CN116196596A - Jumping action auxiliary training system for pattern skating - Google Patents

Abstract

The invention relates to a jump motion auxiliary training system for pattern skating, which comprises the following steps: comprising the following steps: the wearing fixing equipment is used for being worn by a trainer; an aircraft for providing upward traction to a trainer wearing wearable fixed equipment in an upward flight manner; the jump state monitoring module is used for collecting jump state data of the trainer when the trainer executes jump actions; and the self-adaptive control module is used for adaptively generating corresponding flying height, flying speed and flying direction according to jump state data of the trainer and height and weight data of the trainer in the process of executing jump action of the trainer, and further following the corresponding trainer through the aircraft and providing required upward traction force for the trainer. The jump action auxiliary training device system can assist a trainer to jump through the aircraft, and can predict flight related parameters of the aircraft according to the jump state of the trainer, so that enough upward traction force is accurately and timely provided for the trainer.

Description

A jumping motion auxiliary training system for figure skating

technical field

The invention relates to the technical field of training protection devices, in particular to a jumping action auxiliary training system for figure skating.

Background technique

In high-level competitions, it is usually small differences that determine the final winners. Trainers want to achieve the best results in the highly competitive field, not only through their own hard work, but also thanks to the power of science. Especially figure skating, a skill-oriented event, requires trainers to follow the music to complete various technically difficult movements, such as jumping, stepping, and throwing jumps, within the specified time. Among them, the jumping action is closely related to the performance of the trainer. The judges need to give accurate technical points according to the type of action, degree of difficulty, completion, and degree of marking in the high-speed and complex movements of the players.

Therefore, in the daily training of figure skating trainers, how to adopt scientific and reasonable training methods and arrange specific methods for specialized training is very important. For example, the Chinese patent with the publication number CN103301619A discloses a "figure skating rotation auxiliary training device", which is fixed with a motor in the basin-shaped base, the motor shaft is fixed with the driving gear, and the turntable is embedded on the base surface. The rotating shaft is fixed to the machine base through bearings. The lower end of the rotating shaft of the turntable is fixed with passive teeth. The driving teeth and the passive teeth are driven and matched by a toothed belt. The operation panel and the handrail are fixed on the side of the turntable through brackets. This existing solution can select a suitable rotation speed for simulated training according to the trainer's own characteristics.

Above-mentioned existing scheme is mainly used in the rotation training of trainer. However, figure skating mainly examines the physical coordination ability of the trainer, which requires the trainer to combine jumping and rotation to form a jumping action. Commonly used standard jumps include the rear inner knot jump, the rear outer knot jump, the rear outer ice jump, the hook jump, the rear inner ice jump, and the Axel jump. All of these jumps are performed by adding Different degrees of difficulty are achieved by the number of rotations in the air. In order to assist the trainer to complete the jumping action, an auxiliary suspension rod device is generally used in the prior art to participate in the training. The working principle of the auxiliary boom device is similar to a fishing rod for fishing. Specifically, during the jumping process of the trainer, an additional lifting force is applied to the trainer through the boom to assist the trainer to increase the jumping height and the number of rotations to complete the corresponding The jumping action allows the trainer to find the rhythm and skills to complete the jumping action in the continuous training process.

However, the existing auxiliary boom device needs a training partner, and the training partner is generally a professional coach (who can skate and has requirements for strength and height), resulting in a high cost of jumping training. Simultaneously, the existing auxiliary boom device cannot collect the jumping state data (such as take-off strength, take-off angle, etc.) of the trainer. In addition, the existing auxiliary boom device has strict requirements on the professionalism of the trainer and the tacit cooperation between the trainer and the sports, because the trainer needs to give training at the right time by observing the trainer's jumping action and aerial posture. Only when the trainer exerts enough upward traction can the trainer be able to effectively assist the trainer to complete the training of the jumping action. Generally speaking, a jump requires multiple attempts by trainers and coaches to be successful. With the development of aircraft and unmanned aerial vehicle technology, the applicant thought of providing upward traction for the trainer by replacing the auxiliary boom device and the trainer with the aircraft (unmanned aerial vehicle). However, how to effectively apply the aircraft to the training of jumping actions, and how to accurately and timely provide the trainer with sufficient upward traction is a technical problem that needs to be solved urgently.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a jumping action auxiliary training system for figure skating, which can assist the trainer to jump through the aircraft, and can predict the jumping state of the aircraft according to the trainer's jumping state. Flight-related parameters, and then provide the trainer with sufficient upward traction in an accurate and timely manner, so as to effectively assist the trainer to complete the training of jumping movements, and then provide a scientific and effective training approach for figure skating jumping training.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

Jumping assist training system for figure skating, including:

Wear fixed equipment, which is used to be worn by the corresponding trainer and can be fixed on the body of the corresponding trainer;

The aircraft is fixedly connected with the wearing fixed equipment through the traction rope, and is used to provide upward traction to the trainer wearing the wearing fixed equipment by flying upwards;

A jumping state monitoring module is used to collect jumping state data when the trainer performs a jumping action;

The adaptive control module is used to adaptively generate the corresponding flying height, flying speed and flying direction according to the jumping state data of the corresponding trainer combined with its height and weight data during the jumping action performed by the trainer wearing the fixed equipment. Control the flight of the aircraft, and then use the aircraft to follow the corresponding trainer and provide it with the required upward traction to achieve jump assistance and jump prevention.

