Quick wearable indoor ice and snow movement pose capturing system and use method thereof

Abstract

The invention belongs to the technical field of ice and snow sports equipment, and particularly relates to a quick wearable indoor ice and snow sports pose capturing system and a using method thereof. Inertia capture nodes are embedded in human body key node positions in the intelligent ice and snow suit, UWB tags are embedded in the head position of the intelligent ice and snow suit, and UWB base stations are arranged at the high positions of the four corners of an ice and snow playground to form rectangular coverage. A sporter wears the intelligent ice and snow suit, selects a movement mode through a user interface of a display system and adjusts setting, in the movement process, a virtual sporter in a virtual ice and snow movement scene in the user interface is synchronous with an actual sporter in action, the sporter checks data in the movement process through the user interface, and the data comprise the speed, the attitude angle and the sliding track. The sporter is helped to analyze and improve the ice and snow sports technology.

Description

Technical Field

[0001] The present invention belongs to the technical field of ice and snow sports equipment, and in particular relates to a fast wearable indoor ice and snow sports posture capture system and a use method thereof. Background Art

[0002] In recent years, with the popularization of winter sports, ice and snow sports have shown a rapid development trend. The rise and popularization of ice and snow sports have not only driven the vigorous development of the ice and snow industry, but also promoted the leapfrog development of national fitness and sports tourism industries. Ice and snow sports have gradually become one of the mainstream winter outdoor sports. The construction of ice and snow sports venues and related infrastructure has also been rapidly developed and improved.

[0003] Although the ice and snow industry has developed rapidly, it is still a very seasonal sport due to geographical and climatic conditions. Traditional outdoor ice and snow sports venues cannot be carried out in spring and summer, and the emergence of indoor ice and snow sports venues has solved the above problem. Indoor ice and snow sports venues have the following advantages:

[0004] Four-season ice and snow: Indoor ice and snow sports venues are not restricted by seasons and climate. Ice and snow enthusiasts can conduct ice and snow training and entertainment in any season. It is a typical presentation form of the new four-season ice and snow business. Mass ice and snow sports drive the sustainable development of the ice and snow economy.

[0005] Save space: Compared with traditional ice and snow sports venues, indoor ice and snow sports fields take up less space and can be shared with gyms, stadiums and other places in the city, bringing ice and snow sports to the general public.

[0006] High safety: Indoor ice and snow sports venues can adjust speed and height, and by adding safety measures such as safety guardrails, they greatly reduce the risk of accidents in ice and snow sports and improve the safety of ice and snow training.

[0007] Environmentally friendly: Indoor ice and snow sports venues do not require a large amount of water and electricity for snowmaking and maintenance, which is in line with the concept of green environmental protection.

[0008] Technical improvement: By equipping with a posture capture system and a real-time feedback system, ice and snow athletes can understand their own ice and snow posture and technical level in real time, which is convenient for improving and enhancing their ice and snow competitive level.

[0009] In the context of the rapid development of ice and snow sports, indoor ice and snow sports venues have become an important choice for ice and snow enthusiasts due to their unique advantages. With the advancement of science and technology, the technology of ice and snow sports venues is constantly innovating and improving, which will provide strong support for the popularization and development of ice and snow sports. Summary of the invention

[0010] The object of the present invention is to provide a fast wearable indoor ice and snow sports posture capture system and a method of using the same.

[0011] A fast wearable indoor ice and snow sports posture capture system, comprising an intelligent ice and snow suit, a posture acquisition module, a network communication module, a central processing unit and a display system; the posture acquisition module comprises an inertial capture node and a UWB positioning module; the inertial capture node is embedded in each key node position of the human body in the intelligent ice and snow suit, and is used to obtain the limb posture information of the athlete wearing the intelligent ice and snow suit; the UWB positioning module comprises a UWB tag and a UWB base station, the UWB tag is embedded in the head position of the intelligent ice and snow suit, and the UWB base station is placed in the four corners of the ice and snow sports field and installed at a high place to form a rectangular coverage; the UWB positioning module is used to obtain the position information of the athlete wearing the intelligent ice and snow suit; the network communication module is used to receive the athlete's limb posture and position measurement information transmitted by the posture acquisition module and transmit it to the central processing unit after preprocessing; the central processing unit is used to perform data fusion, obtain the athlete's limb posture and position solution information, and transmit it to the display system; the display system is used to generate a virtual environment, and display the athlete's real-time action and position in the virtual environment according to the athlete's limb posture and position solution information.

