Racing boat body monitoring method and system and storage medium

Abstract

The invention provides a racing boat body monitoring method and system and a storage medium, a first positioning device is arranged on the left side of the center line of the head of a racing boat, a second positioning device is arranged on the right side of the center line of the head of the racing boat, the first positioning device and the second positioning device are symmetrical about the center line of the head, and a first pressure detection device is arranged at the lower left corner of the center of the upper surface of each seat; a first pressure detection device is arranged at the upper right corner of the center of the upper surface, and a second pressure detection device is arranged at the upper right corner of the center of the upper surface. Determining the advancing direction, pitching information on the water surface, the accelerated speed of the ship body and whether the ship body deviates or not based on the left side positioning parameters and the right side positioning parameters; and a first pressure value monitored by the first pressure detection equipment and a second pressure value monitored by the second pressure detection equipment are obtained, and the paddling frequency and pedal pressure information are determined based on the first pressure value and the second pressure value. According to the invention, the cost of monitoring the monitoring data obtained by the racing boat can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of rowing boats, and particularly to a monitoring method, system and storage medium for a rowing boat hull. Background Art

[0002] A rowing boat is a water sport in which one or more athletes sit in the boat, with their backs to the direction of the boat's forward movement, and use their muscle strength to row through the simple lever action between the oars and the oarlocks, causing the boat to move forward. In order for athletes to better complete the competition, they need to undergo a large amount of training. During the training process, they are tested to obtain monitoring data, and then the monitoring data is analyzed to guide the athletes and help them improve their performance.

[0003] Currently, during the participation and training of athletes, more attention is paid to monitoring the physical condition of the athletes, and there is little monitoring of the rowing boat. This makes the dimension of the overall monitoring data relatively single, and thus the guiding opinions obtained from analyzing the monitoring data are not comprehensive enough. In order to be able to guide athletes more comprehensively, it is also necessary to monitor the state of the rowing boat. At present, generally when it is necessary to monitor certain parameters, corresponding one-to-one monitoring devices are directly installed, that is, a large number of monitoring devices are used to obtain the required monitoring parameters, which will undoubtedly increase the monitoring cost. Summary of the Invention

[0004] In order to reduce the cost of the monitoring data obtained from monitoring the rowing boat, embodiments of this application provide a monitoring method, system and storage medium for a rowing boat hull.

[0005] In a first aspect, this embodiment provides a monitoring method for a rowing boat hull. A first positioning device is provided on the left side of the center line of the bow of the rowing boat, and a second positioning device is provided on the right side of the center of the bow of the rowing boat. The first positioning device and the second positioning device are symmetrical about the center line of the bow. At the lower left corner of the center of the upper surface of each seat in the rowing boat, a first pressure detection device is provided, and at the upper right corner of the center of the upper surface, a second pressure detection device is provided. The method includes: Obtaining the left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device, and determining the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull has shifted based on the left position parameter and the right positioning parameter; Obtaining the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device, and determining the rowing frequency and the foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value.

[0006] In some of these embodiments, both the left positioning parameter and the right positioning parameter are three-dimensional coordinates in a preset coordinate system. Determining the traveling direction of the rowing boat hull based on the left positioning parameter and the right positioning parameter includes: Obtain the left two-dimensional coordinate of the left positioning parameter on the coordinate plane of the horizontal plane, and the right two-dimensional coordinate of the right positioning parameter on the coordinate plane of the horizontal plane; Connect the point corresponding to the left two-dimensional coordinate and the point corresponding to the right two-dimensional coordinate into a direction line segment, and determine the line segment direction corresponding to the direction line segment with reference to the coordinate system direction corresponding to the preset coordinate system, where the line segment direction is the traveling direction of the rowing boat hull.

[0007] In some of these embodiments, determining the pitch information of the rowing boat hull on the water surface based on the left positioning parameter and the right positioning parameter includes: Rotate the preset coordinate system in the horizontal plane direction according to the traveling direction to obtain an updated coordinate system, so that the Y-axis in the updated coordinate system is the traveling direction and the Z-axis is the vertically upward direction; Adjust the left positioning parameter to the left updated positioning parameter in the updated coordinate system, and adjust the right positioning parameter to the right updated coordinate parameter in the updated coordinate system; Project the left updated positioning parameter and the right updated positioning parameter onto the YZ plane of the updated coordinate system to obtain YZ projection information; Project the left updated positioning parameter and the right updated positioning parameter onto the XZ plane of the updated coordinate system to obtain XZ projection information; Determine the pitch information of the rowing boat hull on the water surface based on the YZ projection information and the XZ projection information.

[0008] In some of these embodiments, the pitch information is one of a left pitch state, a right pitch state, a front pitch state, a rear pitch state, a left front pitch state, a right front pitch state, a left rear pitch state, a right rear pitch state, and a steady state. Determining the pitch information of the rowing boat hull on the water surface based on the YZ projection information and the XZ projection information includes: If the YZ projection information is a line segment parallel to the Z-axis and the XZ projection information is a line segment with the right endpoint higher than the left endpoint, then the pitch information of the rowing boat hull on the water surface is a left pitch state; If the YZ projection information is a line segment parallel to the Z-axis and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitch information of the rowing boat hull on the water surface is a right pitch state; If the YZ projection information is a point lower than the set height and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is the forward pitching state; If the YZ projection information is a point higher than the set height and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is the rear pitching state; If the YZ projection information is a line segment with the upper end close to the Z-axis and the XZ projection information is a line segment with the right end point higher than the left end point, then the pitching information of the rowing boat hull on the water surface is the left front pitching state; If the YZ projection information is a line segment with the lower end close to the Z-axis and the XZ projection information is a line segment with the right end point higher than the left end point, then the pitching information of the rowing boat hull on the water surface is the left rear pitching state; If the YZ projection information is a line segment with the upper end close to the Z-axis and the XZ projection information is a line segment with the right end point lower than the left end point, then the pitching information of the rowing boat hull on the water surface is the right front pitching state; If the YZ projection information is a line segment with the lower end close to the Z-axis and the XZ projection information is a line segment with the right end point lower than the left end point, then the pitching information of the rowing boat hull on the water surface is the right rear pitching state; If the YZ projection information is a point equal to the preset height and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is the stable state.

