An immersive rowing simulation system and method

Abstract

The application discloses an immersive rowing simulation system and method, which comprises a motion platform, an analysis control terminal, a ship body, virtual reality glasses and a hand movement sensing device; the motion platform is arranged on the ground and electrically connected with the analysis control terminal; the ship body is fixed to the upper surface of the motion platform; the virtual reality glasses are electrically connected with the analysis control terminal and worn on the eyes of a rower; and the hand movement sensing device is electrically connected with the analysis control terminal and worn on the back of the hand of the rower; therefore, the immersive rowing simulation system and method can improve the immersion of rowing training, is convenient to deploy, has strong site adaptability and is convenient to evaluate the scientific nature of the movement method.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of virtual reality, and particularly relates to an immersive rowing simulation system and method. BACKGROUND

[0002] Virtual reality is a technology for providing an immersive feeling in a three-dimensional environment generated on a computer and capable of interaction by comprehensively using a computer graphics system and various interface devices such as reality and control. Virtual reality glasses are a device for presenting virtual reality in front of human eyes, and are used to close the vision and hearing of a person to the outside world by using a head-mounted display device, so as to guide the user to have a feeling of being in a virtual environment. The display principle of the virtual reality glasses is that the left and right eye screens respectively display images for the left and right eyes, and the human eyes obtain such different information in the brain to generate a stereoscopic feeling. The virtual reality technology is used for rowing simulation training, which has great significance for improving the immersion of rowing training and improving the training effect. SUMMARY

[0003] The technical problem to be solved by the application is to provide an immersive rowing simulation system and method, which can effectively improve the immersion of rowing training, is convenient to deploy, has strong site adaptability, and is convenient for evaluating the scientificity of a movement method.

[0004] In order to solve the above technical problem, the first aspect of the embodiment of the application discloses an immersive rowing simulation system, which comprises a movement platform 1, an analysis control terminal 2, a boat body 3, virtual reality glasses 4 and a hand movement sensing device 5.

[0005] The movement platform 1 is placed on the ground and is electrically connected with the analysis control terminal 2, and is used for adjusting the posture of the boat body 3 under the control of the analysis control terminal 2.

[0006] The boat body 3 is fixed to the upper surface of the movement platform 1.

[0007] The virtual reality glasses 4 are electrically connected with the analysis control terminal 2, are worn on the eyes of a rowing person, and are used for projecting scene rendering information or a movement evaluation result output by the analysis control terminal 2 to the eyes of the rowing person; the movement evaluation result comprises a rowing movement index and a movement professional degree value.

[0008] The hand movement sensing device 5 is electrically connected with the analysis control terminal 2, is worn on the back of the hand of the rowing person, and is used for collecting rowing action information and transmitting the rowing action information to the analysis control terminal 2; the rowing action information comprises left-hand movement trajectory and right-hand movement trajectory.

[0009] As an optional implementation manner, in the first aspect of the embodiment of the application, the movement platform 1 comprises a static platform 11, a dynamic platform 12 and six electric cylinders 13.

[0010] The static platform 11 is placed on the ground and is connected to the bottom of the six electric cylinders 13 through six Hooke hinges respectively;

[0011] The dynamic platform 12 is located above the static platform 11 and is connected to the top of the six electric cylinders 13 through six Hooke hinges respectively, and is used for supporting the ship body 3.

[0012] As an optional implementation, in the first aspect of the embodiment of the present application, the hand movement sensing device 5 comprises a left hand movement sensing unit 51 and a right hand movement sensing unit 52.

[0013] The left hand movement sensing unit 51 and the right hand movement sensing unit 52 are respectively worn on the back of the left hand and the right hand of the rowing person; the left hand movement sensing unit 51 and the right hand movement sensing unit 52 both comprise a wearing subunit and a sensor subunit.

[0014] The sensor subunit is fixed on the wearing subunit and is used for collecting the left hand movement trajectory or the right hand movement trajectory.

[0015] The wearing subunit is worn on the back of the hand of the rowing person.

[0016] As an optional implementation, in the first aspect of the embodiment of the present application, the analysis control terminal 2 comprises a thrust analysis unit, a virtual scene generation unit, a posture control unit and a movement evaluation unit.