[0012] Furthermore, the inertial capture node adopts an MPU9250 nine-axis motion sensor, which integrates an accelerometer, a gyroscope and a magnetometer, and is embedded in the smart ice and snow suit through the inner armor.

[0013] Furthermore, the distance between the UWB tag and the UWB base station is determined by two-way ranging, and the three-dimensional position of the UWB tag is calculated by the arrival time difference method.

[0014] Furthermore, the network communication module adopts an ESP12F module, and the ESP12F module preprocesses the data including: removing high-frequency noise and outliers through low-pass filtering, performing zero bias correction and scale factor adjustment on the data through calibration parameters, and converting the acceleration data to a global coordinate system using an attitude angle, thereby separating the gravity component.

[0015] Furthermore, the central processing unit adopts an ESP32 module, and the ESP32 module adopts an extended Kalman filter algorithm to fuse the measurement data preprocessed by the inertial capture node and the UWB positioning module to obtain more accurate body posture and position solution information of the athlete.

[0016] Furthermore, the central processing unit uses an extended Kalman filter algorithm to fuse the measurement data preprocessed by the inertial capture node and the UWB positioning module, specifically:

[0017] The three-dimensional position error, velocity error, attitude angle error, gyroscope and accelerometer zero bias are used as the state vector of the extended Kalman filter algorithm. The true position of the UWB tag at time k is (x k ,y k ,z k ), the actual distance from the UWB tag to the i-th UWB base station is ρ i,k ; The coordinates of the i-th UWB base station are The distance between the i-th UWB base station and the UWB tag is ρ Ui,k , the position of the UWB tag obtained by solving the state transfer equation is (x i,k ,y i,k ,z i,k ), where ρ Ui,k =ρ i,k +ε, ε is the UWB measurement noise; the measurement equation of the extended Kalman filter algorithm is:

[0018] Z ik =h i (X k )+v i (ρ Ui,k ,ε)

[0019]

[0020] v i (ρ UI,k ,ε)=-2ρ Ui,k ε+ε 2

[0021] Furthermore, the display system uses the Unity engine to create a virtual ice and snow sports scene, and renders the movements of the virtual athlete in real time according to the athlete's body posture and position solution information, ensuring that the virtual athlete's movements are synchronized with the actual athlete's movements, and displays the rendered virtual ice and snow sports scene, the athlete's movements and sports data on the user interface.

[0022] A method for using a fast wearable indoor ice and snow sports posture capture system comprises the following steps:

[0023] Step 1: Deploy UWB base stations at high altitudes in the four corners of the ice and snow sports field to form a rectangular coverage;

[0024] Step 2: The athlete puts on the smart snow suit and initializes the inertial capture node;

[0025] Step 3: The athlete selects the sport mode and adjusts the settings through the user interface of the display system. When the athlete wears the smart ice and snow suit for exercise, the virtual athlete in the virtual ice and snow sports scene in the user interface is synchronized with the actual athlete's movements. The athlete views the data of the exercise process through the user interface, including speed, attitude angle, and sliding trajectory, to help the athlete analyze and improve ice and snow sports techniques.

[0026] Furthermore, the initialization of the inertia capture node in step 2 is specifically as follows:

[0027] Step 2.1: After the athlete wears the smart ice and snow suit correctly, he / she stands in front of the ice and snow sports field, with his / her feet shoulder-width apart and his / her arms spread out horizontally to form a "T-shaped" posture;

[0028] Step 2.2: The central processing unit obtains the data collected by each inertial capture node and the UWB positioning module through the network communication module and records it as the initial posture data;

[0029] Step 2.3: The central processing unit compares the initial T-pose data with the initial posture data, calculates the error of each inertial capture node, and performs error correction;

[0030] Step 2.4: After error correction, the central processing unit obtains the data collected by each inertial capture node and the UWB positioning module again as the calibrated initial attitude data;

[0031] Step 2.5: The central processing unit sends a prompt of calibration completion to the athlete through the display system, and the athlete ends the "T-type" posture and starts normal ice and snow sports.