[0009] In some of the embodiments, determining the rowing frequency of the rowing boat hull based on the first pressure value and the second pressure value includes: Obtain a plurality of first historical pressure values monitored by the first pressure detection device, and form a first pressure group by arranging the first historical pressure values and the first pressure value in chronological order; Alternatively, obtain a plurality of second historical pressure values monitored by the second pressure detection device, and form a second pressure group by arranging the second historical pressure values and the second pressure value in chronological order; Subtract two adjacent pressure values in the first pressure group or subtract two adjacent pressure values in the second pressure group to obtain a pressure difference, and compare the pressure difference with a preset difference to determine whether rowing has been performed; Obtain the time corresponding to each rowing, and determine the rowing frequency of the rowing boat hull based on the time corresponding to two adjacent rowings.

[0010] In some of the embodiments, determining the foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value includes: Determine whether the athlete has performed a pedaling action based on the first pressure value or the second pressure value. If so, determine the action pressure value of the athlete on the seat based on the first pressure value, the second pressure value, and the pitch information. Substitute the action pressure value into the corresponding relationship between the preset action pressure value and the pedaling pressure value to obtain the pedaling pressure information of the rowing boat hull.

[0011] In some embodiments, a handle pressure detection device is provided on the oar handle, a blade pressure detection device, a gyroscope, and a blade position sensor are provided on the blade, a tholepin pressure detection device is provided on the tholepin, and a speed measurement element is further provided on the seat. The method further includes: Obtain the handle force using the handle pressure detection device, obtain the blade force using the blade pressure detection device, obtain the tholepin force using the tholepin pressure detection device, and determine the oar force curve based on the handle force, the blade force, and the tholepin force. Obtain the blade entry angle and the blade exit angle using the gyroscope. Obtain the blade path trajectory, the pulling oar speed, the pulling oar speed curve, and the pulling oar amplitude using the blade position sensor. Obtain the sliding seat speed using the speed measurement element.

[0012] In some embodiments, a resistance detection device is further provided at the center of the bow of the rowing boat. The method further includes: Obtain the resistance value detected by the resistance detection device to obtain the resistance information of the hull.

[0013] In a second aspect, this embodiment provides a monitoring system for a rowing boat hull. A first positioning device is provided on the left side of the center line of the bow of the rowing boat, and a second positioning device is provided on the right side of the center of the bow of the rowing boat. The first positioning device and the second positioning device are symmetric about the center line of the bow. A first pressure detection device is provided at the lower left corner of the center of the upper surface of each seat in the rowing boat, and a second pressure detection device is provided at the upper right corner of the center of the upper surface. The system includes an acquisition module and a monitoring module. Among them, The acquisition module is used to acquire the left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device. The monitoring module is used to determine the traveling direction of the rowing boat hull, the pitch information on the water surface, the acceleration of the hull, and whether the hull has shifted based on the left positioning parameter and the right positioning parameter. The acquisition module is further used to acquire the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device. The monitoring module is further configured to determine the rowing frequency and the foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value.

[0014] In a third aspect, the present embodiment provides a computer-readable storage medium, on which a computer program capable of running on a processor is stored. When the computer program is executed by the processor, it implements a monitoring method for a rowing boat hull as described in the first aspect.

[0015] By adopting the above method, in the present application, a first positioning device is provided on the left side of the center line of the bow of the rowing boat, and a second positioning device is provided on the right side of the center of the bow of the rowing boat. The first positioning device and the second positioning device are symmetric about the center line of the bow. At the lower left corner of the center of the upper surface of each seat in the rowing boat, a first pressure detection device is provided, and at the upper right corner of the center of the upper surface, a second pressure detection device is provided. The left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device are obtained, and based on the left positioning parameter and the right positioning parameter, the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull deviates are determined. In this way, only by using the two detection devices, namely the first positioning device 2 and the second positioning device 3, the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull deviates and other states can be determined, which can reduce the number of detection devices used and reduce the cost of monitoring the rowing boat to obtain the above monitoring data.

[0016] In addition, the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device are also obtained, and the rowing frequency and the foot pedal pressure information of the rowing boat hull are determined based on the first pressure value and the second pressure value. There is no need to set detection devices at each oarlock and foot pedal. After all, each person corresponds to two oarlocks and two feet. Similarly, the number of detection devices used can be reduced, and the cost of monitoring the rowing boat to obtain the above monitoring data can be reduced. Therefore, the monitoring of the rowing boat hull is completed only by using four devices, and the cost of the monitoring data obtained by monitoring the rowing boat is reduced. Description of the Drawings

[0017] Figure 1 is a distribution schematic diagram of the devices installed on the rowing boat provided by the embodiment of the present application.

[0018] Figure 2 is a block diagram of a monitoring method for a rowing boat hull provided by the embodiment of the present application.

[0019] Figure 3 is a block diagram for determining the traveling direction of the rowing boat hull based on the left positioning parameter and the right positioning parameter provided by the embodiment of the present application.

[0020] Figure 4It is a comparison diagram of YZ projection information, XZ projection information and pitching information provided by an embodiment of the present application.