Preferably, it also includes:

The hand-held remote control is used for the corresponding trainer to input the jumping action to the adaptive control module; wherein, the jumping action includes the rear inner loop jump, the rear outer loop jump, the rear outer ice jump, the hook jump, and the rear inner ice jump. There are six options for jumping and axel jumping; each jumping action has a corresponding preset flight trajectory and number of rotations. The preset flight trajectory includes the taxiing route before take-off and the traction flight route for jumping assistance in the air;

The adaptive control module controls the flight of the aircraft based on the preset flight trajectory and the number of rotations corresponding to the jump action, combined with the adaptively generated flight height, flight speed and flight direction.

Preferably, the aircraft includes a main body of the aircraft, a rotating blade arranged on the main body of the aircraft and used to generate flight power, used to drive the rotating blade to rotate and controlled by a driving component of the adaptive control module, fixedly arranged on the main body of the aircraft away from The fixed outer ring on one side of the rotating blade, and the rotating inner ring that is rotatably matched with the fixed outer ring and can rotate freely relative to the fixed outer ring; the side of the rotating inner ring that is away from the main body of the aircraft and the traction rope are away from the side of the fixed equipment. Fixed connection at one end;

The aircraft also includes a protective cover that is arranged on the main body of the aircraft at a position corresponding to the rotating blades and can completely cover the rotating blades.

Preferably, the wearing fixed equipment is provided with a jumping state monitoring module; the jumping state monitoring module includes a motion state monitoring unit for collecting the corresponding trainer's motion state data, a posture information monitoring unit for collecting the corresponding trainer's motion posture data, and Physiological state monitoring module for collecting trainers' body temperature and humidity data.

Preferably, the motion state data includes motion speed, motion acceleration, motion direction and/or take-off angle;

Movement posture data include the angle between the forearm and the upper arm, the angle between the upper arm and the shoulder, the angle between the upper arm and the torso, the distance between the forearm and the torso, the angle between the torso and the thigh, the angle between the thigh and the calf, the angle of knee bend, the angle of bend Hip angle, arm swing, and/or torso twist.

Preferably, the adaptive control module includes:

The flying height prediction unit is used to calculate the corresponding jumping momentum and rotational momentum according to the corresponding trainer's motion state data and motion posture data; then calculate the corresponding jumping height prediction by combining the corresponding trainer's jumping momentum and rotational momentum with its height and weight data value and the predicted value of the number of rotation cycles; then compare the predicted value of the number of rotations of the corresponding trainer with the target number of rotations of the corresponding jumping action to generate the corresponding stored cycle difference; and then combine the height of the corresponding trainer with the stored cycle difference Calculate the corresponding jump height difference based on the weight data; finally, calculate the flight height of the aircraft based on the jump height difference of the corresponding trainer and the jump height prediction value combined with the extension length of the traction rope.

Preferably, the adaptive control module also includes:

The flight height adjustment unit is used to calculate the corresponding air rotation attitude according to the corresponding trainer's motion attitude data in the air; then calculate the corresponding rotation momentum reduction value according to the corresponding trainer's air attitude combined with his height and weight data; and then pass the corresponding training Calculate the corresponding reduction in the number of rotations based on the reduced value of the trainer's rotational momentum and the predicted value of the jump height; then update the predicted value of the number of rotations according to the reduction in the number of rotations of the corresponding trainer, and then update the difference in stored cycles and the jumping height correspondingly. Height difference; finally, calculate and update the flight height of the aircraft based on the updated jump height difference and jump height prediction value of the corresponding trainer combined with the stretched length of the traction rope.

Preferably, the adaptive control module also includes:

The flight time prediction unit is used to calculate the corresponding flight prediction time as the flight duration of the aircraft according to the jump height difference and the jump height prediction value of the corresponding trainer in combination with their height and weight data.

Preferably, the adaptive control module also includes:

The flight speed prediction unit is used to calculate the corresponding jump momentum according to the corresponding trainer's motion state data and motion attitude data; then according to the corresponding trainer's jump momentum combined with its height and weight data and flight prediction time to calculate the corresponding jump prediction distance as the aircraft The flight distance; finally, the flight speed of the aircraft is calculated according to the flight distance of the aircraft and the corresponding flight time.

Preferably, it also includes:

The cloud is used to obtain the trainer's jumping status data and height and weight data, and generate corresponding training reports based on the trainer's jumping status data and height and weight data;

The coaching terminal is used to receive and display the training reports of one or more trainers sent by the cloud for remote viewing by the coaches, and at the same time allow the coaches to input corresponding guidance information to the corresponding one or more trainers.

Compared with the prior art, the jumping action auxiliary training system used for figure skating in the present invention has the following beneficial effects:

The present invention replaces the existing boom auxiliary device and the trainer through the aircraft and the wearing fixed equipment, and provides the required upward traction to the trainer through the aircraft to assist the trainer to complete the jumping action, that is, it can be used for the figure skating trainer to perform jumping training independently , and the whole auxiliary training process of jumping movements does not require the accompaniment and assistance of professional coaches, which can reduce the cost and difficulty of figure skating jumping training.

The present invention collects the jumping state data of the trainer in the process of the trainer completing the jumping action, and predicts and generates the corresponding flying height, flying speed and flying direction according to the jumping state data of the trainer combined with his height and weight data to control the flight of the aircraft, so that it can The aircraft follows the corresponding user and provides them with the required upward traction, and then assists the corresponding user to complete the jumping action, that is, it can predict the flight-related parameters of the aircraft according to the trainer's jumping state, and then provide the trainer with sufficient upward force accurately and timely. Traction, so that it can accurately assist the trainer to complete the training of the jumping action, and then provide a scientific and effective training approach for the jumping training of figure skating.