[0017] The thrust analysis unit is electrically connected with the hand movement sensing device 5 and the virtual scene generation unit, and is used for analyzing the rowing action information to obtain the boat oar thrust.

[0018] The virtual scene generation unit is electrically connected with the virtual reality glasses 4, and is used for generating the scene rendering information in real time.

[0019] The posture control unit is electrically connected with the virtual scene generation unit and the movement platform 1, and is used for controlling the movement platform 1 to adjust the posture of the ship body 3 by using the ship body posture information output by the virtual scene generation unit.

[0020] The movement evaluation unit is electrically connected with the hand movement sensing device 5 and the virtual reality glasses 4, and is used for obtaining the movement evaluation result.

[0021] As an optional implementation, in the first aspect of the embodiment of the present application, the virtual scene generation unit comprises a ship body speed calculation subunit, a rendering information generation subunit and a ship body posture generation subunit.

[0022] The ship body speed calculation subunit is electrically connected with the thrust analysis unit and the rendering information generation subunit, and is configured to calculate the ship body advancing speed by using the ship propeller thrust.

[0023] The rendering information generation subunit is electrically connected with the virtual reality glasses 4 and the ship body posture generation subunit, and is configured to update the scene rendering information in real time by using the ship body advancing speed.

[0024] The ship body posture generation subunit is electrically connected with the posture control unit, and is configured to generate the ship body posture information by using the scene rendering information.

[0025] As an optional implementation, in the first aspect of the embodiment of the present application, the calculation of the ship body advancing speed by using the ship propeller thrust comprises:

[0026] A first constant k1, a second constant k2, a third constant k3, a wavelength λ and a ship body mass m are preset.

[0027] The first constant k1, the second constant k2, the third constant k3, the ship body mass m, the wavelength λ and the ship propeller thrust F are processed by using a ship body speed calculation model, so as to update the ship body advancing speed.

[0028] The ship body speed calculation model is as follows:

[0029]

[0030] In the formula, v i and v i+1 are the ship body advancing speed before and after updating respectively.

[0031] As an optional implementation, in the first aspect of the embodiment of the present application, the motion evaluation unit comprises a motion index extraction subunit and a motion index comparison subunit.

[0032] The motion index extraction subunit is electrically connected with the hand motion sensing device 5 and the motion index comparison subunit, and is configured to analyze the rowing action information and obtain a motion index.

[0033] The motion index comparison subunit is electrically connected with the virtual reality glasses 4, and is configured to process the rowing action information and obtain the motion professional degree value.

[0034] As an optional implementation, in the first aspect of the embodiment of the present application, the processing of the rowing action information and the obtaining of the motion professional degree value comprise:

[0035] A left-hand standard track and a right-hand standard track are preset.

[0036] interpolating the left-hand movement trajectory and the right-hand movement trajectory respectively to obtain a left-hand interpolated trajectory and a right-hand interpolated trajectory;

[0037] calculating a left-hand movement evaluation value by using the left-hand interpolated trajectory and the left-hand standard trajectory;

[0038] calculating a right-hand movement evaluation value by using the right-hand interpolated trajectory and the right-hand standard trajectory;

[0039] calculating a mean value of the left-hand movement evaluation value and the right-hand movement evaluation value to obtain a movement evaluation value.

[0040] As an optional implementation, in the first aspect of the embodiment of the present application, the calculating a left-hand movement evaluation value by using the left-hand interpolated trajectory and the left-hand standard trajectory, and the calculating a right-hand movement evaluation value by using the right-hand interpolated trajectory and the right-hand standard trajectory, both include:

[0041] a fourth preset constant k1

[0042] obtaining an x-direction interpolated coordinate sequence, a y-direction interpolated coordinate sequence and a z-direction interpolated coordinate sequence in the left-hand interpolated trajectory or the right-hand interpolated trajectory;

[0043] obtaining an x-direction standard coordinate sequence, a y-direction standard coordinate sequence and a z-direction standard coordinate sequence in the left-hand standard trajectory or the right-hand standard trajectory;

[0044] calculating an absolute value of a difference between the x-direction interpolated coordinate sequence and the x-direction standard coordinate sequence to obtain an x-direction coordinate difference sequence