[0032] The beneficial effects of the present invention are:

[0033] 1. Fast and wearable

[0034] The posture capture system of the present invention embeds the inertial capture nodes and UWB modules into ice and snow suits and helmets to achieve a fast and wearable function. Existing posture capture devices usually require a cumbersome wearing process, and each node of the sensor and positioning module needs to be worn and connected separately, which is time-consuming and inconvenient, and requires on-site support from professional and technical personnel, which is not conducive to the development of popular ice and snow sports. The present invention directly embeds the inertial capture nodes and UWB modules into ice and snow suits and helmets. Users only need to put on ice and snow suits and helmets to complete the configuration of all sensors, which greatly simplifies the use process and improves the convenience of use and user experience. T-pose alignment is relatively simple and easy for users. They only need to pose in a "T-shaped" posture after powering on the device to complete the initial calibration. This makes the present invention more user-friendly, especially in scenarios of quick wearing and use such as popular ice and snow sports.

[0035] 2. Low cost for the general public

[0036] The present invention uses the MPU9250 sensor, which not only has high-precision posture capture capabilities, but also significantly reduces costs compared to existing inertial capture products. The MPU9250 integrates an accelerometer, a gyroscope, and a magnetometer, and can achieve multi-axis sensing at a lower price, reducing the overall hardware cost. This makes the present invention easier to meet the mass consumption level, thereby promoting the promotion of ice and snow sports to mass enthusiasts, allowing more people to enjoy the fun brought by high-tech ice and snow equipment.

[0037] 3. Modular processing

[0038] The present invention utilizes ESP32 and ESP12F modules, which not only undertake Wi-Fi transmission tasks, but also perform data processing as a main control chip, ensuring efficient data transmission and processing. Existing products usually use multiple independent modules for data transmission and processing, which increases system complexity and power consumption. In the present invention, ESP32 is used as a central processing unit to process the data of IMU and UWB, and extended Kalman filtering (EKF) is used for data fusion. ESP12F modules are used for inertial nodes and UWB tag boards to achieve efficient data transmission and real-time positioning, reduce the number of hardware and energy consumption, and improve system integration and reliability.

[0039] 4. Data fusion algorithm

[0040] The present invention uses the extended Kalman filter (EKF) algorithm to fuse IMU and UWB data to provide high-precision attitude and position estimation. Many existing products use a simple low-pass filter algorithm, which cannot fully utilize multi-sensor data, resulting in inaccurate attitude and position estimation. The present invention uses the EKF algorithm to fully utilize the high-frequency attitude data provided by the IMU and the high-precision position data provided by the UWB, integrates the advantages of both, and improves the accuracy and stability of attitude and position estimation. The EKF algorithm takes into account the nonlinear characteristics of the system and can provide more reliable data fusion results in noisy and uncertain environments.

[0041] 5. Unity Human-Computer Interaction

[0042] The present invention creates a virtual ice and snow sports scene through the Unity engine, realizes real-time posture and position feedback of ice and snow athletes, and provides a high-level human-computer interaction experience. There are delays and inconsistencies between the virtual scenes and actual actions of many existing ice and snow simulation devices, and the user experience is poor. The present invention can render the virtual ice and snow sports scene in real time through the Unity engine, and update the scene in real time according to the posture and position data of the ice and snow athletes to ensure the synchronization of the action and the virtual scene. The efficient rendering capability and rich development resources of the Unity engine make the virtual ice and snow sports scene more realistic and the user experience more immersive. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the fast wearable indoor ice and snow sports posture capture system in the present invention.

[0044] Figure 2 Schematic diagram of the inertial capture node.

[0045] Figure 3 Schematic diagram of the inertia capture node.

[0046] Figure 4 This is the schematic diagram of the UWB positioning module.

[0047] Figure 5 This is the schematic diagram of the extended Kalman filter algorithm. DETAILED DESCRIPTION

[0048] The present invention is further described below in conjunction with the accompanying drawings.