[0021] Figure 5 It is a schematic connection diagram of a monitoring system for a rowing boat hull provided by an embodiment of the present application. Description of reference numerals

[0022] 1. Center line of the bow of the rowing boat; 2. First positioning device; 3. Second positioning device; 4. First pressure detection device; 5. Second pressure detection device. Detailed implementation manners

[0023] To more clearly understand the purpose, technical solution and advantages of the present application, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. However, those of ordinary skill in the art should understand that the present application can be implemented without these details. For those of ordinary skill in the art, it is obvious that various changes can be made to the disclosed embodiments of the present application, and the general principles defined in the present application can be applied to other embodiments and application scenarios without departing from the principles and scope of the present application. Therefore, the present application is not limited to the illustrated embodiments, but conforms to the broadest scope consistent with the scope claimed in the present application.

[0024] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings of the specification.

[0025] Figure 1 It is a schematic distribution diagram of the devices installed on the rowing boat provided by an embodiment of the present application. As Figure 1 shown, a first positioning device 2 is provided on the left side of the center line 1 of the bow of the rowing boat, and a second positioning device 3 is provided on the right side of the center of the bow of the rowing boat. The first positioning device 2 and the second positioning device 3 are symmetrical about the center line 1 of the bow. A first pressure detection device 4 is provided at the lower left corner of the center of the upper surface of each seat in the rowing boat, and a second pressure detection device 5 is provided at the upper right corner of the center of the upper surface. Among them, taking the state where a person faces the bow of the rowing boat as an example, the left and right sides of the center line 1 of the bow and the lower left and upper right corners of the center of the upper surface of each seat are determined. Subsequently, only the two detection devices, the first positioning device 2 and the second positioning device 3, can be used to determine the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull is offset and other states, which can reduce the number of detection devices used and reduce the cost of monitoring the above-mentioned monitoring data of the rowing boat.

[0026] Moreover, by using the two devices, namely the first pressure detection device 4 and the second pressure detection device 5, the rowing frequency and foot pedal pressure information of the rowing boat hull can be obtained, without the need to set detection devices at each oarlock and foot pedal. After all, each person corresponds to two oarlocks and two feet. Similarly, the number of detection devices used can be reduced, and the cost of monitoring the rowing boat to obtain the above monitoring data can be lowered.

[0027] Figure 2 It is a block diagram of a monitoring method for a rowing boat hull provided by an embodiment of the present application. As Figure 2 shown, a monitoring method for a rowing boat hull includes the following steps: Step S100, obtain the left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device, and determine the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull is offset based on the left position parameter and the right positioning parameter.

[0028] In this embodiment, the solution is described from the perspective of the central processing end. The first positioning device 2 and the second positioning device 3 may specifically be one of a GPS positioning device or a satellite positioning device, etc. The first positioning device 2 and the second positioning device 3 can monitor their respective positions in real time and send the detected data to the central processing end at fixed time intervals, so that the central processing end obtains the left position parameter monitored by the first positioning device 2 and the right positioning parameter monitored by the second positioning device at fixed time intervals. Both the left position parameter and the right positioning parameter are three-dimensional coordinates in a preset coordinate system, and the preset coordinate system is specifically a certain three-dimensional coordinate system created by the central processing end. The positive direction of the Z-axis of the preset coordinate system is vertically upward, and the positive direction of the X-axis of the preset coordinate system is the direction of the starting line of the rowing race or training. Then, when the Z-axis and the X-axis of the preset coordinate system are determined, the Y-axis of the preset coordinate system is also determined. After the central processing end obtains the left position parameter and the right positioning parameter, a series of processing calculations and other operations can be performed to obtain the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull is offset.

[0029] Among them, Figure 3 It is a block diagram of determining the traveling direction of a rowing boat hull based on the left position parameter and the right positioning parameter provided by an embodiment of the present application. As Figure 3 shown, determining the traveling direction of a rowing boat hull based on the left position parameter and the right positioning parameter includes the following steps: Step S101, obtain the left two-dimensional coordinate of the left position parameter on the coordinate plane of the horizontal plane and the right two-dimensional coordinate of the right position parameter on the coordinate plane of the horizontal plane.

[0030] Step S102: Connect the points corresponding to the left two-dimensional coordinates and the points corresponding to the right two-dimensional coordinates to form a direction line segment, and determine the line segment direction corresponding to the direction end with reference to the coordinate system direction corresponding to the preset coordinate system. Here, the line segment direction is the traveling direction of the rowing boat hull.

[0031] By removing the Z-axis coordinate value in the left positioning parameter and recombining the remaining X-axis and Y-axis coordinate values into two-dimensional coordinates, the left two-dimensional coordinates can be obtained. Similarly, by removing the Z-axis coordinate value in the right positioning parameter and recombining the remaining X-axis and Y-axis coordinate values into two-dimensional coordinates, the right two-dimensional coordinates can be obtained. The left two-dimensional coordinates are the projection coordinate values of the left positioning parameter on the XY plane, and the right two-dimensional coordinates are the projection coordinate values of the right positioning parameter on the XY plane.

[0032] Subsequently, connect the points corresponding to these two projection coordinate values on the XY plane to obtain a direction line segment, that is, this direction line segment includes the line segment length and the included angle value between the line segment and the positive direction of the X-axis. After the preset coordinate system is created, the coordinate system direction corresponding to the preset coordinate system is also determined. The coordinate system direction includes the coordinate system X-axis direction, the coordinate system Y-axis direction, and the coordinate system Z-axis direction. By referring to the coordinate system X-axis direction and with the help of the included angle value between the obtained line segment and the positive direction of the X-axis, the line segment direction corresponding to the direction line segment can be obtained.