The present invention obtains the trainer's jumping state data and height and weight data through the cloud, and can generate a corresponding training report, so that the coach can remotely view the training report of one or more trainers through the coach terminal, and can submit a report to the corresponding one or more trainers. Multiple trainers input the corresponding guidance information, that is, the coach can remotely view and guide the jump training process of the trainers (different venues), and can change from the traditional one-on-one coach and trainer to one-to-many coach and trainer, Therefore, while ensuring the training effect of the trainer's jumping action, the efficiency of the trainer's jumping action training and the coach's guidance can be further improved.

Description of drawings

In order to make the purpose of the invention, technical solutions and advantages clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings, wherein:

Fig. 1 is the structural representation of aircraft and wearing fixed equipment;

Fig. 2 is a logical block diagram of the figure skating jump action auxiliary training device system.

The reference numerals in the drawings of the description include: aircraft 1 , traction rope 2 , wearing and fixing equipment 3 , jumping state monitoring module 4 , and hand-held remote controller 5 .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein can be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but represents only selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical" and the like do not imply that a component is absolutely level or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Further detailed explanation through specific implementation mode below:

Embodiment one:

This embodiment discloses a jumping action auxiliary training system for figure skating.

As shown in Figure 1, the jumping action auxiliary training system for figure skating includes:

Wearing fixed equipment 3, used for wearing by the corresponding trainer, and can be fixed on the body of the corresponding trainer;

The aircraft 1 is fixedly connected to the corresponding wearing fixed equipment through the traction rope 2, and is used to provide upward traction to the trainer wearing the wearing fixed equipment by flying upwards;

In this embodiment, before each jump, the traction rope 2 is in a relaxed state, which can provide the trainer with a psychological preparation process.

It should be noted that the suspension position of the traction rope on the trainer can be one or more, and the suspension points of the traction rope on the trainer can be selected and determined according to the postures corresponding to different jumping actions, so as to avoid the impact of the traction rope on the trainer. Interference with various hook movements.

The jumping state monitoring module 4 is used to collect its jumping state data when the trainer performs a jumping action;

The adaptive control module is used to adaptively generate the corresponding flying height, flying speed and flying direction according to the jumping state data of the corresponding trainer combined with its height and weight data during the jumping action performed by the trainer wearing the fixed equipment. Control the flight of the aircraft, and then use the aircraft to follow the corresponding trainer and provide it with the required upward traction to achieve jump assistance and jump prevention.

The hand-held remote control 5 is used for corresponding trainers to input jumping actions to the adaptive control module; wherein, the jumping actions include rear inner knot ring jump, rear outer knot ring jump, rear outer point ice jump, hook hand jump, rear inner point jump There are six options for ice jump and axel jump; each jump action has a corresponding preset flight trajectory and number of rotations, and the preset flight trajectory includes the gliding route before take-off (the gliding route for each jumping action is different) And the traction flight path for jumping assistance in the air (the traction flight path for each jump action is different);

The adaptive control module controls the flight of the aircraft based on the preset flight trajectory and the number of rotations corresponding to the jump action, combined with the adaptively generated flight height, flight speed and flight direction.

In this embodiment, after the trainer completes the jump, the jump training auxiliary system will enter the standby mode (that is, exit the jump assistance), and the trainer no longer depends on the jump training auxiliary system.

The present invention pre-sets the preset flight trajectory corresponding to the jumping action, and then after the user selects the jumping action, according to the preset flight trajectory and the number of rotations of the corresponding jumping action, combined with the self-adaptively generated flight height, flight speed and flight direction To control the flight of the aircraft, the aircraft can be used to assist the trainer in increasing the jumping height and the number of rotations, so that it can effectively assist the figure skating trainer to complete the training of the jumping action, and then provide a scientific, effective training approach.

The present invention replaces the existing boom auxiliary device and the trainer through the aircraft and the wearing fixed equipment, and provides the required upward traction to the trainer through the aircraft to assist the trainer to complete the jumping action, that is, it can be used for the figure skating trainer to perform jumping training independently , and the whole auxiliary training process of jumping movements does not require the accompaniment and assistance of professional coaches, which can reduce the cost and difficulty of figure skating jumping training.

The present invention collects the jumping state data of the trainer during the process of the trainer completing the jumping action, and predicts and generates the corresponding flying height, flying speed and flying direction according to the jumping state data of the trainer combined with his height and weight data to control the flight of the aircraft, and then through The aircraft follows the corresponding trainer and provides it with the required upward traction, and then assists the trainer to complete the jumping action, that is, it can predict the flight-related parameters of the aircraft according to the trainer's jumping state, and then provide the trainer with sufficient upward traction in an accurate and timely manner. Therefore, it can accurately and effectively assist the trainer to complete the training of the jumping action, and then can provide a scientific and effective training approach for the jumping training of figure skating.

Specifically, as shown in Figure 1, the wearing and fixing equipment includes shoulder straps, arm straps, chest straps, abdominal straps, crotch straps, and leg straps that are sequentially arranged and fixedly connected from top to bottom; Wherein, the shoulder strap is fixedly connected with the end of the traction rope away from the aircraft. The shoulder straps are fixedly provided with mounting rings, and the traction rope is fixed together by binding the mounting rings of the shoulder straps.

