Skiing motion capture and evaluation system based on indoor ski machine and control method thereof

Abstract

The application discloses a skiing action capture and evaluation system based on an indoor skiing machine and a control method thereof, and belongs to the technical field of indoor skiing machines. The application solves the problem that the traditional skiing machine is difficult to capture real-time skiing actions for evaluation and interactive adjustment in the prior art. The indoor skiing machine module provides a real skiing scene, the visual action capture module extracts human posture information, the evaluation control module gives evaluation and suggestions according to the human posture information, the virtual environment information of the virtual skiing field module and the skiing experience database, and displays the evaluation and suggestions on an interactive screen, the evaluation control module controls the electromechanical system of the indoor skiing field module to adjust, and ensures that the skiing environment of the indoor skiing machine module is consistent with the preset virtual environment of the virtual skiing field. The display of the virtual scene in the interactive screen is adjusted according to the skiing angle. The application improves the skiing experience of the skier, enhances the interactive ability of the skier and the virtual skiing scene, and can be applied to indoor skiing machines.

Description

TECHNICAL FIELD

[0001] The present application relates to a skiing action capture and evaluation system and a control method thereof, in particular to a skiing action capture and evaluation system and a control method thereof based on an indoor skiing machine, and belongs to the technical field of indoor skiing machines. BACKGROUND

[0002] Ice and snow sports are mainly carried out in outdoor ski resorts. Skiing is affected by factors such as venue, environment, and climate, resulting in very limited time for ice and snow sports each year. With the development of technology and the continuous upgrading of ice and snow related technologies, the ice and snow industry has been continuously developed and optimized in recent years. A large indoor simulated skiing machine has been developed. The indoor skiing machine not only can ignore the limitations of weather and seasons, but also can assist skiers in improving basic movements and deepening muscle memory during non-snow seasons. In recent years, ice and snow sports have been vigorously developed, and skiing machines have gradually moved from professionals to the general public. However, the current indoor skiing machine has relatively simple functions and is not highly intelligent or somatosensory. The evaluation system in the existing large indoor simulated skiing machine is relatively weak. The evaluation system is important for guiding professional athletes and the general public. The skiing machine equipped with the evaluation system can capture the skiing posture in real time, extract data for skiing action evaluation, enhance skiing skills, accumulate skiing experience, and ensure personal safety during skiing. However, most skiing machines do not have an action evaluation system. Even if they have an evaluation system, they cannot adjust the actual skiing machine state through internal system calculation to achieve a high degree of intelligence. Therefore, a skiing action capture and evaluation system and a control method thereof are needed. SUMMARY

[0003] In the following, a brief summary of the present application is given in order to provide a basic understanding of some aspects of the present application. It should be understood that this summary is not an exhaustive overview of the present application. It is not intended to identify key or important parts of the present application nor is it intended to limit the scope of the present application. Its purpose is merely to present some concepts in a simplified form as a prelude to a more detailed description to be discussed later.

[0004] In view of this, in order to solve the problem that the traditional skiing machine in the prior art is difficult to capture real-time skiing action for evaluation and interactive adjustment, the present application provides a skiing action capture and evaluation system and a control method thereof based on an indoor skiing machine.

[0005] Technical solution one: a skiing action capture and evaluation system based on an indoor skiing machine, comprising an indoor skiing machine module, a visual action capture module, an evaluation control module, and a virtual ski field module;

[0006] The indoor skiing machine module comprises a skiing blanket, a hydraulic tilting support and an electromechanical system, an interactive screen and a camera. The electromechanical system comprises a hydraulic controller, a motor and a steering wheel.