[0045] calculating an absolute value of a difference between the y-direction interpolated coordinate sequence and the y-direction standard coordinate sequence to obtain a y-direction coordinate difference sequence

[0046] calculating an absolute value of a difference between the z-direction interpolated coordinate sequence and the z-direction standard coordinate sequence to obtain a z-direction coordinate difference sequence

[0047] processing the x-direction coordinate difference sequence the y-direction coordinate difference sequence and the z-direction coordinate difference sequence z by using a movement evaluation value calculation model to obtain a left-hand movement evaluation value or a right-hand movement evaluation value;

[0048] the movement evaluation value calculation model is:

[0049]

[0050] In the formula, p is the left-hand movement evaluation value or the right-hand movement evaluation value.

[0051] The second aspect of the embodiment of the present application discloses an immersive rowing simulation method, and the method comprises:

[0052] The hand movement sensing device 5 is worn on the back of the hand of the rower.

[0053] The rowing action information is collected by the hand movement sensing device 5 and sent to the analysis control terminal 2.

[0054] The analysis control terminal 2 controls the movement platform 1 to adjust the posture of the boat body 3 and sends the scene rendering information and the movement evaluation result to the virtual reality glasses 4.

[0055] The virtual reality glasses 4 project the scene rendering information and the movement evaluation result to the eyes of the rower.

[0056] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0057] The hand movement sensing device is used to collect the rowing action information, real-time scene rendering information is generated and projected to the eyes of the rower, the posture of the boat body is adjusted by the movement platform, and the immersion of rowing training is improved; the simulation system is constructed by the movement platform, the analysis control terminal, the boat body, the virtual reality glasses and the hand movement sensing device, and is convenient to deploy and has strong site adaptability; the movement is evaluated by using the standard movement index, and the scientificity of the movement method is evaluated. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0059] Figure 1 A structure schematic diagram of an immersive rowing simulation system is provided for the present application.

[0060] Figure 2 An analysis control terminal structure schematic diagram of an immersive rowing simulation system is provided for the present application.

[0061] Figure 3 A virtual scene generation unit structure schematic diagram of an analysis control terminal of an immersive rowing simulation system is provided for the present application.

[0062] Figure 4This is a schematic diagram of the motion evaluation unit structure of the analysis and control terminal of an immersive rowing simulation system proposed in this invention.

[0063] Figure 5 This is a flowchart illustrating an immersive rowing simulation method proposed in this invention.

[0064] In the diagram: 1. Motion platform; 2. Analysis and control terminal; 3. Hull; 4. Virtual reality glasses; 5. Hand motion sensing device; 11. Static platform; 12. Motion platform; 13. Electric cylinder; 51. Left hand motion sensing unit; 52. Right hand motion sensing unit. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0067] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0068] Example 1:

[0069] like Figure 1 As shown, the present invention provides an immersive rowing simulation system, including a motion platform 1, an analysis and control terminal 2, a boat hull 3, virtual reality glasses 4, and a hand motion sensing device 5.

[0070] The motion platform 1 is placed on the ground and is electrically connected with the analysis control terminal 2, and is used for adjusting the posture of the ship body 3 under the control of the analysis control terminal 2;

[0071] Optionally, the motion platform 1 comprises a static platform 11, a dynamic platform 12 and six electric cylinders 13; the static platform 11 is placed on the ground and is connected with the bottom of the six electric cylinders 13 through six Hooke hinges respectively; the dynamic platform 12 is located above the static platform 11 and is connected with the top of the six electric cylinders 13 through the six Hooke hinges respectively, and is used for supporting the ship body 3;

[0072] The ship body 3 is fixed to the upper surface of the motion platform 1;

[0073] The virtual reality glasses 4 are electrically connected with the analysis control terminal 2 and are worn on the eyes of the rowing person, and are used for projecting the scene rendering information or the motion evaluation result output by the analysis control terminal 2 to the eyes of the rowing person; the scene rendering information is used for dynamically simulating the natural environment in the real rowing scene, so as to provide a real training experience for the rowing person; the motion evaluation result comprises a rowing motion index and a motion professional degree value;

