

[0110] 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.

[0111] 2. Analysis of acceleration data.

[0112] Table 5 Mean acceleration of each stage of 360 arrows

[0113]

[0114] From Table 5, we can see that, from the acceleration point of view, among the 360 arrows:

[0115] During the bow raising phase, the average acceleration of the left forearm and bow is 10m / 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 overall average acceleration of the remaining parts is around 9.8 m / s 2 , indicating that the movements of these parts are relatively stable during the bow-raising process.

[0116] During the bow-drawing stage, the average accelerations of various parts of the bow, the bow-holding arm, and the bow-drawing arm are all significantly less than 9.8 m / s 2 , which is due to the increased movement amplitudes 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, during the bow-drawing process, the various parts of the lower limb and the trunk always remain in a stable state.

[0117] During the holding stage, the average accelerations 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.

[0118] At the moment of release, except for the lower limb, the average accelerations of all other parts change significantly. In particular, the bow and the right forearm have the largest movement amplitudes. Among them, the average acceleration of the right forearm is 34.6 m / s 2 , and the average acceleration of the bow is 35.43 m / s 2 .

[0119] Overall, during the archery process, the average accelerations of the upper limb and the bow parts change to varying degrees, while the average accelerations 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 any 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 left and right feet directly contacting the ground during the archery process.

[0120] 3. Analysis of the angular velocity data.

[0121] Table 6 Average angular velocities of various parts at each stage for 360 arrows

[0122]

[0123] As can be seen from Table 6, the angular velocity values of all parts during the fixed 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 the bow during the bow-raising stage, draw-holding stage, and release instant all change to varying degrees, but the change ranges of the angular velocity values of the lower limbs and the trunk are not large. In practice, when the athlete shoots each arrow, their 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. Therefore, there will be relatively large fluctuations in the angular velocity of the upper limbs. The athlete's lower limbs and trunk mainly maintain a stable body posture during the archery process without excessive movements, so there will be no relatively large fluctuations in the angular velocity.

[0124] 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 fixed 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.

[0125] The following combines Figure 6 to analyze the archery actions of Athlete A.

[0126] During the bow-raising stage, the athlete holds the bow with the bow-holding arm and hooks the string with the release hand of the draw-holding arm to perform the upward movement. This stage is mainly to stretch the shoulder upward 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 movement 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 near 1 s, which is caused 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.

[0127] 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 on the same extension line for forward support and backward pull. 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.

[0128] The holding stage is the stage between drawing the bowstring and releasing the arrow. In this stage, the archer mainly maintains the bow-drawing state continuously and aims at the target star, and finds the right moment to release the arrow. Throughout this stage, the right hand keeps applying force. The main purpose is to increase the draw length to improve the initial velocity of the arrow when it is released. 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, there is a peak and valley in the right forearm at the beginning of this stage, 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 becomes stable, entering the precise aiming stage. In this stage, the acceleration curve of the bow does not change significantly, 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.

[0129] At the moment of release, the main action is that the right hand releases the bowstring. From the curve, the acceleration curves of the bow and the right forearm do not change at the moment of release, indicating that Lin *run released the arrow in a stable state. Immediately after the release, a peak appears in the acceleration curves of the bow and the right forearm respectively. Among them, due to the bowstring release action, 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 of this 10-ring action is 6.77 s.

[0130] Table 7 Statistics of acceleration, time and ring value at key stages and parts of 10 archery shots of Athlete A

[0131]

[0132] As can be seen from Table 7, the mean difference between the acceleration at 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 mean difference between the acceleration at 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 .

[0133] 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 during the initial stage of continuous force application is very stable. In terms of acceleration, the mean acceleration during the initial stage of continuous force application for the 10-ring shot and the difference of 9.8 m / s 2 show small changes, indicating that athlete A applies force evenly with the right forearm during the continuous force application for the 10-ring shot and the action is stable; while during the initial stage of continuous force application for non-10-ring shots, there are differences in the amplitude of the action, indicating that the stability of athlete A's right forearm action during the continuous force application for non-10-ring shots is relatively poor. 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 4.86 m / 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.

[0134] The following is an analysis of athlete B's archery action in combination with Figure 7 the relevant content.

[0135] During the bow-raising stage, the athlete holds the bow with the bow-holding arm and raises the bow with the drawing arm by hooking the string with the release hand. The main purpose of this stage is to stretch the shoulders upward for better bow-drawing. From the curve, it can be seen that during 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 1.19 s.