[0007] The camera is connected with a visual motion capture module;

[0008] The visual motion capture module, the evaluation control module and the virtual ski field module are connected in sequence;

[0009] The evaluation control module is connected with an electromechanical system and an interactive screen respectively;

[0010] The hydraulic tilting support and the electromechanical system are arranged below the ski carpet, and the hydraulic tilting support is used for supporting the ski carpet;

[0011] The interactive screen is arranged in front of the ski carpet and is used for displaying information of the evaluation control module and the virtual ski field module;

[0012] The camera is arranged around the ski carpet and is used for shooting pictures containing complete skier postures;

[0013] The controller is connected with the hydraulic tilting support;

[0014] The motor is connected with the ski carpet, and the ski carpet is internally provided with a conveyor belt;

[0015] The steering engine is connected with the camera;

[0016] The indoor ski machine module is in real-time bidirectional asynchronous serial port communication with the virtual ski field module, the visual motion capture module and the evaluation control module through an RS232 electrical interface.

[0017] Further, the left side, the right side and the back side of the ski carpet are provided with guardrails.

[0018] Technical solution two: the control method of the ski motion capture and evaluation system based on the indoor ski machine according to the technical solution one, comprising the following steps:

[0019] S1. According to the virtual environment information of the virtual ski field module, the electromechanical system control parameters are obtained to adjust the ski carpet inclination angle, the ski carpet rotating speed and the camera angle in the indoor ski machine module;

[0020] Specifically,

[0021] S11. The virtual environment information of the virtual ski field module, i.e. the virtual ski field information and the virtual human information, is obtained, and the electromechanical system control parameters are obtained through the evaluation control module and transmitted to the indoor ski machine module;

[0022] S12. The indoor ski machine module adjusts the hydraulic controller, the motor and the steering engine according to the electromechanical system control parameters;

[0023] S2. According to the pictures of the skier posture information shot by the camera, the human body posture information is obtained through the visual motion capture module and input to the evaluation control module;

[0024] Specifically:

[0025] S21. The visual motion capture module collects pictures containing complete skier posture information taken by the camera, processes the pictures, inputs the pictures into the HRNet neural network to obtain human two-dimensional key point information, arranges the human two-dimensional key point information in time sequence, and obtains human two-dimensional key point time sequence;

[0026] S22. The human two-dimensional key point time sequence is input into a three-dimensional key point prediction network to obtain restored human three-dimensional key point information;

[0027] S23. A human posture model based on human inverse dynamics is used for calculation, and the rotation angle of each joint of the human body is inversely restored according to the human three-dimensional key point information to obtain human posture information;

[0028] S24. The evaluation control module obtains human posture information through a multi-thread data sharing related mechanism;

[0029] S3. The virtual ski field module obtains virtual environment information fed back by the virtual ski field module and inputs the virtual environment information into the evaluation control module;

[0030] Specifically, the human posture information is assigned to the virtual person in the virtual ski field module through the evaluation control module, the virtual person adjusts to the current human posture position in the virtual environment, the motion state information of the virtual person and the current virtual ski field information, i.e. the virtual environment information fed back by the virtual ski field module, are extracted, and are displayed in real time and synchronously on the interactive screen. The evaluation control module obtains the feedback virtual environment information through a multi-thread data sharing related mechanism;

[0031] S4. The evaluation control module evaluates and provides guidance according to the evaluation index, human posture information and feedback virtual ski field information;

[0032] Specifically:

[0033] S41. The motion speed in the motion state information of the virtual person is extracted as an evaluation index, and the speed score is obtained by evaluating through the evaluation control module;

[0034] S42. The relationship between the center of gravity of the virtual person and the virtual environment position is taken as an evaluation index, and a stability score is obtained by evaluating through the evaluation control module;

[0035] S43. The accuracy of professional skiing actions is taken as an evaluation index, and an action score is obtained by evaluating through the evaluation control module;

[0036] S44. The evaluation control module screens low-score items in the evaluation index, proposes targeted guidance for the skier in combination with a skiing experience database, and displays the guidance on the interactive screen.

[0037] S5. updating the virtual ski field module information and the electromechanical system control parameters of the indoor ski machine module;

[0038] Specifically:

[0039] S51. continuously updating the human body posture information collected by the visual motion capture module to the virtual ski field information through the evaluation control module and displaying it on the interactive screen in real time, and updating the electromechanical system control parameters to the indoor ski machine module according to the real-time virtual ski field information through the evaluation control module;

[0040] S52. adjusting the electromechanical system according to the updated electromechanical system control parameters;

[0041] S6. returning to S2 to circulate the above operations to realize the real-time interaction between the skier on the indoor ski machine and the interactive screen.