In this embodiment, the overall structure of the wearing and fixing equipment can refer to the structure of the existing mature "Wia clothing" (such as Xinda/Xinda XD-A9521 film and television wire clothing), and each strap can be fixed by a buckle structure Together, the buckle fastening method has the advantages of wearing firmness and easy disassembly.

In other preferred embodiments, the wearing and fixing equipment can also be designed as the style of the existing one-piece skydiving suit, and the shoulder position of the skydiving suit is fixedly connected with the end of the traction rope away from the aircraft.

The "strap-type" wearing and fixing equipment designed in the present invention can ensure the light weight and wearing firmness of the wearing and fixing equipment, and can provide trainers with more stable traction compared with the structure of clothes or jumpsuits. Therefore, it can effectively assist figure skating trainers to complete the training of jumping movements.

In the specific implementation process, the aircraft includes the aircraft body, the rotating blades arranged on the aircraft body and used to generate flight power, and the driving components used to drive the rotating blades to rotate and controlled by the adaptive control module, fixedly arranged on the aircraft body The fixed outer ring on the side away from the rotating blade, and the rotating inner ring that is rotatably engaged with the fixed outer ring and can rotate freely relative to the fixed outer ring. Wherein the side of the rotating inner ring away from the main body of the aircraft is fixedly connected with the end of the traction rope away from the wearing fixture. The rotating inner ring is used for the trainer to complete the rotation without affecting the normal flight of the aircraft, that is, the aircraft and the fixed outer ring do not need to rotate. A mounting ring is fixedly arranged on the rotating inner ring, and the mounting rings of the rotating inner ring are fixed together by binding the traction rope.

In the actual application process, the trainer drives the rotating inner ring to rotate on the fixed outer ring through the traction rope, so as to realize the free rotation of the trainer, while the fixed outer ring and the main body of the aircraft do not rotate, but remain relatively static.

In this embodiment, the aircraft can be refitted or spliced by existing drones, wherein the main body of the aircraft corresponds to the main structure of the drone, the rotating blades correspond to the blade structure of the drone, and the driving parts correspond to the structure of the drone The only improvement is that the present invention adds the structure of the fixed outer ring and the rotating inner ring.

The overall design of the fixed outer ring is a ring structure with a hollowed out middle, while the rotating inner ring has a cylindrical structure as a whole and the outer diameter size corresponds to the inner diameter size of the hollowed out position in the middle of the fixed outer ring; the rotating inner ring is set at the hollowed out position in the middle of the fixed outer ring , and between the outer peripheral side of the rotating inner ring and the inner peripheral side of the hollow position in the middle of the fixed outer ring, there are rolling elements and a cage for separating the rolling elements to reduce friction, so that the rotating inner ring can be free relative to the fixed outer ring rotate. The overall structure and action principle of the fixed outer ring and the rotating inner ring are similar to existing bearings, the fixed outer ring corresponds to the outer ring structure of the bearing, and the rotating inner ring corresponds to the inner ring structure of the bearing.

In other preferred embodiments, the purpose of free rotation of the rotating inner ring relative to the fixed outer ring can also be achieved through other existing rotating structures.

The aircraft also includes a protective cover that is arranged on the main body of the aircraft at a position corresponding to the rotating blades and can completely cover the rotating blades. When the trainer falls, the protective cover can prevent the trainer from being cut or scratched by the rotating blades of the aircraft, thereby effectively protecting the trainer during the training process.

There is a tightening piece on the rotating inner ring where the traction rope is installed; the end of the traction rope away from the fixed equipment is fixedly connected to the rotating inner ring and a section of the rope body is received by the tightening piece. When the traction rope is moved away from the rotating inner ring When the external force in the direction acts, the tightening member can be pulled to stretch the rope body wound on the coil spring.

When the trainer is not lifted by the aircraft (wearing the fixed equipment), the invention can tighten the traction rope through the tightening part, avoiding the traction rope from winding the trainer in a relaxed state, thereby effectively protecting the trainer during the training process.

The aircraft is provided with an infrared distance measuring module whose detection end faces the side of the corresponding wearing fixed equipment and is used to obtain the distance between the aircraft and the corresponding wearing fixed equipment;

The self-adaptive control module calculates the jump height of the corresponding trainer and the stored cycle difference by combining the distance between the aircraft and the corresponding fixed equipment and the flying height of the aircraft.

Wherein, the specific calculation method of the storage cycle difference is specifically described in the second embodiment.

The invention obtains the distance between the aircraft and the fixed equipment through the infrared ranging module, and calculates the user's jump height and the stored cycle difference in combination with the flight height of the aircraft, so that the user's jumping posture can be effectively monitored and analyzed, and then guided It optimizes the jumping action, thereby effectively assisting figure skating trainers to complete the training of the jumping action.

Embodiment two:

In this embodiment, the function of the jumping action auxiliary training device system to dynamically control the aircraft is disclosed.

In this embodiment, the jumping state monitoring module includes a body state monitoring unit for collecting the corresponding trainer's body state data, a motion state monitoring unit for collecting the corresponding trainer's motion state data, and a body state monitoring unit for collecting the corresponding trainer's motion posture data. A posture information monitoring unit, and a physiological state monitoring module unit for collecting trainers' body temperature and humidity data.

Since figure skating is also an extreme sport, it is prone to hypothermia, so it is necessary to monitor the trainers' body temperature and humidity data.

In this embodiment, each module of the jumping state monitoring module can be distributed and arranged on the wearable fixed equipment. In order to ensure the accuracy of the data, the number of each module can be multiple.