[0136] During the bow-drawing stage, the athlete holds the bow with the bow-holding arm and extends it forward to support, and the drawing arm pulls backward to draw the arrow string. During this stage, attention should be paid to applying force smoothly on the same extension line for forward support and backward pull. From the curve, it can be seen that the acceleration curve of the bow is relatively flat, indicating that the bow is kept very stable during the bow-drawing process by athlete B. The acceleration curve of the right forearm shows multiple small wave peaks and valleys, but overall, the fluctuations are regular and there are no large fluctuations. This may be the individual characteristic of athlete B's right forearm during bow-drawing. This stage takes 1.2 s.

[0137] During the holding stage, it is the stage between drawing the string to releasing the arrow. The main purpose of this stage is to continuously maintain the bow-drawing state, aim at the target star, and find the right moment to release the arrow. From the curve, it can be seen that the initial stage of continuous force application for athlete B during this stage is 0.98 s, and the average acceleration is 10.09 m / 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 3.5 s.

[0138] 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 form a straight line, indicating that the releasing action is stable. After releasing the string, a peak appears instantaneously on the acceleration curves of the bow and the right forearm. Due to the action of releasing the string, the acceleration of the right arm 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.

[0139] Table 8 Statistics of Acceleration, Time, and Ring Values at Key Stages and Parts of 10 Archery Shots of Athlete B

[0140]

[0141] 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 .

[0142] In terms of time, the duration of the initial stage of continuous force application for the 8th and 7th ring values 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 the 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.

[0143] As an event group demonstrating accuracy, the consistency of movements is an important reflection of the level of archery athletes. Previous methods for monitoring archery consistency mostly used surface electromyography, three-dimensional high-speed cameras, etc. to evaluate the force application, joint angles, and time of athletes during archery. According to the analysis of some athletes mentioned above, it can be shown that the embodiments of this application can quickly monitor the average acceleration and the time used at the initial stage of continuous force application during the fixed posture stage, as well as the peak acceleration of the bow and the right forearm during release. Since athletes develop their own time and movement 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.

[0144] 1. The fixed posture stage of 5 athletes.

[0145] Table 9 Average acceleration, duration, and consistency of 5 athletes at the initial stage of continuous force application

[0146]

[0147] As can be seen from Table 9, from the perspective of the coefficient of variation of the difference between the average acceleration 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 movement consistency of the right forearm of Athlete A is the best, followed by Athletes C, D, and B, while the movement 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 terms of time at the initial stage of continuous force application, followed by Athletes A, D, and B, while Athlete E has the worst consistency in terms of time at the initial stage of continuous force application.

[0148] From the perspective of the difference between the average acceleration 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 movement amplitude of the right forearm of Athlete C is the smallest, followed by Athletes A, B, and D, while the movement amplitude of the right forearm of Athlete E is the largest. Athlete C uses 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 uses 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 movement amplitude of the right forearm is larger compared to Athlete C. 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 at the initial stage and 9.8 m / s 2The smaller the difference, it indicates that slowing down the movement rhythm at the initial stage of continuous exertion is beneficial to reducing the movement amplitude and improving the movement stability, so as to better enter the fixed stage for aiming tasks.

[0149] 2. The release moments of 5 athletes.

[0150] 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 position stage, the arrow string is continuously pulled backward by the athlete's right forearm release hand, causing the upper and lower bow limbs connected to the arrow string to deform and possess elastic potential energy. When released, the energy of the bow limb 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 longer the draw length is more consistent, the degree of deformation of the bow limb is more consistent, and the peak acceleration value reflected on the bow is more stable.

[0151] Table 10 Mean and consistency table of the peak acceleration values of the bow at the release moments of 5 athletes

[0152]

[0153] As can be seen from Table 10, the different mean values of the peak acceleration values of the recurve bow at the release moments of 5 athletes are related to the different bow poundages 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 draw length consistency is good during the bow-drawing stage and the fixed position 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 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 shows that master athletes launch with a stable draw length when shooting arrows.

[0154] Table 11 Mean and consistency table of the peak acceleration values of the right forearm at the release moments of 5 athletes

[0155]

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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 images, and perform archery stage division and archery action analysis on the first motion information and the second motion information according to the stage time.

[0164] It should be noted that, for the information interaction, execution process, etc. between the above-mentioned devices / units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought can be specifically referred to in the method embodiment part, and will not be elaborated here.

[0165] Those skilled in the art can clearly understand that, for the convenience and simplicity 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 into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. 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.

[0166] 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, for example Figure 4Steps 201 to 203 in the illustrated embodiment. Alternatively, when the processor 410 executes the computer program, it implements the functions of each module / unit in the above-described apparatus embodiments, such as Figure 8 the functions of the illustrated modules 301 to 303.