[0042] Further, in S11, the preset ski field information is input to the virtual ski field module to obtain the virtual ski field information of the virtual ski field module, and the initial human body position of the indoor ski machine module is assumed to be the preset ski field highest point, which is input to the virtual ski field module through the evaluation control module to obtain the virtual human information of the virtual ski field module, and the virtual environment information is transmitted to the evaluation control module, and the electromechanical system control parameters are obtained through the evaluation control module and input to the indoor ski machine module;

[0043] In S12, the evaluation control module drives the electromechanical system to adjust the hydraulic controller, the motor and the steering wheel according to the electromechanical system control parameters, the hydraulic controller adjusts the lifting height of the hydraulic tilting support to change the tilting angle of the ski mat, the motor adjusts the rotation speed to change the rotation speed of the ski mat, and the steering wheel adjusts the camera angle to make the camera shooting center track the skier.

[0044] Further, in S41, the speed score is calculated according to the virtual human motion state information in the feedback virtual environment information;

[0045] Speed score S 速度 is expressed as:

[0046] S 速度 = α * v

[0047] Wherein, α is the speed score coefficient, and v is the current speed of the virtual human in the virtual ski field module;

[0048] In S42, the virtual human each limb is assigned a reasonable mass, the center of each limb is taken as the center of mass, the virtual human center of gravity position is calculated in real time, the center point of the ski plate and the ground contact surface is taken as the reference, and the stable score is calculated according to the included angle θ between the center point ground tangent and the straight line where the center point and the center of gravity are located;

[0049] Stability score S 稳定 is expressed as:

[0050] S 稳定 = β*cosθ

[0051] Wherein, β is the stability score coefficient;

[0052] In the S43, the 14 joint angles of the human body are selected to form a vector space, the professional skiing action data set is disassembled into a vector composed of the selected 14 joint angles of the human body as a standard vector, a clustering algorithm is used to calculate the current state vector composed of the 14 joint angle data corresponding to the current human body posture and the action system to which it belongs in real time, and the action score is calculated;

[0053] Action score S 运动 is expressed as:

[0054] S 运动 = γ*d

[0055] Wherein, γ is the action score coefficient, and d is the distance between the current state vector and the action standard vector to which it belongs.

[0056] Further, in the S51, the virtual engine of the virtual ski field module is waiting for running, the change of the virtual environment information caused by the current human body posture information input is obtained, including the current speed, the angle between the center point ground tangent and the straight line where the center point-gravity is located, and the 14 joint angles corresponding to the current human body posture, the display image of the virtual ski field and the display image of the virtual person in the interactive screen are updated according to the human body posture information, the virtual person visual angle direction at the current moment and the virtual person position, after the virtual ski field information in the virtual ski field module is updated according to the human body posture information, the virtual person position change causes the terrain change, the position and motion state of the virtual person in the virtual ski field at the next moment are calculated by combining the physical engine in the virtual engine of the virtual ski field module, and the electromechanical system control parameters are obtained through the evaluation control module;

[0057] In the S52, the electromechanical system is adjusted again through the evaluation control module, the slope of the ski trail at the next moment is output according to the virtual person position at the next moment, the ski trail slope is adjusted by the controller to adjust the hydraulic tilting support, the ski mat rotation speed is output according to the current speed of the virtual person, the ski mat rotation speed is adjusted by adjusting the motor speed, and the camera center is followed by the skier by controlling the rudder.