Specifically, the physical state data includes heart rate, blood pressure, blood sugar, basal metabolic rate and/or body mass index;

In this embodiment, it can be judged whether the trainer's physical state is normal based on the physical state data. The method and principle of collecting body state data by the body state monitoring unit can refer to existing smart bracelets and body fat scales. The present invention does not make any improvement on the specific means of body state data collection.

The motion state data includes motion speed, motion acceleration, motion direction and/or take-off angle;

In this embodiment, the way and principle of the motion state monitoring unit to collect motion state data can refer to the existing motion monitoring software of smart phones, such as running and step counting software, and specifically realize relevant data collection through multi-axis sensors. The present invention does not make any improvement to the specific means of motion state data collection.

Movement posture data include the angle between the forearm and the upper arm, the angle between the upper arm and the shoulder, the angle between the upper arm and the torso, the distance between the forearm and the torso, the angle between the torso and the thigh, the angle between the thigh and the calf, the angle of knee bend, the angle of bend Hip angle, arm swing, and/or torso twist.

In this embodiment, the method and principle of collecting motion posture data by the posture information monitoring unit may refer to existing video skeleton analysis software. The specific process includes: obtaining the jumping video of the trainer; performing skeleton analysis and posture analysis on the video frame of the jumping video, and generating the corresponding human body key point coordinate map; Frame optimal video frame; calculate motion gesture data of jumping video based on multi-frame optimal video frame. The present invention does not make any improvement to the specific means of motion posture data collection.

In this embodiment, the height and weight data can be collected by a trainer or other people through manual measurement and manual entry.

In the specific implementation process, as shown in Figure 2, the adaptive control module includes:

The flying height prediction unit is used to calculate the corresponding jumping momentum and rotational momentum according to the corresponding trainer's motion state data and motion posture data; then calculate the corresponding jumping height prediction by combining the corresponding trainer's jumping momentum and rotational momentum with its height and weight data value and the predicted value of the number of rotation cycles; then compare the predicted value of the number of rotations of the corresponding trainer with the target number of rotations of the corresponding jumping action to generate the corresponding stored cycle difference; and then combine the height of the corresponding trainer with the stored cycle difference Calculate the corresponding jump height difference based on the weight data; finally, calculate the flight height of the aircraft based on the jump height difference of the corresponding trainer and the jump height prediction value combined with the extension length of the traction rope.

Among them, the storage week (also known as the poor week) means that the trainer fell off the ice before the last week of turning.

In this embodiment, jumping momentum and rotational momentum refer to the energy used to complete jumping and rotating generated by the trainer by controlling the posture and range of motion of various parts of the body. Among them, the present invention calculates the corresponding jumping momentum through the motion speed, motion acceleration, center of gravity height and take-off angle; and calculates the corresponding rotational momentum through the swing arm amplitude, knee flexion angle, hip flexion angle and trunk twist angle during jumping. Of course, in other preferred embodiments, jumping momentum and rotational momentum can also be calculated by other parameters.

The calculation of the specific values of jumping momentum and rotational momentum can be calculated based on historical data. Take the calculation of jumping momentum as an example: Find 100 to 500 trainers as experimenters; let the experimenters use different speeds, accelerations, heights of centers of gravity and / or take-off angle for several jumps, and record the jump height; use the jump height * weight/height value as the jump momentum; finally, according to a large amount of historical data, fit the jump momentum and movement speed, movement acceleration, center of gravity height and take-off Angle relationship, such as:

Jumping momentum = a motion speed + b motion acceleration + c center of gravity height + d take-off angle; a, b, c, d are all parameters to be fitted. Rotational momentum is calculated in the same way as jumping momentum.

Among them, the definition in this embodiment:

Predicted value of jump height = jump momentum * height/weight;

Predicted value of rotation cycles = predicted value of e jump height + rotational momentum * height/weight;

Jump height difference = (storage cycle difference - rotational momentum * height/weight)/e.

e is the parameter to be fitted, which can be calculated and fitted by referring to the calculation process of jumping momentum.

Flying height = jumping height difference + jumping height prediction value + extension length of the traction rope.

The present invention calculates jumping momentum and rotational momentum according to the motion state data and motion posture data, then calculates the jump height prediction value and the rotation cycle number prediction value by combining the jumping momentum and rotation momentum with the height and weight data, and then combines the height and weight according to the stored cycle difference Calculate the jump height difference from the data, and finally calculate the flight height of the aircraft based on the jump height difference and the jump height prediction value combined with the extension length of the traction rope, that is, the corresponding flight height can be predicted and generated based on the trainer's jump state data combined with his height and weight data To control the flight of the aircraft, that is to predict the flight-related parameters of the aircraft according to the jumping state of the trainer, and then provide the trainer with sufficient upward traction in an accurate and timely manner, so as to accurately and effectively assist the trainer to complete the training of the jumping action.

The flight height adjustment unit is used to calculate the corresponding air rotation attitude according to the corresponding trainer's motion attitude data in the air; then calculate the corresponding rotation momentum reduction value according to the corresponding trainer's air attitude combined with his height and weight data; and then pass the corresponding training Calculate the corresponding reduction in the number of rotations based on the reduced value of the trainer's rotational momentum and the predicted value of the jump height; then update the predicted value of the number of rotations according to the reduction in the number of rotations of the corresponding trainer, and then update the difference in stored cycles and the jumping height correspondingly. Height difference; finally, calculate and update the flight height of the aircraft based on the updated jump height difference and jump height prediction value of the corresponding trainer combined with the stretched length of the traction rope.