[0049] like Figure 1 As shown, the present invention provides a fast wearable indoor ice and snow sports posture capture system, including smart ice and snow clothing, a posture acquisition module, a network communication module, a central processing unit and a display system;

[0050] The posture acquisition module includes an inertial capture node and a UWB positioning module; the inertial capture node is embedded in the key node positions of the human body in the smart ice and snow suit to obtain the body posture information of the athlete wearing the smart ice and snow suit; Figure 2 As shown, special armor is installed at the important joints of the smart ice and snow suit, the inertial capture node is embedded in the reserved card slot, and a charging port is reserved. Among them, ①-⑤ are installed on the joints of the right shoulder, elbow, wrist, hip, and knee of the human body respectively, and ⑥-⑩ are the corresponding important joints on the left side of the human body. They are installed in the armor on the front and back, and the No. 13 motion capture node and the UWB tag are embedded in the helmet of the smart ice and snow suit. This installation method can not only realize the rapid wearability of the motion capture system, but also provide corresponding protection for the capture node during intense ice and snow sports.

[0051] The UWB tag is embedded in the helmet of the smart snow suit, and the UWB base station is placed in the four corners of the snow sports field and installed at a high place to form a rectangular coverage to ensure that the signal coverage of the entire snow area is without blind spots. The distance between the transmitter and the receiver is determined by two-way ranging (Two-Way Ranging, TWR), and the three-dimensional position of the tag is calculated by the time difference of arrival (Time Difference of Arrival, TDOA).

[0052] The network communication module uses the ESP12F module with built-in Wi-Fi function to achieve wireless communication with the central processing unit. The ESP12F module is used for data acquisition and transmission of inertial capture nodes and UWB tags to ensure low power consumption and efficient Wi-Fi communication. The ESP12F module pre-processes the data, including: removing high-frequency noise and outliers through low-pass filtering, performing zero bias correction and scaling factor adjustment on the data through calibration parameters, and converting the acceleration data to the global coordinate system using attitude angles (pitch angle, roll angle, heading angle), thereby separating the gravity component.

[0053] The central processing unit uses the ESP32 module, which is used to perform data fusion. It uses the extended Kalman filter algorithm to fuse the measurement data pre-processed by the inertial capture node and the UWB positioning module to obtain more accurate information on the athlete's limb posture and position, and transmit it to the display system.

[0054] The display system uses the Unity engine to create virtual ice and snow sports scenes, including terrain, snow tracks, obstacles, gold coins, etc.; based on the athlete's body posture and position solution information, the virtual athlete's movements are rendered in real time to ensure that the virtual athlete's movements are synchronized with the actual athlete's movements, and the rendered virtual ice and snow sports scenes, athlete's movements and sports data are displayed on the user interface to provide intuitive visual feedback. Through the user interface, ice and snow athletes can select different ice and snow modes, view ice and snow data, and adjust settings. Displaying data during the ice and snow process, such as speed, attitude angle, sliding trajectory, etc., helps ice and snow athletes analyze and improve their ice and snow techniques.

[0055] like Figure 3 As shown in the figure, the inertial capture node uses the MPU9250 nine-axis motion sensor, which integrates an accelerometer, a gyroscope, and a magnetometer, and is embedded in the smart ice and snow suit through the inner armor. The inertial capture node captures the acceleration, angular rate, and magnetic information of important joints of the human body, and the ESP12F module performs data preprocessing through a low-pass filtering algorithm to eliminate high-frequency noise and abnormal data. The preprocessed data is sent to the central processing unit ESP32 module using the MQTT protocol via Wi-Fi.

[0056] like Figure 4 As shown in the figure, the UWB positioning module first performs an initialization operation and configures the unique identifier (UID) of the UWB module to ensure that each module has a unique identity in the network. The clocks of all UWB base stations are synchronized through synchronization signals, and the UWB tags send signals at regular intervals. The base stations receive the tag signals and record the receiving time. Finally, the time difference is packaged and sent to the central processing unit for data fusion.