[0058] The beneficial effects of the present application are as follows: the indoor ski machine module provides a real skiing feeling for the skier, the visual motion capture module acquires the skiing action of the skier in real time to extract the human posture information, the evaluation control module gives an evaluation and suggestion according to the human posture information in combination with virtual environment information of the virtual ski field module and a skiing experience database and displays the evaluation and suggestion on the interactive screen, and the evaluation control module controls the electromechanical system of the indoor ski field module to make corresponding adjustments, so as to ensure that the skiing environment of the indoor ski machine module is consistent with the preset virtual environment of the virtual ski field, improve the skiing experience and skill of the skier, and realize the interactive adjustment of the virtual ski field module and the indoor ski field module; the display of the virtual scene in the interactive screen can be adjusted according to the visual angle of the skier, so that the skier can be immersed in the virtual scene, and the captured human posture information is given to the virtual person, and the real-time action of the skier is displayed in the form of the virtual person on the interactive screen, so as to improve the interactive ability of the skier and the virtual ski scene. BRIEF DESCRIPTION OF DRAWINGS

[0059] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0060] Figure 1 It is a skiing action capture and evaluation system based on an indoor ski machine and a functional schematic diagram;

[0061] Figure 2 It is a functional principle schematic diagram of the visual motion capture module;

[0062] Figure 3 It is an embodiment schematic diagram of the indoor ski machine;

[0063] Figure 4 It is a control method flow schematic diagram of the skiing action capture and evaluation system based on the indoor ski machine;

[0064] Figure 5 It is a functional schematic diagram of the evaluation control module.

[0065] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings: DETAILED DESCRIPTION

[0066] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the following further describes the exemplary embodiments of the present application with reference to the accompanying drawings, obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0067] Embodiment 1: Reference Figures 1-3 The embodiment is explained in detail, based on a skiing motion capture and evaluation system of an indoor ski machine, which comprises an indoor ski machine module, a visual motion capture module, an evaluation control module and a virtual ski field module;

[0068] The indoor ski machine module comprises a ski blanket 1, a hydraulic tilting support 2 and a mechatronic system 3, an interactive screen 4 and a camera 5, the mechatronic system 3 comprising a hydraulic controller, a motor and a steering engine;

[0069] The camera 5 is connected with the visual motion capture module;

[0070] The visual motion capture module, the evaluation control module and the virtual ski field module are connected in sequence;

[0071] The evaluation control module is connected with the mechatronic system 3 and the interactive screen 4 respectively;

[0072] The hydraulic tilting support 2 and the mechatronic system 3 are arranged below the ski blanket 1, and the hydraulic tilting support 2 is used for supporting the ski blanket 1;

[0073] The interactive screen 4 is arranged in front of the ski blanket 1, and is used for displaying information of the evaluation control module and the virtual ski field module;

[0074] The camera 5 is arranged around the ski blanket 1, and is used for shooting pictures containing complete skier postures;

[0075] The controller is connected with the hydraulic tilting support 2;

[0076] The motor is connected with the ski blanket 1, and the ski blanket 1 is built-in with a conveyor belt;

[0077] The steering engine is connected with the camera 5;

[0078] The indoor ski machine module is in real-time bidirectional asynchronous serial port communication with the virtual ski field module, the visual motion capture module and the evaluation control module through an RS232 electrical interface.

[0079] Further, the left side, the right side and the back side of the ski blanket 1 are provided with guardrails 6;

[0080] Specifically, in the embodiment, one camera is arranged at each corner of the ski blanket, and the number of cameras can also be increased according to actual conditions, so as to further improve the accuracy of subsequent capture and extraction of human posture information; the guardrails 6 arranged at the left side, the right side and the back side of the ski blanket guarantee the personal safety of skiers; the mechatronic system and the ski blanket built-in with the conveyor belt form a variable-speed conveyor belt structure, and the simulated speed of the ski slope is controllable.

[0081] Embodiment 2: Reference Figure 4 and Figure 5The embodiment is described in detail. The control method of the skiing motion capture and evaluation system based on the indoor ski machine comprises the following steps:

[0082] S1. According to the virtual environment information of the virtual ski field module, the electromechanical system control parameters are obtained to adjust the inclination angle of the ski mat, the rotation speed of the ski mat and the camera angle in the indoor ski machine module.