[0033] For determining the pitch information of the rowing boat hull on the water surface, determining the pitch information of the rowing boat hull on the water surface based on the left positioning parameter and the right positioning parameter includes the following steps: Step S103: Rotate the preset coordinate system in the horizontal plane direction according to the traveling direction to obtain an updated coordinate system, so that the Y-axis in the updated coordinate system is the traveling direction and the Z-axis is the vertically upward direction.

[0034] Step S104: Adjust the left positioning parameter to the left updated positioning parameter in the updated coordinate system, and adjust the right positioning parameter to the right updated positioning parameter in the updated coordinate system.

[0035] Step S105: Project the left updated positioning parameter and the right updated positioning parameter onto the YZ plane of the updated coordinate system to obtain YZ projection information.

[0036] Step S106: Project the left updated positioning parameter and the right updated positioning parameter onto the XZ plane of the updated coordinate system to obtain XZ projection information.

[0037] Step S107: Determine the pitch information of the rowing boat hull on the water surface based on the YZ projection information and the XZ projection information.

[0038] After obtaining the traveling direction, by rotating the preset coordinate system with the existing origin as the reference point in the horizontal plane direction, that is, rotating the preset coordinate system in the opposite direction of the angle value with the positive direction of the X-axis obtained above to obtain the updated coordinate system. The Y-axis in the updated coordinate system is the traveling direction, the Z-axis is the vertically upward direction, and the Y-axis in the updated coordinate system coincides with the direction line segment.

[0039] After determining the updated coordinate system, according to the change of the updated coordinate system relative to the preset coordinate system, the conversion relationship between the coordinates in the preset coordinate system and the coordinates in the updated coordinate system can be obtained. Subsequently, by substituting the left positioning parameter into the conversion relationship, the left updated positioning parameter in the updated coordinate system can be obtained. Similarly, by substituting the right positioning parameter into the conversion relationship, the right updated positioning parameter in the updated coordinate system can be obtained. In this way, both the left positioning parameter and the right positioning parameter are adjusted accordingly according to the updated coordinate system, making the traveling direction of the hull parallel to a certain coordinate axis in the updated coordinate system, which is convenient for more simply and intuitively determining the pitch information of the rowing boat hull on the water surface based on the adjusted left updated positioning parameter and right updated positioning parameter.

[0040] Since different pitch information of the rowing boat hull on the water surface is displayed through the projections of the left updated positioning parameter and the right updated positioning parameter on the YZ plane and the XZ plane of the updated coordinate system. Therefore, by projecting the left updated positioning parameter and the right updated positioning parameter on the YX plane of the updated coordinate system, the YZ projection information can be obtained. By projecting the left updated positioning parameter and the right updated positioning parameter on the XZ plane of the updated coordinate system, the XZ projection information can be obtained. Then, the pitch information of the rowing boat hull on the water surface is determined through the YZ projection information and the XZ projection information.

[0041] The pitch information of the rowing boat hull on the water surface is one of the left-upright state, right-upright state, front-upright state, rear-upright state, left-front-upright state, right-front-upright state, left-rear-upright state, right-rear-upright state, and stable state. Figure 4 It is a comparison diagram of the YZ projection information and the XZ projection information provided by the embodiments of the present application and the pitch information. As Figure 4As shown in the figure, if the YZ projection information is a line segment parallel to the Z-axis, and the XZ projection information is a line segment with the right endpoint higher than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in the left-upward pitching state. If the YZ projection information is a line segment parallel to the Z-axis, and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in the right-upward pitching state. If the YZ projection information is a point lower than the set height, and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is in the front-upward pitching state. If the YZ projection information is a point higher than the set height, and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is in the rear-upward pitching state. If the YZ projection information is a point equal to the preset height, and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is in the stable state. Herein, the preset height refers to the height value of the first positioning device 1 and the second positioning device 2 from the bottom surface of the rowing boat hull.

[0042] If the YZ projection information is a line segment with the upper end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint higher than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in the left-front-upward pitching state. If the YZ projection information is a line segment with the lower end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint higher than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in the left-rear-upward pitching state. If the YZ projection information is a line segment with the upper end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in the right-front-upward pitching state. If the YZ projection information is a line segment with the lower end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in the right-rear-upward pitching state.

[0043] In addition, determining the acceleration of the rowing boat hull based on the left-side positioning parameters and the right-side positioning parameters includes the following steps: Step S108: Obtain the acquisition time corresponding to each left-side positioning parameter and each right-side positioning parameter, and draw the acquisition time - left-side positioning parameter curve and the acquisition time - right-side positioning parameter curve in the order of time.

[0044] Step S109: Obtain the acceleration of the rowing boat hull by taking the second derivative of the acquisition time - left-side positioning parameter curve and the acquisition time - right-side positioning parameter curve respectively.

[0045] Each left positioning parameter and right positioning parameter corresponds to its own acquisition time. When the central processing unit obtains the left positioning parameter or the right positioning parameter, the acquisition time can be obtained by checking the time at this moment. Subsequently, each left positioning parameter and the corresponding acquisition time are plotted in a blank two-dimensional coordinate system to obtain a two-dimensional coordinate system of the acquisition time-left positioning parameter curve. This two-dimensional coordinate system of the acquisition time-left positioning parameter curve contains a left positioning curve graph. Each right positioning parameter and the corresponding acquisition time are plotted in a blank two-dimensional coordinate system to obtain a two-dimensional coordinate system of the acquisition time-right positioning parameter curve. This two-dimensional coordinate system of the acquisition time-right positioning parameter curve contains a right positioning curve graph. Then, the left positioning curve is successively differentiated twice with respect to the acquisition time to obtain the left acceleration of the rowing boat hull; the right positioning curve is successively differentiated twice with respect to the acquisition time to obtain the right acceleration of the rowing boat hull. Finally, the average values of the left acceleration and the right acceleration applied at the same acquisition time are respectively obtained to obtain the acceleration of the rowing boat hull at each acquisition time.