In this embodiment, the rotational momentum reduction value refers to the momentum loss value caused by the trainer's non-standard body movements during the vacant rotation process. Generally speaking, the smaller the trainer's trunk and limbs shrink, the smaller the rotational momentum reduction value. The smaller the value, the more the trainer's torso and limbs will splay, and the greater the rotational momentum reduction. Among them, the present invention calculates the corresponding rotation through the angle between the forearm and the upper arm, the angle between the upper arm and the shoulder, the angle between the upper arm and the trunk, the distance between the forearm and the trunk, the angle between the trunk and the thigh, and the angle between the thigh and the calf Momentum reduction value. The calculation of the specific value of the reduction value of the rotational momentum can be calculated through historical data. For details, please refer to the calculation and fitting method of the jumping momentum.

The present invention calculates the rotation posture in the air according to the movement posture data in the air, then calculates the reduction value of the rotation momentum according to the posture in the air combined with the height and weight data, and then calculates the reduction amount of the number of rotation cycles through the reduction value of the rotation momentum and the predicted value of jump height, and then calculates the reduction amount according to the number of rotation cycles The amount of reduction is used to update the predicted value of the number of rotations, the difference of stored cycles and the difference of jump height. Finally, the flight height of the aircraft is updated according to the updated difference of jump height and the predicted value of jump height, so that the trainer can analyze its rotation during the rotation process. Rotate the attitude in the air and calculate the reduction value of the rotational momentum, so as to dynamically adjust and update the flight height of the aircraft, so that the flight height of the aircraft can be better adapted to the trainer's jumping state and air attitude, that is, it can jump according to the trainer's The state predicts the flight-related parameters of the aircraft, and then accurately and timely provides sufficient upward traction to the trainer, so that it can accurately and effectively assist the trainer to complete the training of jumping actions.

The flight time prediction unit is used to calculate the corresponding flight prediction time as the flight duration of the aircraft according to the jump height difference and the jump height prediction value of the corresponding trainer in combination with their height and weight data.

In this embodiment, the predicted time of flight=(f jump height difference+g jump height prediction value)*height/weight.

f and g are parameters to be fitted, which can be calculated and fitted by referring to the calculation process of jump momentum.

According to the jump height difference and the jump height prediction value combined with the height and weight data, the present invention calculates the vacated predicted time as the flight duration of the aircraft, and can control the flight of the aircraft according to the trainer's jump state data combined with his height and weight data to predict and generate a corresponding flight duration. That is, it can predict the flight-related parameters of the aircraft according to the jumping state of the trainer, and then provide the trainer with sufficient upward traction in an accurate and timely manner, so as to accurately and effectively assist the trainer to complete the training of the jumping action.

The flight speed prediction unit is used to calculate the corresponding jump momentum according to the corresponding trainer's motion state data and motion attitude data; then according to the corresponding trainer's jump momentum combined with its height and weight data and flight prediction time to calculate the corresponding jump prediction distance as the aircraft The flight distance; finally, the flight speed of the aircraft is calculated according to the flight distance of the aircraft and the corresponding flight time.

In this embodiment, flight distance=jump prediction distance=h jump momentum*i flight prediction time*height/weight.

Both h and i are parameters to be fitted, which can be calculated and fitted by referring to the calculation process of jump momentum.

The present invention calculates the corresponding jump momentum according to the motion state data and motion attitude data, then calculates the jump prediction distance according to the jump momentum combined with the height and weight data and the flight prediction time as the flight distance of the aircraft, and finally calculates the flight speed according to the flight distance of the aircraft combined with the flight duration According to the trainer's jumping state data combined with its height and weight data, the corresponding flight speed can be predicted to generate the corresponding flight speed to control the flight of the aircraft, that is, the flight-related parameters of the aircraft can be predicted according to the trainer's jumping state, and then the trainer can be provided with sufficient upward movement in an accurate and timely manner. Traction, so that it can accurately and effectively assist the trainer to complete the training of jumping movements.

The flight direction prediction unit is used to calculate the corresponding jumping direction as the flight direction of the aircraft according to the motion state data of the corresponding trainer.

In this embodiment, the trainer's jumping direction is consistent with his moving direction.

The present invention calculates the jumping direction as the flight direction of the aircraft according to the trainer's motion state data, and can predict and generate the corresponding flight direction according to the trainer's jumping state data combined with its height and weight data to control the flight of the aircraft, that is, it can predict the jumping state according to the trainer The flight-related parameters of the aircraft can accurately and timely provide sufficient upward traction to the trainer, so as to accurately and effectively assist the trainer to complete the training of jumping actions.

The flight following optimization unit is used to dynamically adjust the flight speed and flight direction of the aircraft according to the real-time position of the corresponding trainer and the real-time flight position of the aircraft, so that the aircraft is always kept directly above the corresponding trainer, so as to pass the aircraft to the corresponding training provide the required vertical upward traction.

In this embodiment, the acquisition of the trainer's real-time motion position and the flight real-time position of the aircraft can be realized through the existing indoor positioning technology, such as using an ultra-wideband positioning system with high positioning accuracy to obtain the trainer's motion real-time position and the aircraft's real-time position The real-time position of the flight, its positioning accuracy can reach 10-30 cm. Ultra-wideband positioning system is an existing mature system. Compared with traditional narrowband systems, it has strong penetrating power, low power consumption, good anti-multipath effect, high security, low system complexity and can improve precise positioning accuracy. And other advantages, usually used for positioning tracking or navigation of indoor moving objects.

specific:

Set up multiple ultra-wideband base stations in the training ground;

Set the aircraft positioning module on the aircraft, that is, the ultra-wideband tag 1;

Set a personnel positioning module on the wearing fixed equipment, that is, the ultra-wideband tag 2;

By measuring the transmission delay difference between different UWB base stations and UWB tag 1 or 2, the specific location of UWB tag 1 or 2 in the training site is determined, that is, indoor positioning is realized.