[0083] Specifically:

[0084] S11. Obtain the virtual environment information of the virtual ski field module, that is, the virtual ski field information and the virtual human information, and transmit the electromechanical system control parameters obtained by the evaluation control module to the indoor ski machine module;

[0085] S12. The indoor ski machine module adjusts the hydraulic controller, motor and rudder according to the electromechanical system control parameters;

[0086] S2. According to the picture of the skiing posture information shot by the camera, the human body posture information is obtained by the visual motion capture module and input to the evaluation control module;

[0087] Specifically:

[0088] S21. The visual motion capture module collects the pictures containing complete skiing posture information obtained by the camera, processes the pictures, inputs the pictures into the HRNet neural network to obtain human body two-dimensional key point information, arranges the human body two-dimensional key point information in time sequence, and obtains human body two-dimensional key point time sequence;

[0089] S22. Input the human body two-dimensional key point time sequence into the three-dimensional key point prediction network to obtain the recovered human body three-dimensional key point information;

[0090] S23. A human body posture model based on human body inverse dynamics is used for calculation, and the rotation angle of each joint of the human body is recovered in reverse according to the human body three-dimensional key point information to obtain human body posture information;

[0091] S24. The evaluation control module obtains the human body posture information through a multi-thread data sharing related mechanism;

[0092] S3. The virtual environment information fed back by the virtual ski field module is obtained through the virtual ski field module and input to the evaluation control module;

[0093] Specifically, the human body posture information is assigned to the virtual human in the virtual ski field module through the evaluation control module, the virtual human is adjusted to the current human body posture position in the virtual environment, the motion state information of the virtual human and the current virtual ski field information, that is, the virtual environment information fed back by the virtual ski field module, are extracted, and are displayed in real time and synchronously on the interactive screen. The evaluation control module obtains the feedback virtual environment information through a multi-thread data sharing related mechanism.

[0094] S4. The evaluation control module evaluates and provides guidance according to the evaluation indicators, human posture information, and feedback virtual ski field information;

[0095] Specifically:

[0096] S41. The motion speed in the virtual human motion state information is extracted as an evaluation indicator, and the speed score is obtained by evaluation through the evaluation control module;

[0097] S42. The relationship between the virtual human center of gravity and the virtual environment position is taken as an evaluation indicator, and the stability score is obtained by evaluation through the evaluation control module;

[0098] S43. The accuracy of professional skiing action is taken as an evaluation indicator, and the action score is obtained by evaluation through the evaluation control module;

[0099] S44. The low-score items in the evaluation indicators are screened through the evaluation control module, and specific guidance is provided for the skier in combination with the skiing experience database, and displayed on the interactive screen;

[0100] S5. The virtual ski field module information and the electromechanical system control parameters of the indoor ski machine module are updated;

[0101] Specifically:

[0102] S51. The human posture information collected by the visual motion capture module is continuously updated to the virtual ski field information through the evaluation control module and displayed in real time on the interactive screen, and the electromechanical system control parameters are updated through the evaluation control module according to the real-time virtual ski field information and transmitted to the indoor ski machine module;

[0103] S52. The electromechanical system is adjusted according to the updated electromechanical system control parameters;

[0104] S6. Return to S2 to circulate the above operations to realize the real-time interaction between the skier on the indoor ski machine and the interactive screen;

[0105] Specifically, the visual motion capture module, the evaluation control module, and the virtual ski field module can be arranged in a multi-thread arrangement to improve system response speed and system real-time performance when configured in a computer. They can be named as RGB picture processing thread, real-time evaluation proposal control thread, and virtual environment update thread, respectively. Combined with known Python open source programs, the RGB picture processing thread can realize the function of extracting human body posture information, the real-time evaluation proposal control thread can realize the functions of calculating electromechanical system control parameters combined with virtual environment information, providing guidance for action evaluation scoring, driving electromechanical system and interactive screen, and the virtual environment update thread can realize the functions of real-time updating virtual environment information and predicting the next moment virtual human position information and virtual human motion state.

[0106] Further, in the S11, the preset ski field information is input to the virtual ski field module, virtual ski field information of the virtual ski field module is obtained, the initial human body position of the indoor ski machine module is assumed to be the preset ski field highest point, the virtual ski field information is input to the virtual ski field module through the evaluation control module, virtual human information of the virtual ski field module is obtained, the virtual environment information is transmitted to the evaluation control module, and the electromechanical system control parameter is obtained through the evaluation control module and input to the indoor ski machine module.