[0074] The hand motion sensing device 5 comprises a left hand motion sensing unit 51 and a right hand motion sensing unit 52, and is used for collecting the rowing action information and transmitting the rowing action information to the analysis control terminal 2;

[0075] The rowing action information comprises a left hand motion trajectory and a right hand motion trajectory; the left hand motion trajectory and the right hand motion trajectory are three-dimensional space coordinate sequences of the left hand and the right hand during the motion respectively;

[0076] Optionally, the left hand motion sensing unit 51 and the right hand motion sensing unit 52 are respectively worn on the back of the left hand and the right hand of the rowing person; the left hand motion sensing unit 51 and the right hand motion sensing unit 52 are both electrically connected with the analysis control terminal 2, and both comprise a wearing subunit and a sensor subunit; the sensor subunit is fixed to the wearing subunit and is used for collecting the left hand motion trajectory or the right hand motion trajectory; the wearing subunit is worn on the back of the hand of the rowing person;

[0077] Optionally, the wearing subunit is a glove.

[0078] It can be seen that, by using the rowing action information collected by the hand motion sensing device, the scene rendering information is generated in real time and projected to the eyes of the rowing person, and the posture of the ship body is adjusted by using the motion platform, so that the immersion of the rowing training is improved; the simulation system is constructed by using the motion platform, the analysis control terminal, the ship body, the virtual reality glasses and the hand motion sensing device, so that the simulation system is convenient to deploy and has strong site adaptability.

[0079] Embodiment 2:

[0080] The embodiment is different from the above-mentioned embodiments in that:

[0081] As shown in Figure 2 The analysis control terminal 2 comprises a thrust analysis unit, a virtual scene generation unit, a posture control unit and a motion result evaluation unit;

[0082] The thrust analysis unit is electrically connected with the hand motion sensing device 5 and the virtual scene generation unit, and is used for analyzing the rowing motion information to obtain the oar thrust;

[0083] The virtual scene generation unit is electrically connected with the virtual reality glasses 4, and is used for generating scene rendering information in real time;

[0084] The posture control unit is electrically connected with the virtual scene generation unit and the motion platform 1, and is used for controlling the length of the six electric cylinders of the motion platform 1 by using the ship posture information output by the virtual scene generation unit, so as to adjust the posture of the ship body 3;

[0085] The motion result evaluation unit is electrically connected with the hand motion sensing device 5 and the virtual reality glasses 4, and is used for obtaining the motion evaluation result.

[0086] Optionally, the above-mentioned analyzing the rowing motion information to obtain the oar thrust comprises:

[0087] A preset thrust coefficient is obtained;

[0088] The left oar speed and the right oar speed are obtained by respectively analyzing the left hand motion trajectory and the right hand motion trajectory;

[0089] The product of the thrust coefficient and the left oar speed and the right oar speed is calculated respectively to obtain the left oar thrust and the right oar thrust;

[0090] The sum of the left oar thrust and the right oar thrust is calculated to obtain the oar thrust.

[0091] It can be seen that the immersion rowing simulation system described in the embodiment of the application is beneficial to improving the immersion of rowing training; professional motion indexes are used to evaluate the motion condition, and the scientificity of the motion method is evaluated.

[0092] Embodiment 3:

[0093] The embodiment is different from the above-mentioned embodiments in that:

[0094] As shown in Figure 3 The virtual scene generation unit comprises a ship speed calculation subunit, a rendering information generation subunit and a ship posture generation subunit;

[0095] The ship speed calculation subunit is electrically connected with the thrust analysis unit and the rendering information generation subunit, and is used for calculating the ship forward speed by using the oar thrust.

[0096] Optionally, the ship hull advancing speed calculated by the ship propeller thrust comprises:

[0097] The first constant k1, the second constant k2, the third constant k3, the wavelength λ and the ship hull mass m are preset;

[0098] The first constant k1, the second constant k2, the third constant k3, the ship hull mass m, the wavelength λ and the ship propeller thrust F are processed by the ship hull speed calculation model, and the ship hull advancing speed is updated;

[0099]

[0100] In the formula, v i and v i+1 are the ship hull advancing speeds before and after the update, respectively.