[0046] In addition, the central processing unit also stores the planned motion trajectory of the rowing boat hull. The positioning parameter of the bow center point can be obtained by averaging the above-obtained left positioning parameter and right positioning parameter. Subsequently, it is determined whether the obtained positioning parameter of the bow center point is within the curve range corresponding to the planned motion trajectory. If it is, then the hull has not shifted; if not, then the hull has shifted. In this way, only the first positioning device and the second positioning device can be used to obtain information such as the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull has shifted. The number of devices used can be reduced, thereby reducing the cost of monitoring the rowing boat to obtain the above monitoring data.

[0047] Step S200: Obtain the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device, and determine the rowing frequency and foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value.

[0048] The first pressure detection device 4 and the second pressure detection device 5 can specifically be pressure sensors. The first pressure detection device 4 and the second pressure detection device 5 can monitor the pressure values they receive in real time and send the detected data to the central processing unit at fixed time intervals, so that the central processing unit obtains the first pressure value monitored by the first pressure detection device 4 and the second pressure value monitored by the second pressure detection device 5 at fixed time intervals.

[0049] Among them, the steps for determining the rowing frequency of the rowing boat hull based on the first pressure value and the second pressure value include the following steps: Step S201, obtain a plurality of first historical pressure values monitored by the first pressure detection device, and form a first pressure group by arranging the first historical pressure values and the first pressure values in chronological order.

[0050] Step S202, alternatively, obtain a plurality of second historical pressure values monitored by the second pressure detection device, and form a second pressure group by arranging the second historical pressure values and the second pressure values in chronological order.

[0051] Step S203, subtract two adjacent pressure values in the first pressure group or subtract two adjacent pressure values in the second pressure group to obtain a pressure difference, and compare the pressure difference with a preset difference to determine whether rowing has been performed.

[0052] Step S204, obtain the time corresponding to each rowing stroke, and determine the rowing frequency of the rowing boat hull based on the time corresponding to two adjacent rowing strokes.

[0053] The central processing unit will store each obtained first pressure value and second pressure value, so that except for the most recently stored pressure value, other pressure values are historical pressure values. The central processing unit is provided with two blank arrays, one of which is used to place the data sent by the first pressure detection device, and the other is used to place the data sent by the second pressure detection device. In this way, after the central processing unit obtains a pressure value each time, it stores it in the corresponding array, thereby obtaining the first pressure group and the second pressure group.

[0054] When starting the rowing action, that is, when oaring, the force point of the athlete's buttocks transfers from the front of the seat to the back; when preparing to end the rowing action, that is, when recovering the oar, the force point of the athlete's buttocks transfers from the back of the seat to the front. Then the value of the first pressure value monitored by the first pressure detection device will repeat the value that changes cyclically from a larger value to a smaller value and then to a larger value, and the value of the second pressure value will repeat the value that changes cyclically from a smaller value to a larger value and then to a smaller value.

[0055] Subtract the pressure value that is more backward from the pressure value that is more forward among two adjacent pressure values in the first pressure group respectively to obtain a plurality of pressure differences, and compare the magnitude of each pressure difference with the preset difference. If the pressure difference is not less than the preset difference, it indicates that rowing has been performed at the time corresponding to the pressure value with a more forward time among the two adjacent pressure values corresponding to the pressure difference; if the pressure difference is less than the preset difference, it indicates that rowing has not been performed.

[0056] Alternatively, subtract the earlier pressure value from the later pressure value among two adjacent pressure values in the second pressure group respectively to obtain a number of pressure differences, and compare the magnitude of each pressure difference with a preset difference. If the pressure difference is not less than the preset difference, it indicates that rowing was performed at the time corresponding to the earlier pressure value among the two adjacent pressure values corresponding to the pressure difference; if the pressure difference is less than the preset difference, it indicates that no rowing was performed.

[0057] Subsequently, when it is determined that rowing has been performed, then check the time corresponding to the earlier pressure value among the two adjacent pressure values for which rowing is determined to obtain the time corresponding to this rowing. Finally, the value obtained by subtracting the times corresponding to two adjacent rowings and taking the absolute value is the rowing frequency of the rowing boat hull. In this way, there is no need to install equipment for detecting a specific frequency on each oarlock, and only a general pressure detection device is needed to determine the rowing frequency, reducing the cost of the detection equipment.

[0058] In addition, based on the first pressure value and the second pressure value, the foot pedal pressure information of the rowing boat hull can also be determined. Among them, determining the foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value includes the following steps: Step S205, determine whether the athlete has performed a foot pedaling action based on the first pressure value or the second pressure value. If so, determine the action pressure value of the athlete on the seat based on the first pressure value, the second pressure value, and the pitch information.

[0059] Step S206, substitute the action pressure value into the corresponding relationship between the preset action pressure value and the foot pedal pressure value to obtain the foot pedal pressure information of the rowing boat hull.

[0060] In the above process of determining whether to row based on the first pressure value or the second pressure value, when the larger value and the smaller value are obtained, it indicates that the athlete has performed a foot pedaling action. When other values between the smaller value and the larger value are obtained, it indicates that the athlete has not performed a foot pedaling action. Therefore, based on the first pressure value or the second pressure value, the above method can be used to determine whether the athlete has performed a foot pedaling action.