[0107] In the S12, the evaluation control module drives the electromechanical system to adjust the hydraulic controller, the motor and the steering wheel according to the electromechanical system control parameter, the hydraulic controller adjusts the lifting height of the hydraulic tilting support to change the tilting angle of the ski mat, the motor adjusts the rotation speed to change the rotation speed of the ski mat, and the steering wheel adjusts the camera angle to make the camera shooting center track the skier.

[0108] Further, in the S41, the speed score is calculated according to the virtual human motion state information in the feedback virtual environment information.

[0109] The speed score S 速度 is expressed as:

[0110] S 速度 = α * v

[0111] wherein α is a speed score coefficient, and v is the current speed of the virtual human in the virtual ski field module.

[0112] In the S42, a reasonable mass is assigned to each limb of the virtual human, the center of each limb is taken as the center of mass, the virtual human center of gravity position is calculated in real time, the center point of the ski plate and the ground contact surface is taken as a reference, and the stable score is calculated according to the included angle θ between the center point ground tangent and the straight line where the center point and the center of gravity are located.

[0113] The stable score S 稳定 is expressed as:

[0114] S 稳定 = β * cos θ

[0115] wherein β is a stable score coefficient.

[0116] In the S43, 14 joint angles of the human body are selected to form a vector space, a professional skiing motion data set is disassembled into a vector composed of the selected 14 joint angles of the human body as a standard vector, a clustering algorithm is used to calculate a current state vector composed of 14 joint angle data corresponding to the current human body posture and an action system to which the current state vector belongs in real time, and a motion score is calculated.

[0117] The motion score S 运动 is expressed as:

[0118] S 运动 = γ * d

[0119] Wherein, γ is the action score coefficient, d is the current state vector and the distance of the standard vector of the action.

[0120] Further, in the S51, the virtual engine of the virtual ski field module is run to obtain the virtual environment information change caused by the current human body posture information input, including the current speed, the angle between the center point ground tangent and the straight line where the center point-gravity is located, and the 14 joint angles corresponding to the current human body posture. The display image of the virtual ski field and the display image of the virtual person in the interactive screen are updated according to the human body posture information, the virtual person's visual angle at the current time, and the position of the virtual person. After the virtual ski field information in the virtual ski field module is updated according to the human body posture information, the virtual person's position change causes the terrain change, and the position and motion state of the virtual person in the virtual ski field at the next time are calculated by combining the physical engine in the virtual engine of the virtual ski field module. The electromechanical system control parameters are obtained through the evaluation control module.

[0121] In the S52, the electromechanical system is adjusted again through the evaluation control module, the slope of the ski trail at the next time is output according to the position of the virtual person at the next time, the slope of the ski trail is adjusted by the controller to adjust the hydraulic tilting support, the rotation speed of the ski mat is output according to the current speed of the virtual person, the rotation speed of the ski mat is adjusted by adjusting the motor speed, and the camera shooting center is controlled to follow the skier by the rudder according to the current position of the virtual person.

[0122] Specifically, the virtual ski field module is built by using the unity virtual engine.

[0123] Although the present application has been described in terms of specific embodiments, it will be apparent to those having ordinary skill in the art upon which the description is made that other embodiments can be conceived that fall within the scope of the application described herein. Moreover, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes and can not have been selected to expressly convey the scope of the subject matter of the present application. Therefore, numerous modifications and adaptations should be apparent to those skilled in the art that, without departing from the scope and spirit of the appended claims, can be employed in the practice of the present application. It is to be understood that the scope of the application is defined by the appended claims and that equivalents can be substituted for certain components of the inventive construction without departing from the scope and spirit of the application.