[0057] like Figure 5As shown in the basic flow chart of the extended Kalman filter, the initialization operation is first performed, and the three-dimensional position error, velocity error, attitude angle error, gyroscope and accelerometer zero bias are used as the state vector of the extended Kalman filter algorithm. The true position of the UWB tag at time k is (x k ,y k ,z k ), the actual distance from the UWB tag to the i-th UWB base station is ρ i,k ; The coordinates of the i-th UWB base station are The distance between the i-th UWB base station and the UWB tag is ρ Ui,k , the position of the UWB tag obtained by solving the state transfer equation is (x i,k ,y i,k ,z i,k ), where ρ Ui,k =ρ i,k +ε, ε is the UWB measurement noise; the measurement equation of the extended Kalman filter algorithm is:

[0058] Z ik =h i (X k )+v i (ρ Ui,k ,ε)

[0059]

[0060] v i (ρ Ui,k ,ε)=-2ρ Ui,k ε+ε 2

[0061] Then Kalman filtering is performed.

[0062] 1. Prediction step: First, perform state prediction to obtain the prior state. Calculate the Jacobian matrix F k-1 , where the Jacobian matrix is ​​the partial derivative of the state transfer function f with respect to the state vector. Obtain the prior covariance matrix P k|k-1 ;

[0063] 2. Correction step: Calculate the Jacobian matrix H k , where H k is the partial derivative of the measurement function h with respect to the state vector. Calculate the Kalman gain K k , according to the Kalman gain correction state vector The final estimated value is the required human motion data.

[0064] A method for using a fast wearable indoor ice and snow sports posture capture system comprises the following steps:

[0065] Step 1: Deploy UWB base stations at high altitudes in the four corners of the ice and snow sports field to form a rectangular coverage;

[0066] Step 2: The athlete puts on the smart snow suit and initializes the inertial capture node;

[0067] Step 2.1: After the athlete wears the smart ice and snow suit correctly, he / she stands in front of the ice and snow sports field, with his / her feet shoulder-width apart and his / her arms spread out horizontally to form a "T-shaped" posture;

[0068] Step 2.2: The central processing unit obtains the data collected by each inertial capture node and the UWB positioning module through the network communication module and records it as the initial posture data;

[0069] Step 2.3: The central processing unit compares the initial T-pose data with the initial posture data, calculates the error of each inertial capture node, and performs error correction;

[0070] Step 2.4: After error correction, the central processing unit obtains the data collected by each inertial capture node and the UWB positioning module again as the calibrated initial attitude data;

[0071] Step 2.5: The central processing unit sends a prompt of calibration completion to the athlete through the display system, and the athlete ends the "T-shaped" posture and starts normal ice and snow sports;

[0072] Step 3: The athlete selects the sport mode and adjusts the settings through the user interface of the display system. When the athlete wears the smart ice and snow suit for exercise, the virtual athlete in the virtual ice and snow sports scene in the user interface is synchronized with the actual athlete's movements. The athlete views the data of the exercise process through the user interface, including speed, attitude angle, and sliding trajectory, to help the athlete analyze and improve ice and snow sports techniques.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fast wearable indoor ice and snow sports posture capture system, characterized by: It includes intelligent ice and snow suit, posture acquisition module, network communication module, central processing unit and display system; The posture acquisition module includes an inertial capture node and a UWB positioning module; the inertial capture node is embedded in the key node positions of the human body in the smart ice and snow suit, and is used to obtain the body posture information of the athlete wearing the smart ice and snow suit; the UWB positioning module includes a UWB tag and a UWB base station, the UWB tag is embedded in the head position of the smart ice and snow suit, and the UWB base station is placed in the four corners of the ice and snow sports field and installed at a high place to form a rectangular coverage; the UWB positioning module is used to obtain the position information of the athlete wearing the smart ice and snow suit; The network communication module is used to receive the athlete's limb posture and position measurement information transmitted by the posture acquisition module and transmit it to the central processing unit after preprocessing; The central processing unit is used to perform data fusion, obtain the athlete's limb posture and position solution information, and transmit it to the display system; The display system is used to generate a virtual environment and display the real-time movements and positions of the athlete in the virtual environment according to the athlete's body posture and position calculation information.

2. A fast wearable indoor ice and snow sports posture capture system according to claim 1, characterized in that: The inertial capture node adopts the MPU9250 nine-axis motion sensor, which integrates an accelerometer, a gyroscope and a magnetometer, and is embedded in the smart ice and snow suit through the inner armor.