[0101] The rendering information generation subunit is electrically connected with the virtual reality glasses 4 and the ship hull posture generation subunit, and is configured to update the scene rendering information in real time by using the ship hull advancing speed;

[0102] The ship hull posture generation subunit is electrically connected with the posture control unit, and is configured to generate the ship hull posture information by using the scene rendering information.

[0103] It can be seen that the immersive rowing simulation system described in the embodiment of the application is beneficial to improving the immersion of rowing training.

[0104] Embodiment 4:

[0105] The difference between the embodiment and the above-mentioned embodiments is that:

[0106] As shown in Figure 4 , the motion evaluation unit comprises a motion index extraction subunit and a motion index comparison subunit;

[0107] The motion index extraction subunit is electrically connected with the hand motion sensing device 5 and the motion index comparison subunit, and is configured to analyze the rowing motion information and obtain the rowing motion index;

[0108] Optionally, the rowing motion index comprises a propelling frequency, a propelling height and a rowing frequency;

[0109] The motion index comparison subunit is electrically connected with the virtual reality glasses 4, and is configured to process the rowing motion information and obtain the motion professional degree value.

[0110] Optionally, the processing of the rowing motion information and the obtaining of the motion professional degree value comprise:

[0111] The left-hand standard trajectory and the right-hand standard trajectory are preset;

[0112] interpolating the left-hand motion trajectory and the right-hand motion trajectory respectively to obtain a left-hand interpolated trajectory and a right-hand interpolated trajectory;

[0113] The left-hand interpolated trajectory and the left-hand standard trajectory have the same number of three-dimensional space coordinates, and the three-dimensional space coordinates of the same index correspond to the same time; the right-hand interpolated trajectory and the right-hand standard trajectory have the same number of three-dimensional space coordinates, and the three-dimensional space coordinates of the same index correspond to the same time;

[0114] Preferably, the interpolation is bilinear interpolation.

[0115] calculating a left-hand motion evaluation value by using the left-hand interpolated trajectory and the left-hand standard trajectory;

[0116] calculating a right-hand motion evaluation value by using the right-hand interpolated trajectory and the right-hand standard trajectory;

[0117] calculating a motion evaluation value by calculating the average of the left-hand motion evaluation value and the right-hand motion evaluation value

[0118] Optionally, the calculation of the left-hand motion evaluation value by using the left-hand interpolated trajectory and the left-hand standard trajectory and the calculation of the right-hand motion evaluation value by using the right-hand interpolated trajectory and the right-hand standard trajectory both include:

[0119] a fourth constant λ is preset;

[0120] obtaining an x-direction interpolated coordinate sequence, a y-direction interpolated coordinate sequence and a z-direction interpolated coordinate sequence in the left-hand interpolated trajectory or the right-hand interpolated trajectory;

[0121] obtaining an x-direction standard coordinate sequence, a y-direction standard coordinate sequence and a z-direction standard coordinate sequence in the left-hand standard trajectory or the right-hand standard trajectory;

[0122] sequentially calculating the absolute values of the differences between the corresponding coordinates in the x-direction interpolated coordinate sequence and the x-direction standard coordinate sequence to obtain an x-direction coordinate difference sequence

[0123] sequentially calculating the absolute values of the differences between the corresponding coordinates in the y-direction interpolated coordinate sequence and the y-direction standard coordinate sequence to obtain a y-direction coordinate difference sequence

[0124] sequentially calculating the absolute values of the differences between the corresponding coordinates in the z-direction interpolated coordinate sequence and the z-direction standard coordinate sequence to obtain a z-direction coordinate difference sequence

[0125] processing the x-direction coordinate difference sequence the y-direction coordinate difference sequence and the z-direction coordinate difference sequence by using a motion evaluation value calculation model to obtain the left-hand motion evaluation value or the right-hand motion evaluation value.

[0126] The motion evaluation value calculation model is:

[0127]

[0128] In the formula, p is the left-hand motion evaluation value or the right-hand motion evaluation value.

[0129] It can be seen that the immersive rowing simulation system described in the embodiment of the application uses professional motion indicators to evaluate the motion, which facilitates the evaluation of the scientificity of the motion method.