[0061] If it is determined that the athlete does not perform a pedaling action, then the central processing unit does not act, that is, no pedaling pressure information will be generated. If it is determined that the athlete performs a pedaling action, based on the first pressure value and the second pressure value, combined with the pitch information, the action pressure value exerted by the athlete on the seat is determined. After all, when the athlete exerts the same action pressure on the seat, if the hull is in different pitch states, the first pressure value and the second pressure value are also different. The above action pressure value of the athlete on the seat specifically refers to the action pressure value exerted by the athlete on the seat. Each pitch information corresponds to a preset athlete gravity application ratio. By combining the pitch information to determine the preset athlete gravity application ratio corresponding to each athlete, and then substituting it into the formula: athlete's gravity value * (1 + preset athlete gravity application ratio) + action pressure value = (first pressure value + second pressure value) / 2, the action pressure value of the athlete on the seat can be obtained. Finally, substituting the action pressure value into the corresponding relationship between the preset action pressure value and the pedaling pressure value, the pedaling pressure information of the rowing boat hull can be obtained. Among them, the corresponding relationship between the preset action pressure value and the pedaling pressure value is a relationship obtained through a large number of historical trainings or during the competition process by using a large number of detection devices. In this way, only by relying on the two devices, the first pressure detection device 4 and the second pressure detection device 5, the rowing frequency and the pedaling pressure information of the rowing boat hull can be obtained, without setting detection devices at each oarlock and pedaling place. After all, each person corresponds to two oarlocks and two feet. Similarly, the number of detection devices used can be reduced, and the cost of monitoring the rowing boat to obtain the above monitoring data can be reduced.

[0062] In addition, a resistance detection device is also provided at the center of the bow of the rowing boat to obtain the resistance value detected by the resistance detection device to obtain the resistance information of the hull, which is convenient for subsequent technical analysis of the athlete's training and competition according to the resistance information.

[0063] In addition, a handle pressure detection device is provided on the oar handle, a blade pressure detection device is provided on the oar blade, and a tholepin pressure detection device is provided on the tholepin. By obtaining the parameters obtained by the handle pressure detection device and plotting the obtained parameters in a time-handle force coordinate system, a handle force curve graph can be obtained. From the handle force graph, the peak force of the handle force can be visually obtained, and by taking the average value of all handle forces, the average handle force can be obtained.

[0064] Similarly, by obtaining the parameters obtained by the blade pressure detection device and plotting the obtained parameters in a time-blade force coordinate system, a blade force curve graph can be obtained. From the blade force graph, the peak force of the blade force can be visually obtained, and by taking the average value of all blade forces, the average blade force can be obtained.

[0065] By obtaining the parameters acquired by the oarlock pressure detection device and plotting the obtained parameters in a time-oarlock force coordinate system, a curve graph of the oarlock force can be obtained. From the oarlock force graph, the peak force of the oarlock force can be visually obtained, and by taking the average value of all oarlock forces, the average oarlock force can be obtained.

[0066] The oar force curve specifically refers to the curve of the oar force change during the rowing process. This oar force change curve includes the oar handle force change curve, the oar blade force change curve, and the oarlock force change curve. By plotting the above three curve graphs in the same time-oar force coordinate system, the oar force curve graph can be obtained.

[0067] The gyroscope can obtain the angle between the oar blade and the vertical direction. By combining the angles obtained by the gyroscope corresponding to the determined moments of oar extension and oar retraction, the entry angle of the oar blade when entering the water and the exit angle when exiting the water can be determined. Among them, the angle corresponding to the oar extension moment is the entry angle, and the angle corresponding to the oar retraction moment is the exit angle.

[0068] By plotting the parameters acquired by the oar blade position sensor in a time-oar blade position coordinate system, a curve graph of the oar blade path can be obtained. The curve in this coordinate system is the oar blade path trajectory. Subsequently, substituting the time corresponding to the process from oar retraction to oar extension into this oar blade path curve graph and taking the derivative of the curve for this period with respect to time, the pulling oar speed can be obtained. Subsequently, by connecting the pulling oar speeds in sequence according to the time order, the pulling oar speed curve can be obtained. And by obtaining the distance value corresponding to the time of the process from oar retraction to oar extension in the oar blade path curve graph, and then multiplying this distance value by the distance from the oar handle to the oarlock and dividing by the distance from the oarlock to the oar blade, the pulling oar amplitude can be obtained.

[0069] In addition, by obtaining the parameters acquired by the speed measuring element and plotting the obtained parameters in a time-speed coordinate system, a curve graph of the carriage speed can be obtained. The curve in this carriage speed curve graph is the carriage speed curve, and each point on the carriage speed curve is the carriage speed.

[0070] In addition, the gyroscope can also be used to obtain the paddle angle, that is, the angle formed between the paddle and the hull. When the paddle is perpendicular to the boat, the angle is defined as zero. Specifically, the left zero angle = the boat yaw angle - 90 degrees, the right zero angle = the boat yaw angle + 90 degrees, the left paddle angle = the left paddle yaw angle - the left zero angle, the right paddle angle = the right paddle yaw angle - the right zero angle. The range of the paddle angle is limited to [-180~180). If it is not within the range, it will be adjusted by ±360 and then the range is limited to [-90~90). If it is not within the range, it will be adjusted by ±180. Among them, the boat yaw angle can be specifically obtained by subtracting the curve range corresponding to the positioning parameters from the planned motion trajectory in the process of determining whether the hull has shifted as described above. The obtained angle difference is the boat yaw angle. The left paddle yaw angle and the right paddle yaw angle are the parameters obtained by the gyroscope. For example, if the boat yaw angle is 80 degrees, the left paddle yaw angle is 45 degrees, and the right paddle yaw angle is 130 degrees, it can be obtained that the left zero angle = 80°C - 90°C = -10°C, the right zero angle = 80°C + 90°C = 170°C, the left paddle angle = 45°C - (-10°C) = 55°C, and the right paddle angle = 170°C - 130°C = 40°C. After the range limitation, they are all within the semi-open interval [-90°C, 90°C).