[0167] Exemplarily, the computer program may be divided into one or more modules / units, and 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 may 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.

[0168] 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, may include more or fewer components than those shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0169] The processor 410 may be a central processing unit (CPU), or may 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 may be a microprocessor or the processor may also be any conventional processor, etc.

[0170] The memory 420 may be an internal storage unit of the host computer or 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 may also be used to temporarily store data that has been output or will be output.

[0171] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0172] The archery sports information processing method provided by the embodiments of this application can be applied to a host computer (such as a computer, a laptop, a tablet computer, a server, etc.), a wearable device, a vehicle-mounted device, a netbook, a personal digital assistant (PDA), an augmented reality (AR) / virtual reality (VR) device, a mobile phone, and other devices. The embodiments of this application do not impose any restrictions on the specific type of the host computer.

[0173] The embodiments of this application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. 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.

[0174] The embodiments of this application provide a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal is caused to execute the steps in the various embodiments of the above-mentioned archery sports information processing method.

[0175] 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-mentioned embodiment methods of this application, a computer program can be used to instruct 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-mentioned various 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, a USB flash drive, a mobile hard disk, a magnetic disk or an 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.

[0176] In the above embodiments, the descriptions of the various embodiments each have their own focuses. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0177] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination 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 to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0178] 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 couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0179] The unit described as a separation component may or may not be physically separated. The component displayed 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.

[0180] 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 information processing method for archery sports, characterized in that, Including: Obtain the first motion information of the archer and the second motion information of the recurve bow. The first motion information is collected based on multiple 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; 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 multiple inertial sensor nodes; Determine the stage time 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 time.

2. The archery sport information processing method according to claim 1, wherein The installation positions of multiple inertial sensors on the archer's body 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 region of the waist; The installation position of the inertial sensor on the recurve bow is: on the right side of the sight.

3. The archery sports information processing method according to claim 1, characterized in that, The determining the stage time of each archery stage of the archer based on the acquisition time of the video images includes: Play back the video images 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 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 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 when the arrow leaves the release hand in the video image; The release moment is the time of the first frame image when the arrow leaves the release hand in the video image.

4. The archery sport information processing method according to claim 3, wherein, The performing archery stage division and archery action analysis on the first motion information and the second motion information 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 end time of each archery stage; Determine the acceleration and angular velocity of multiple parts of the archer's body and the recurve bow in each archery stage based on the motion data.

5. The archery sports information processing method according to claim 3, characterized in that, Performing archery stage division and archery action analysis on the first motion information and the second motion information according to the stage time includes: Determining the action stability of the archer in each archery stage according to the stage time of each archery 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 archery stage.

6. The archery sports information processing method according to claim 5, characterized in that, Collecting the first motion information and the second motion information corresponding to multiple bows for each archer, where 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; The determining the action stability of the archer in each archery stage according to the stage time of each archery 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 archery stage includes: For each archer, determining the time stability and limb action stability of the archer in each archery stage according to the first motion information corresponding to the multiple bows and the ring value of each bow. The limb action 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 archery stage corresponding to the multiple bows, the limb acceleration stability is determined based on the variance of the limb acceleration in each archery stage corresponding to the multiple bows, and the limb angular velocity stability is determined based on the variance of the limb angular velocity in each archery stage corresponding to the multiple bows; Determining the recurve bow acceleration stability and recurve bow angular velocity stability of the archer in each archery stage according to the second motion information corresponding to the multiple bows. The recurve bow acceleration stability is determined based on the variance of the recurve bow acceleration in each archery stage corresponding to the multiple bows, and the recurve bow angular velocity stability is determined based on the variance of the recurve bow angular velocity in each archery stage corresponding to the multiple bows.

7. The archery sports information processing method according to claim 3, characterized in that, The method further includes: Sampling the first motion information of the archer in the bow-drawing stage and the holding stage, where 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, determining that the archer has good stability; otherwise, determining 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 holding stage when the ring value is greater than the preset ring value.

8. An archery sports information processing device, characterized in that Including: A motion information acquisition module, configured to acquire the first motion information of the archer and the second motion information of the recurve bow. The first motion information is collected based on multiple inertial sensors arranged on the archer's body, and the second motion information is based on the inertial sensors 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; A video image acquisition module, configured to acquire video images of an archery athlete during the entire archery process sent by a high-speed camera, wherein the high-speed camera is synchronized with the clocks of multiple inertial sensor nodes; A processing module, configured to determine the stage time of each archery stage of the archery athlete 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 time.

9. An upper computer, comprising a memory and a processor, wherein a computer program capable of running on the processor is stored in the memory, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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