[0130] Embodiment 5:

[0131] This embodiment describes an immersive rowing simulation method, as shown in Figure 5 The method comprises the following steps:

[0132] The hand motion sensing device 5 is worn on the back of the hand of the rower;

[0133] The rowing motion information is collected by the hand motion sensing device 5 and sent to the analysis control terminal 2;

[0134] The analysis control terminal 2 controls the motion platform 1 to adjust the posture of the boat body 3, and sends the scene rendering information and the motion evaluation result to the virtual reality glasses 4;

[0135] The virtual reality glasses 4 project the scene rendering information and the motion evaluation result to the eyes of the rower.

[0136] It is apparent to those skilled in the art that the application is not limited to the details of the above exemplary embodiments, and the application can be implemented in other specific forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the application is defined by the appended claims rather than the above description, and it is intended to cover all changes and modifications of the application which fall within the meaning and range of equivalents of the claims. Therefore, no matter from which point of view, the embodiments should be considered as exemplary and non-limiting, and the scope of the application is defined by the appended claims rather than the above description, and it is intended to cover all changes and modifications of the application which fall within the meaning and range of equivalents of the claims.

[0137] All changes within the meaning and range of equivalents of the claims are included in the application. Any reference signs in the claims should not be considered as limiting the claims involved.

[0138] In addition, it should be understood that although the present specification is described in terms of embodiments, each embodiment does not contain only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. An immersive rowing simulation system, characterized in that, It includes a motion platform (1), an analysis and control terminal (2), a hull (3), virtual reality glasses (4), and a hand motion sensing device (5); The motion platform (1) is placed on the ground and electrically connected to the analysis and control terminal (2) for adjusting the attitude of the hull (3) under the control of the analysis and control terminal (2); The hull (3) is fixed to the upper surface of the motion platform (1); The virtual reality glasses (4) are electrically connected to the analysis and control terminal (2) and worn on the eyes of the rower. They are used to project the scene rendering information or motion evaluation results output by the analysis and control terminal (2) onto the eyes of the rower. The motion evaluation results include rowing motion indicators and motion professionalism values. The hand motion sensing device (5) is electrically connected to the analysis and control terminal (2) and is worn on the back of the rower's hand to collect rowing motion information and transmit it to the analysis and control terminal (2); the rowing motion information includes the left hand movement trajectory and the right hand movement trajectory; The analysis and control terminal (2) includes a thrust analysis unit, a virtual scene generation unit, an attitude control unit, and a motion evaluation unit; The thrust analysis unit is electrically connected to the hand motion sensing device (5) and the virtual scene generation unit, and is used to analyze the rowing motion information to obtain the paddle thrust. The virtual scene generation unit includes a ship speed calculation subunit, a rendering information generation subunit, and a ship attitude generation subunit. The hull speed calculation subunit is electrically connected to the thrust analysis unit and the rendering information generation subunit, and is used to calculate the hull forward speed using propeller thrust. The rendering information generation subunit is electrically connected to the virtual reality glasses (4) and the ship posture generation subunit, and is used to update the scene rendering information in real time using the forward speed of the ship. The hull attitude generation subunit is electrically connected to the attitude control unit and is used to generate the hull attitude information using the scene rendering information. The attitude control unit is electrically connected to the virtual scene generation unit and the motion platform (1), and is used to control the motion platform (1) to adjust the attitude of the hull (3) using the hull attitude information output by the virtual scene generation unit. The motion assessment unit is electrically connected to the hand motion sensing device (5) and the virtual reality glasses (4) to acquire the motion assessment results.

2. The immersive rowing simulation system according to claim 1, characterized in that, The motion platform (1) includes a static platform (11), a moving platform (12), and six electric cylinders (13); The static platform (11) is placed on the ground and is connected to the bottom of the six electric cylinders (13) through six Hooke hinges; The moving platform (12) is located above the stationary platform (11) and is connected to the top of the six electric cylinders (13) via six Hooke hinges, respectively, to support the hull (3).