[0071] In addition, based on the above parameters, the work done by rowing can also be determined. The basic formula for doing work is work = force × distance moved in the direction of the force. Each time the gyroscope samples, a new paddle Euler angle will be obtained. The Euler angle specifically includes the roll angle, the pitch angle, and the yaw angle. The angle formed with the previous paddle Euler angle can be calculated, and then the arc length can be calculated based on the paddle length. Finally, the work done in one sampling can be calculated according to the force on the paddle blade.

[0072] Among them, the required parameters are Euler angle A, Euler angle B, and paddle length r. Among them, Euler angle A is the Euler angle corresponding to the left paddle, Euler angle B is the Euler angle corresponding to the right paddle, and the paddle length is the distance from the paddle bolt to the paddle blade.

[0073] The calculation method is as follows: First, convert the Euler angle to xyz. Specifically, x = r × cos(pitch) × cos(yaw), y = r × cos(pitch) × sin(yaw), z = (r 2 - x 2 - y 2 ). In this way, xyzA and xyzB are obtained. Then, using the physics work formula r 2 × cos(angle) = xyzA.x × xyzB.x + xyzA.y × xyzB.y + xyzA.z × xyzB.z, the angle = cos -1 ((xyzA.x × xyzB.x + xyzA.y × xyzB.y + xyzA.z × xyzB.z) / r2 ) The arc length = arcLen = angle × r. Finally, substitute into Work = Blade Force * Arc Length, and continuously integrate the work through sampling to obtain the work done in one stroke of the oar. Continuously accumulate the work done by rowing the oar to obtain the total work done to reach the end point, including useful work and useless work. Useful Work = Blade Force * Arc Length * cos(angle), Useless Work = Blade Force * Arc Length * sin(angle), and the efficiency of rowing the oar = Useful Work / Total Work * 100%.

[0074] Figure 5 It is a schematic connection diagram of a monitoring system for a rowing boat hull provided by an embodiment of the present application. A first positioning device is provided on the left side of the center line of the bow of the rowing boat, and a second positioning device is provided on the right side of the center of the bow of the rowing boat. The first positioning device and the second positioning device are symmetrical about the center line of the bow. A first pressure detection device is provided at the lower left corner of the center of the upper surface of each seat in the rowing boat, and a second pressure detection device is provided at the upper right corner of the center of the upper surface. As Figure 5 shown, a monitoring system for a rowing boat hull includes an acquisition module and a monitoring module.

[0075] Among them, the acquisition module is used to acquire the left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device. The monitoring module is used to determine the traveling direction of the rowing boat hull, the pitching information on the water surface, the acceleration of the hull, and whether the hull is offset based on the left positioning parameter and the right positioning parameter. The acquisition module is also used to acquire the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device. The monitoring module is also used to determine the rowing frequency and the foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value.

[0076] Other functions performed by the above acquisition module and monitoring module, as well as the technical details of each function, are the same as or similar to the corresponding features in a monitoring method for a rowing boat hull described above, so they will not be elaborated here.

[0077] The embodiment of the present application also provides a computer storage medium, on which a computer program is stored. When it runs on a computer, it enables the computer to execute the steps in a monitoring method for a rowing boat hull described above.

[0078] It should be understood that although the steps in the flowchart of the accompanying drawings are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps has no strict order limit and can be executed in other orders.

[0079] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A monitoring method for a rowing boat hull, characterized in that, A first positioning device is provided on the left side of the center line of the bow of the rowing boat, and a second positioning device is provided on the right side of the center of the bow of the rowing boat. The first positioning device and the second positioning device are symmetric about the center line of the bow. At the lower left corner of the center of the upper surface of each seat in the rowing boat, a first pressure detection device is provided, and at the upper right corner of the center of the upper surface, a second pressure detection device is provided. The method includes: Obtain the left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device, and determine the traveling direction of the hull of the rowing boat, the pitching information on the water surface, the acceleration of the hull, and whether the hull is offset based on the left positioning parameter and the right positioning parameter; Obtain the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device, and determine the rowing frequency and the foot pedal pressure information of the hull of the rowing boat based on the first pressure value and the second pressure value.

2. The method according to claim 1, wherein Both the left positioning parameter and the right positioning parameter are three-dimensional coordinates in a preset coordinate system. Determining the traveling direction of the hull of the rowing boat based on the left positioning parameter and the right positioning parameter includes: Obtain the left two-dimensional coordinates of the left positioning parameter on the coordinate plane of the horizontal plane, and the right two-dimensional coordinates of the right positioning parameter on the coordinate plane of the horizontal plane; Connect the point corresponding to the left two-dimensional coordinates and the point corresponding to the right two-dimensional coordinates into a direction line segment, and determine the line segment direction corresponding to the direction line segment with reference to the coordinate system direction corresponding to the preset coordinate system. Among them, the line segment direction is the traveling direction of the hull of the rowing boat.