Claims

1. A method of ski motion capture and evaluation based on an indoor ski simulator, characterized in that, The method comprises the following steps: S1. According to the virtual environment information of the virtual ski field module, the control parameters of the electromechanical system are obtained to adjust the inclination angle of the ski mat, the rotation speed of the ski mat and the angle of the camera in the indoor ski machine module; S2. According to the picture of the ski posture information shot by the camera, the human body posture information is obtained through the visual motion capture module and input to the evaluation control module; S3. The virtual environment information fed back by the virtual ski field module is obtained through the virtual ski field module and input to the evaluation control module; Specifically, the human body posture information is given to the virtual person in the virtual ski field module through the evaluation control module, the virtual person is adjusted to the current human body posture position in the virtual environment, the virtual person motion state information and the current virtual ski field information, i.e. the virtual environment information fed back by the virtual ski field module, are extracted, and are displayed in real time on the interactive screen, and the evaluation control module obtains the feedback virtual environment information through the multi-thread data sharing related mechanism; S4. The evaluation control module evaluates according to the evaluation index, the human body posture information and the feedback virtual ski field information and provides guidance; In S4, the following steps are included: S41. The motion speed in the virtual person motion state information is extracted as the evaluation index, and the speed score is obtained through the evaluation control module; S42. The relationship between the center of gravity of the virtual person and the virtual environment position is taken as the evaluation index, and the stability score is obtained through the evaluation control module; S43. The accuracy of professional skiing action is taken as the evaluation index, and the action score is obtained through the evaluation control module; S44. The low-score items in the evaluation index are screened through the evaluation control module, the specific guidance is proposed for the skier in combination with the skiing experience database, and is displayed on the interactive screen; S5. The virtual ski field module information and the electromechanical system control parameters of the indoor ski machine module are updated; In S5, the following steps are included: S51. The human body posture information collected by the visual motion capture module is continuously updated to the virtual ski field information through the evaluation control module and is displayed in real time on the interactive screen, and the electromechanical system control parameters are updated and transmitted to the indoor ski machine module through the evaluation control module according to the real-time virtual ski field information; S52. The electromechanical system is adjusted according to the updated electromechanical system control parameters; S6. The above operations are returned to S2 to realize the real-time interaction between the skier on the indoor ski machine and the interactive screen; The skiing motion capture and evaluation system based on the indoor ski machine comprises an indoor ski machine module, a visual motion capture module, an evaluation control module and a virtual ski field module; The indoor ski machine module comprises a ski mat (1), a hydraulic tilting support (2) and an electromechanical system (3), an interactive screen (4) and a camera (5), the electromechanical system (3) comprises a hydraulic controller, a motor and a rudder; The camera (5) is connected with the visual motion capture module; The visual motion capture module, the evaluation control module and the virtual ski field module are connected in sequence; The evaluation control module is connected with the electromechanical system (3) and the interactive screen (4) respectively; The hydraulic tilting support (2) and the electromechanical system (3) are arranged below the snowboard (1), and the hydraulic tilting support (2) is used for supporting the snowboard (1); The interactive screen (4) is arranged in front of the snowboard (1) and is used for displaying information of the evaluation control module and the virtual ski field module; The camera (5) is arranged around the snowboard (1) and is used for shooting pictures containing complete skier postures; The controller is connected with the hydraulic tilting support (2); The motor is connected with the snowboard (1), and the snowboard (1) is internally provided with a conveying belt; The steering engine is connected with the camera (5); The indoor ski machine module communicates with the virtual ski field module, the visual motion capture module and the evaluation control module in real time through an RS232 electrical interface.

2. The indoor ski slope based ski motion capture and evaluation method according to claim 1, characterized in that, The snowboard (1) is provided with a guardrail (6) on the left side, the right side and the back side.

3. The indoor ski slope based ski motion capture and evaluation method according to claim 2, characterized in that, The S1 comprises the following steps: S11. Virtual environment information of the virtual ski field module, i.e. virtual ski field information and virtual person information, is obtained, and electromechanical system control parameters obtained through the evaluation control module are transmitted to the indoor ski machine module; S12. The indoor ski machine module adjusts the hydraulic controller, the motor and the steering engine according to the electromechanical system control parameters; The S2 comprises the following steps: S21. The visual motion capture module collects pictures containing complete skier posture information shot by the camera, processes the pictures, inputs the pictures into an HRNet neural network to obtain human two-dimensional key point information, arranges the human two-dimensional key point information in time sequence, and obtains human two-dimensional key point time series; S22. The human two-dimensional key point time series is input into a three-dimensional key point prediction network to obtain recovered human three-dimensional key point information; S23. A human posture model based on human reaction dynamics is used for calculation, human three-dimensional key point information is used for reverse recovery of rotation angles of each joint of the human body, and human posture information is obtained; S24. The evaluation control module obtains human posture information through a multi-thread data sharing related mechanism.