3. The immersive rowing simulation system according to claim 1, characterized in that, The hand motion sensing device (5) includes a left hand motion sensing unit (51) and a right hand motion sensing unit (52); The left-hand motion sensing unit (51) and the right-hand motion sensing unit (52) are respectively worn on the back of the left hand and right hand of the rower; the left-hand motion sensing unit (51) and the right-hand motion sensing unit (52) each include a wearing subunit and a sensor subunit. The sensor subunit is fixed to the wearable subunit and is used to collect the movement trajectory of the left hand or the movement trajectory of the right hand. The wearing subunit is worn on the back of the rower's hand.

4. The immersive rowing simulation system according to claim 1, characterized in that, The calculation of the ship's forward speed using propeller thrust includes: The first constant k1, the second constant k2, the third constant k3, the wavelength λ, and the hull mass m are preset. Using the ship velocity calculation model, the first constant k1, the second constant k2, the third constant k3, the ship mass m, the wavelength λ, and the propeller thrust F are processed to update the ship's forward velocity; The ship velocity calculation model is as follows: In the formula, v i and v i+1 These represent the ship's forward speed before and after the update.

5. The immersive rowing simulation system according to claim 1, characterized in that, The exercise assessment unit includes an exercise index extraction subunit and an exercise index comparison subunit; The motion index extraction subunit is electrically connected to the hand motion sensing device (5) and the motion index comparison subunit, and is used to analyze the rowing motion information to obtain the rowing motion index. The motion index comparison subunit is electrically connected to the virtual reality glasses (4) and is used to process the rowing motion information to obtain the motion professionalism value.

6. The immersive rowing simulation system according to claim 5, characterized in that, The process of processing the rowing motion information to obtain the sports professionalism value includes: Preset left-hand standard trajectory and right-hand standard trajectory; Interpolate the left-hand movement trajectory and the right-hand movement trajectory respectively to obtain the left-hand interpolated trajectory and the right-hand interpolated trajectory; The left-hand motion evaluation value is calculated using the left-hand interpolation trajectory and the left-hand standard trajectory; The right-hand motion evaluation value is calculated using the right-hand interpolated trajectory and the right-hand standard trajectory; The average of the left-hand motion assessment value and the right-hand motion assessment value is calculated to obtain the motion assessment value.

7. The immersive rowing simulation system according to claim 6, characterized in that, The calculation of left-hand motion evaluation values ​​using the left-hand interpolation trajectory and the left-hand standard trajectory, and the calculation of right-hand motion evaluation values ​​using the right-hand interpolation trajectory and the right-hand standard trajectory, both include: Presuppose a fourth constant λ; Obtain the x-direction interpolation coordinate sequence, y-direction interpolation coordinate sequence, and z-direction interpolation coordinate sequence from the left-handed interpolation trajectory or the right-handed interpolation trajectory; Obtain the x-direction standard coordinate sequence, y-direction standard coordinate sequence, and z-direction standard coordinate sequence from the left-hand standard trajectory or the right-hand standard trajectory; Calculate the absolute value of the difference between the interpolated x-direction coordinate sequence and the standard x-direction coordinate sequence to obtain the x-direction coordinate difference sequence. Calculate the absolute value of the difference between the interpolated y-direction coordinate sequence and the standard y-direction coordinate sequence to obtain the y-direction coordinate difference sequence. Calculate the absolute value of the difference between the z-direction interpolated coordinate sequence and the z-direction standard coordinate sequence to obtain the z-direction coordinate difference sequence. Using a motion evaluation value calculation model, the x-direction coordinate difference sequence is... The y-direction coordinate difference sequence and the z-direction coordinate difference sequence The data is processed to obtain the left-hand or right-hand motion assessment value; The motion evaluation value calculation model is as follows: In the formula, ρ is the left-hand motion evaluation value or the right-hand motion evaluation value.

8. An immersive rowing simulation method, characterized in that, The method, applied to the immersive rowing simulation system according to any one of claims 1-7, comprises: The hand motion sensing device (5) is worn on the back of the rower's hand; The hand motion sensing device (5) is used to collect the rowing motion information and send it to the analysis and control terminal (2); The analysis and control terminal (2) controls the motion platform (1) to adjust the attitude of the hull (3) and sends the scene rendering information and the motion evaluation results to the virtual reality glasses (4); The virtual reality glasses (4) project the scene rendering information and the motion assessment results onto the eyes of the rower.

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