3. A fast wearable indoor ice and snow sports posture capture system according to claim 1, characterized in that: The distance between the UWB tag and the UWB base station is determined by two-way ranging, and the three-dimensional position of the UWB tag is calculated by the arrival time difference method.

4. A fast wearable indoor ice and snow sports posture capture system according to claim 1, characterized in that: The network communication module adopts an ESP12F module, which pre-processes the data by: removing high-frequency noise and outliers through low-pass filtering, performing zero-bias correction and scale factor adjustment on the data through calibration parameters, and converting the acceleration data into a global coordinate system using the attitude angle, thereby separating the gravity component.

5. A fast wearable indoor ice and snow sports posture capture system according to claim 1, characterized in that: The central processing unit adopts an ESP32 module, and the ESP32 module adopts an extended Kalman filter algorithm to fuse the measurement data preprocessed by the inertial capture node and the UWB positioning module to obtain more accurate body posture and position solution information of the athlete.

6. A fast wearable indoor ice and snow sports posture capture system according to claim 5, characterized in that: The central processing unit uses the extended Kalman filter algorithm to fuse the measurement data preprocessed by the inertial capture node and the UWB positioning module, specifically: The three-dimensional position error, velocity error, attitude angle error, gyroscope and accelerometer zero bias are used as the state vector of the extended Kalman filter algorithm. The true position of the UWB tag at time k is (x k ,y k ,z k ), the actual distance from the UWB tag to the i-th UWB base station is ρ i,k ; The coordinates of the i-th UWB base station are The distance between the i-th UWB base station and the UWB tag is ρ Ui,k , the position of the UWB tag obtained by solving the state transfer equation is (x i,k ,y i,k ,z i,k ); Among them, ρ Ui,k =ρ i,k +ε, ε is the UWB measurement noise; the measurement equation of the extended Kalman filter algorithm is: Z ik =h i (X k )+v i (ρ Ui,k ,ε) v i (r Ui,k ,e)=-2ρ Ui,k e+e 2 。 7. A fast wearable indoor ice and snow sports posture capture system according to claim 1, characterized in that: The display system uses the Unity engine to create a virtual ice and snow sports scene, and renders the movements of the virtual athlete in real time according to the athlete's body posture and position solution information to ensure that the virtual athlete's movements are synchronized with the actual athlete, and displays the rendered virtual ice and snow sports scene, the athlete's movements and sports data on the user interface.

8. A method for using the fast wearable indoor ice and snow sports posture capture system according to claim 1, characterized in that: The following steps are involved: Step 1: Deploy UWB base stations at high altitudes in the four corners of the ice and snow sports field to form a rectangular coverage; Step 2: The athlete puts on the smart snow suit and initializes the inertial capture node; Step 3: The athlete selects the sport mode and adjusts the settings through the user interface of the display system. When the athlete wears the smart ice and snow suit for exercise, the virtual athlete in the virtual ice and snow sports scene in the user interface is synchronized with the actual athlete's movements. The athlete views the data of the exercise process through the user interface, including speed, attitude angle, and sliding trajectory, to help the athlete analyze and improve ice and snow sports techniques.

9. The method for using a fast wearable indoor ice and snow sports posture capture system according to claim 8, characterized in that: The initialization of the inertia capture node in step 2 is specifically as follows: Step 2.1: After the athlete wears the smart ice and snow suit correctly, he / she stands in front of the ice and snow sports field, with his / her feet shoulder-width apart and his / her arms spread out horizontally to form a "T-shaped" posture; Step 2.2: The central processing unit obtains the data collected by each inertial capture node and the UWB positioning module through the network communication module and records it as the initial posture data; Step 2.3: The central processing unit compares the initial T-pose data with the initial posture data, calculates the error of each inertial capture node, and performs error correction; Step 2.4: After error correction, the central processing unit obtains the data collected by each inertial capture node and the UWB positioning module again as the calibrated initial attitude data; Step 2.5: The central processing unit sends a prompt of calibration completion to the athlete through the display system, and the athlete ends the "T-type" posture and starts normal ice and snow sports.

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