3. The method according to claim 2, characterized in that Determining the pitching information of the hull of the rowing boat on the water surface based on the left positioning parameter and the right positioning parameter includes: Rotate the preset coordinate system in the horizontal plane direction according to the traveling direction to obtain an updated coordinate system, so that the Y-axis in the updated coordinate system is the traveling direction and the Z-axis is the vertically upward direction; Adjust the left positioning parameter to the left updated positioning parameter in the updated coordinate system, and adjust the right positioning parameter to the right updated coordinate parameter in the updated coordinate system; Project the left updated positioning parameter and the right updated positioning parameter onto the YZ plane of the updated coordinate system to obtain YZ projection information; Project the left updated positioning parameter and the right updated positioning parameter onto the XZ plane of the updated coordinate system to obtain XZ projection information; Determine the pitching information of the hull of the rowing boat on the water surface based on the YZ projection information and the XZ projection information.

4. The method according to claim 3, wherein The pitching information is one of the left pitching state, the right pitching state, the forward pitching state, the rear pitching state, the left front pitching state, the right front pitching state, the left rear pitching state, the right rear pitching state, and the stable state. Determining the pitching information of the hull of the rowing boat on the water surface based on the YZ projection information and the XZ projection information includes: If the YZ projection information is a line segment parallel to the Z-axis, and the XZ projection information is a line segment with the right end point higher than the left end point, then the pitching information of the hull of the rowing boat on the water surface is the left pitching state; If the YZ projection information is a line segment parallel to the Z-axis, and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in a state of right-side up pitch; If the YZ projection information is a point lower than the set height, and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is in a state of front-side up pitch; If the YZ projection information is a point higher than the set height, and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is in a state of rear-side up pitch; If the YZ projection information is a line segment with the upper end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint higher than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in a state of left-front up pitch; If the YZ projection information is a line segment with the lower end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint higher than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in a state of left-rear up pitch; If the YZ projection information is a line segment with the upper end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in a state of right-front up pitch; If the YZ projection information is a line segment with the lower end close to the Z-axis, and the XZ projection information is a line segment with the right endpoint lower than the left endpoint, then the pitching information of the rowing boat hull on the water surface is in a state of right-rear up pitch; If the YZ projection information is a point equal to the preset height, and the XZ projection information is a line segment parallel to the X-axis, then the pitching information of the rowing boat hull on the water surface is in a stable state.

5. The method according to claim 1, wherein Determining the rowing frequency of the rowing boat hull based on the first pressure value and the second pressure value includes: Obtaining a plurality of first historical pressure values monitored by the first pressure detection device, and forming a first pressure group by arranging the first historical pressure values and the first pressure value in chronological order; Or obtaining a plurality of second historical pressure values monitored by the second pressure detection device, and forming a second pressure group by arranging the second historical pressure values and the second pressure value in chronological order; Subtracting two adjacent pressure values in the first pressure group or subtracting two adjacent pressure values in the second pressure group to obtain a pressure difference, and comparing the pressure difference with a preset difference to determine whether rowing has been performed; Obtaining the time corresponding to each rowing, and determining the rowing frequency of the rowing boat hull based on the time corresponding to two adjacent rowings.

6. The method according to claim 5, characterized in that, Determining the foot pedal pressure information of the rowing boat hull based on the first pressure value and the second pressure value includes: Based on the first pressure value or the second pressure value, determining whether the athlete has performed a foot pedal action. If so, based on the first pressure value, the second pressure value, and the pitching information, determining the action pressure value of the athlete on the seat; Substituting the action pressure value into the corresponding relationship between the preset action pressure value and the foot pedal pressure value to obtain the foot pedal pressure information of the rowing boat hull.

7. The method according to claim 1, characterized in that, A paddle handle pressure detection device is provided on the paddle handle, a blade pressure detection device, a gyroscope and a blade position sensor are provided on the blade, a thole pressure detection device is provided on the thole, and a speed measuring element is also provided on the seat. The method further includes: Obtaining the paddle handle force using the paddle handle pressure detection device, obtaining the blade force using the blade pressure detection device, obtaining the thole force using the thole pressure detection device, and determining a paddle force curve based on the paddle handle force, the blade force and the thole force; Obtaining the blade entry angle and the blade exit angle using the gyroscope; Obtaining the blade path trajectory, the pulling paddle speed, the pulling paddle speed curve and the pulling paddle amplitude using the blade position sensor; Obtaining the sliding seat speed using the speed measuring element.

8. The method according to claim 1, wherein A resistance detection device is further provided at the center of the bow of the rowing boat. The method further includes: Obtaining the resistance value detected by the resistance detection device to obtain the resistance information received by the hull.

9. A monitoring system for a rowing boat hull, characterized in that, A first positioning device is provided on the left side of the center line of the bow of the rowing boat, and a second positioning device is provided on the right side of the center of the bow of the rowing boat. The first positioning device and the second positioning device are symmetrical about the center line of the bow. A first pressure detection device is provided at the lower left corner of the center of the upper surface of each seat in the rowing boat, and a second pressure detection device is provided at the upper right corner of the center of the upper surface. The system includes an acquisition module and a monitoring module; wherein, The acquisition module is used to obtain the left position parameter monitored by the first positioning device and the right positioning parameter monitored by the second positioning device; The monitoring module is used to determine the traveling direction of the hull of the rowing boat, the pitching information on the water surface, the acceleration of the hull and whether the hull is offset based on the left positioning parameter and the right positioning parameter; The acquisition module is further used to obtain the first pressure value monitored by the first pressure detection device and the second pressure value monitored by the second pressure detection device; The monitoring module is further used to determine the rowing frequency and the foot pedal pressure information of the hull of the rowing boat based on the first pressure value and the second pressure value.

10. A computer-readable storage medium having stored thereon a computer program that can be run on a processor, characterized in that, When the computer program is executed by the processor, it implements a method for monitoring the hull of a rowing boat according to any one of claims 1 to 8.

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