The present invention dynamically adjusts the flight speed and flight direction of the aircraft according to the real-time position of the trainer's movement and the real-time flight position of the aircraft, so that the aircraft is always kept directly above the corresponding trainer, and then provides the required vertical position to the corresponding trainer through the aircraft. The upward traction force means that the aircraft can better follow the trainer and provide it with the required upward traction force, so that it can better assist the trainer to complete the corresponding jumping action.

The flight trajectory generation unit is used to calculate the corresponding take-off time as the flight start time of the aircraft according to the motion state data and motion attitude data of the corresponding trainer; The body weight data calculates the corresponding flight prediction time as the flight duration of the aircraft; finally, the flight trajectory of the aircraft is calculated based on the aircraft's flight start time and flight duration combined with the corresponding flight altitude, flight speed and flight direction.

In this embodiment, the take-off moment refers to the initial moment when the trainer leaves the ground with both feet when jumping. Specifically, the corresponding take-off moment is calculated according to the trainer's arm swing range, knee flexion angle, hip flexion angle, and center of gravity drop height. The calculation of the specific value of the take-off moment can be calculated based on a large amount of historical data: find 100 to 500 trainers as experimenters; let the experimenters perform with different arm swing amplitudes, knee flexion angles, hip flexion angles and/or center of gravity drop heights Jump several times, and record the take-off time; finally, based on a large amount of historical data, fit the relationship between the take-off time and the swing arm amplitude, knee flexion angle, hip flexion angle and center of gravity drop height, such as:

Take-off moment = A swing arm amplitude + B knee flexion angle + C hip flexion angle + D drop height of the center of gravity; A, B, C, and D are all parameters to be fitted.

For the generation method and principle of the flight trajectory, refer to the existing map software to generate the vehicle trajectory, or the existing running software to generate the running trajectory, and combine the starting time, flight duration, flight altitude, flight speed and flight direction with the data Generated flight trajectory fusion.

The invention calculates and generates the flight trajectory by combining the flight start time and flight duration of the aircraft with the corresponding flight altitude, flight speed and flight direction, so that the traction trajectory of the aircraft to the trainer can be analyzed through the flight trajectory, and then the trainer can be assisted in analyzing and Locating its technical problems can assist the trainer to optimize its movement posture and aerial posture, so that the trainer can find the rhythm and skills to complete the jumping action faster, so as to better assist the trainer to complete the training of the jumping action.

The flight trajectory prediction unit is used to establish the association between the corresponding jumping action and the flight trajectory of the aircraft when a single trainer completes the corresponding jumping action; Synthesize a flight path as the default flight path corresponding to a single jump action. After the corresponding jumping action is selected by the corresponding trainer, the aircraft is controlled to fly according to the preset flight trajectory of the corresponding jumping action.

In this embodiment, the linear fitting with regularization is an existing mature technology.

In the present invention, by fitting all the flight trajectories corresponding to a single jumping action into one flight track as the preset flight track corresponding to a single jumping action, it is possible to control the aircraft to follow the preset flight track of the corresponding jumping action after the trainer selects the corresponding jumping action. Flight, that is, to recommend preset flight trajectories for the trainer through historical data, so that the flight-related parameters of the aircraft can better match the trainer's jump state data, and can better follow the trainer and provide them with The required upward traction can better assist the trainer to complete the corresponding jumping action.

Embodiment three:

In this embodiment, the remote guidance function of the jumping action auxiliary training device system is disclosed.

A jumping motion aid training device for figure skating, further comprising:

The cloud is used to obtain the user's jumping status data and height and weight data, and generate corresponding training reports based on the user's jumping status data and height and weight data;

The coaching terminal is used to receive and display the training reports of one or more users sent by the cloud for remote viewing by the coach, and at the same time allow the coach to input corresponding guidance information to the corresponding one or more users.

The present invention obtains the trainer's jumping state data and height and weight data through the cloud, and can generate a corresponding training report, so that the coach can remotely view the training report of one or more trainers through the coach terminal, and can submit a report to the corresponding one or more trainers. Multiple trainers input the corresponding guidance information, that is, the coach can remotely view and guide the jump training process of the trainers (different venues), and can change from the traditional one-on-one coach and trainer to one-to-many coach and trainer, Therefore, while ensuring the training effect of the trainer's jumping action, the efficiency of the trainer's jumping action training and the coach's guidance can be further improved.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than limit the technical solutions. Those of ordinary skill in the art should understand that those who modify or replace the technical solutions of the present invention without departing from the present technology The purpose and scope of the scheme should be included in the scope of the claims of the present invention.

Claims (10)

1. Jump motion auxiliary training system for pattern skating, characterized by comprising:

the wearable fixing equipment is used for being worn by a corresponding trainer and can be fixed on the body of the corresponding trainer;

the aircraft is fixedly connected with the wearing fixing equipment through a traction rope and is used for providing upward traction force for a trainer wearing the wearing fixing equipment in an upward flight mode;

the jump state monitoring module is used for collecting jump state data of the trainer when the trainer executes jump actions;

the self-adaptive control module is used for adaptively generating corresponding flying height, flying speed and flying direction according to the jump state data of the corresponding trainer in the process of executing the jump action by the trainer wearing the wearable fixed equipment, so as to control the flying of the aircraft, and further, the aircraft follows the corresponding trainer and provides required upward traction force for the corresponding trainer, so that jump assistance and jump anti-falling are realized.