4. The indoor ski slope based ski motion capture and evaluation method according to claim 3, characterized in that, In the S11, preset ski field information is input into the virtual ski field module to obtain virtual ski field information of the virtual ski field module, an initial human body position of the indoor ski machine module is assumed to be a preset highest point of the ski field, the initial human body position is input into the virtual ski field module through the evaluation control module, virtual person information of the virtual ski field module is obtained, virtual environment information is transmitted to the evaluation control module, electromechanical system control parameters obtained through the evaluation control module are input into the indoor ski machine module; In the S12, the evaluation control module drives the electromechanical system to adjust the hydraulic controller, the motor and the steering engine according to the electromechanical system control parameters, the hydraulic controller changes the tilting angle of the snowboard by adjusting the lifting height of the hydraulic tilting support, the motor changes the rotating speed of the snowboard by adjusting the rotating speed of the motor, and the steering engine adjusts the angle of the camera to make the camera shooting center track the skier.

5. The indoor ski slope based ski motion capture and evaluation method according to claim 4, characterized in that, In the S41, the speed score is calculated according to the virtual person motion state information in the feedback virtual environment information; Speed score S 速度 is represented as: S 速度 = a * v Wherein, α is a speed score coefficient, and v is the current speed of the virtual person in the virtual ski field module. In the S42, a reasonable mass is assigned to each limb of the virtual person, the center of each limb is taken as the center of mass, the position of the center of mass of the virtual person is calculated in real time, the center point of the contact surface between the ski and the ground is taken as the reference, and the stable score is calculated according to the included angle θ between the tangent line of the ground at the center point and the straight line where the center point and the center of mass are located; Stability score S 稳定 is represented as: S 稳定 = β * cos θ Wherein, β is the stable score coefficient; In the S43, a vector space is formed by selecting 14 joint angles of the human body, the professional skiing motion data set is decomposed into a vector composed of the selected 14 joint angles of the human body as a standard vector, a clustering algorithm is used to calculate the current state vector composed of the 14 joint angle data corresponding to the current human body posture and the motion system to which it belongs in real time, and the motion score is calculated; Action score S 运动 is represented as: S 运动 = γ * d Wherein, γ is the motion score coefficient, and d is the distance between the current state vector and the motion standard vector to which it belongs.

6. The indoor ski slope based ski motion capture and evaluation method according to claim 5, characterized in that, In the S51, the virtual engine of the virtual ski field module is waited to run, the changes in the virtual environment information caused by the current human body posture information input are obtained, including the current speed, the included angle between the tangent line of the ground at the center point and the straight line where the center point and the center of mass are located, and the 14 joint angles corresponding to the current human body posture, the display images of the virtual ski field and the virtual person in the interactive screen are updated according to the human body posture information, the direction of the virtual person's view at the current time and the position of the virtual person, after the virtual ski field information in the virtual ski field module is updated according to the human body posture information, the position of the virtual person is changed, the terrain is changed, the position and motion state of the virtual person in the virtual ski field at the next time are calculated by combining the physical engine in the virtual engine of the virtual ski field module, and the control parameters of the electromechanical system are obtained through the evaluation control module; In the S52, the electromechanical system is adjusted again through the evaluation control module, the slope of the ski trail at the next time is output according to the position of the virtual person at the next time, the slope of the ski trail is adjusted by the controller to adjust the hydraulic tilting support, the rotation speed of the ski mat is output according to the current speed of the virtual person, the rotation speed of the ski mat is adjusted by adjusting the rotation speed of the motor, and the camera center is controlled to follow the skier by the rudder according to the current position of the virtual person.

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