2. The jumping motion assist training system for pattern skating of claim 1, further comprising:

the hand-held remote controller is used for inputting jumping actions to the self-adaptive control module by corresponding trainers; the jump action comprises six options of back inner loop jump, back outer ice jump, hand hook jump, back inner ice jump and Ackerel jump; each jump action is provided with a corresponding preset flight track and a corresponding rotation cycle number, wherein the preset flight track comprises a sliding route before taking off and a traction flight route for jump assistance in the air;

the self-adaptive control module controls the flight of the aircraft based on the preset flight track and the rotation cycle number corresponding to the jump action by combining the self-adaptively generated flight height, flight speed and flight direction.

3. Jumping motion assisted training system for pattern skating according to claim 1, characterized in that: the aircraft comprises an aircraft body, a rotating blade, a driving component and a rotating inner ring, wherein the rotating blade is arranged on the aircraft body and used for generating flight power, the driving component is used for driving the rotating blade to rotate and is controlled by the self-adaptive control module, the fixed outer ring is fixedly arranged on one side, far away from the rotating blade, of the aircraft body, and the rotating inner ring is in running fit with the fixed outer ring and can rotate freely relative to the fixed outer ring; one side of the rotating inner ring, which is far away from the aircraft main body, is fixedly connected with one end of the traction rope, which is far away from the wearing fixing device;

The aircraft further comprises a protective cover which is arranged on the aircraft body at a position corresponding to the rotary blade and can completely cover the rotary blade.

4. Jumping motion assisted training system for pattern skating according to claim 1, characterized in that: the jump state monitoring module comprises a motion state monitoring unit for collecting motion state data of a corresponding trainer and a posture information monitoring unit for collecting motion posture data of the corresponding trainer.

5. A jumping motion assist training system for pattern skating as set forth in claim 4, wherein: the motion state data comprises a motion speed, a motion acceleration, a motion direction and/or a jump angle;

the motion gesture data includes an angle between the forearm and the forearm, an angle between the forearm and the shoulder, an angle between the forearm and the torso, a distance between the forearm and the torso, an angle between the torso and the thigh, an angle between the thigh and the calf, a knee flexion angle, a hip flexion angle, a swing arm amplitude, and/or a torso torsion angle.

6. The jumping motion assist training system for pattern skating of claim 4, wherein the adaptive control module comprises:

the flying height prediction unit is used for calculating corresponding jump momentum and rotation momentum according to the motion state data and the motion gesture data of the corresponding trainer; then calculating a corresponding jump height predicted value and a corresponding rotation cycle number predicted value by combining the jump momentum and the rotation momentum of the corresponding trainer with the height and weight data of the trainer; then comparing the predicted value of the rotation cycle number of the corresponding trainer with the target rotation cycle number of the corresponding jumping action to generate a corresponding memory Zhou Chazhi; further, according to the memory Zhou Chazhi of the corresponding trainer, the corresponding jump height difference value is calculated by combining the height and weight data of the corresponding trainer; and finally, calculating the flying height of the aircraft according to the jump height difference value and the jump height predicted value of the corresponding trainer and the extension length of the traction rope.

7. The jumping motion assist training system for pattern skating of claim 6, wherein the adaptive control module further comprises:

the flight altitude adjustment response unit is used for calculating a corresponding aerial rotation gesture according to the movement gesture data of the corresponding trainer in the air; then calculating corresponding rotational momentum cut-off values according to the air gestures of the corresponding trainers and combining the height and weight data of the trainers; calculating the corresponding rotation cycle number reduction amount by the corresponding rotation momentum reduction value and jump height predicted value of the trainer; then updating the predicted value of the number of the rotating weeks according to the reduction of the number of the rotating weeks of the corresponding trainer, and further correspondingly updating the saved Zhou Chazhi value and the jump height difference value; and finally, calculating the flight height of the updated aircraft according to the updated jump height difference value and the jump height predicted value of the corresponding trainer and the extension length of the traction rope.

8. The jumping motion assist training system for pattern skating of claim 7, wherein the adaptive control module further comprises:

the flight time prediction unit is used for calculating the corresponding flight prediction time as the flight time of the aircraft according to the jump height difference value and the jump height prediction value of the corresponding trainer and combining the height and weight data of the trainer.

9. The jumping motion assist training system for pattern skating of claim 8, wherein the adaptive control module further comprises:

the flight speed prediction unit is used for calculating corresponding jump momentum according to the motion state data and the motion gesture data of the corresponding trainer; then calculating a corresponding jump prediction distance as the flight distance of the aircraft according to the jump momentum of the corresponding trainer and combining the height and weight data and the flight prediction time of the trainer; and finally, calculating the flight speed of the aircraft according to the flight distance of the aircraft and the corresponding flight duration.

10. The jumping motion assist training system for pattern skating of claim 4, further comprising:

the cloud end is used for acquiring jump state data and height weight data of a trainer and generating a corresponding training report according to the jump state data and the height weight data of the trainer;

the training terminal is used for receiving and displaying training reports of one or more trainers issued by the cloud for the trainers to remotely check, and simultaneously, the trainers can input corresponding guiding information to the corresponding one or more trainers.

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