阅读说明：本技术 一种陆地冰壶运动状态的计算方法与系统 (Method and system for calculating motion state of land curling ) 是由 张利 于 2021-08-18 设计创作，主要内容包括：本发明提出一种陆地冰壶运动状态的计算方法及系统,该方法包括：获取赛道图像信息,从赛道图像信息中提取得到赛道边界信息以得到虚拟赛道区域；对在虚拟赛道区域内的多个陆地冰壶进行对象捕捉,获取当前运动的陆地冰壶对应的角速度以及加速度；根据温度值以及湿度值,对角速度以及加速度进行校正,以分别得到有效角速度以及有效加速度；模拟计算得到陆地冰壶的运动轨迹；判断陆地冰壶的运动轨迹上是否存在其它静止的陆地冰壶；若是,则模拟计算陆地冰壶的当前位置坐标,根据当前位置坐标计算得到对应的得分值。本发明提出的陆地冰壶运动状态的计算方法,可对陆地冰壶的运动轨迹进行较为精确计算与仿真,使运动员有更为深刻的认知与判断。(The invention provides a method and a system for calculating the motion state of a land curling, wherein the method comprises the following steps: acquiring the image information of the track, and extracting the boundary information of the track from the image information of the track to obtain a virtual track area; capturing objects of a plurality of land curling in a virtual track area, and acquiring the angular speed and the acceleration corresponding to the currently moving land curling; correcting the angular velocity and the acceleration according to the temperature value and the humidity value to respectively obtain an effective angular velocity and an effective acceleration; simulating and calculating to obtain the motion track of the land curling; judging whether other stationary land curling exist on the motion trail of the land curling; if yes, simulating and calculating the current position coordinate of the land curling, and calculating according to the current position coordinate to obtain a corresponding score value. The method for calculating the motion state of the land curling can accurately calculate and simulate the motion trail of the land curling, so that athletes can recognize and judge more deeply.)

1. A method for calculating the motion state of a land curling is applied to a land curling track to monitor and calculate the motion state of the land curling, and is characterized in that a plurality of pan-tilt cameras are arranged on the side edges of the land curling track, a microprocessor, an angular velocity sensor, an acceleration sensor, a temperature sensor and a humidity sensor are arranged in the land curling track and are electrically connected with the microprocessor, and data transmission exists between the plurality of pan-tilt cameras and the microprocessor and a background server, and the method comprises the following steps:

the method comprises the following steps: acquiring track image information through a plurality of pan-tilt cameras, extracting track boundary information from the track image information, and performing virtual modeling according to the track boundary information to obtain a virtual track area;

step two: capturing objects of a plurality of land curling in the virtual track area from the track image information, locking the currently moving land curling, and acquiring the angular velocity and the acceleration corresponding to the currently moving land curling through the angular velocity sensor and the acceleration sensor;

step three: correcting the angular velocity and the acceleration according to the temperature value and the humidity value respectively obtained by the temperature sensor and the humidity sensor to respectively obtain an effective angular velocity and an effective acceleration;

step four: according to the current speed, the effective angular speed, the effective acceleration and the ground friction factor of the currently moving land curling, simulating and calculating to obtain the motion track of the currently moving land curling;

step five:

judging whether other static land curling exist on the motion trail of the currently moving land curling or not;

step six:

if so, performing simulation calculation to obtain the current position coordinates of the stationary land curling after collision, and calculating to obtain a corresponding score value according to the current position coordinates so as to complete the calculation of the complete motion state of the land curling.

2. The method according to claim 1, wherein in the first step, the track boundary information includes a plurality of node labels, the node labels include a first node label and a second node label, the first node label is located at an outer edge of the virtual track area, the second node label is located inside the virtual track area, the first node label corresponds to a first node label coordinate, the second node label corresponds to a second node label coordinate, and the method for virtually modeling the track boundary information to obtain the virtual track area includes the following steps:

determining a first boundary of the virtual track area according to a plurality of first node tag coordinates extracted from the track image information, wherein the first boundary comprises a starting area, a tee area, a middle area, a score area and an end area;

determining a second boundary of the virtual track area according to a plurality of second node label coordinates extracted from the track image information, wherein the second boundary comprises a score positioning area and a serve positioning area;

the scoring positioning area is located inside the scoring area, the serving positioning area is located inside the serving area, the scoring positioning area and the serving positioning area are circular, and the starting area, the serving area, the middle line area, the scoring area and the ending area are square.

3. A method for calculating a motion state of a land curling according to claim 1, wherein when the angular velocity is not zero, the calculation formula of the effective angular velocity in the third step is expressed as:

wherein, ω is_TIs the effective angular velocity, ω_JThe angular velocity corresponding to the currently moving land curling acquired by the angular velocity sensor,the temperature correction coefficient is epsilon, the humidity correction coefficient is epsilon, the temperature value obtained by the temperature sensor is T, and the humidity value obtained by the humidity sensor is s.

4. The method for calculating the motion state of the land curling as claimed in claim 1, wherein in the third step, the calculation formula of the effective acceleration is represented as:

wherein, a_TIs the effective acceleration, a_JThe acceleration corresponding to the currently moving land curling acquired by the acceleration sensor,the temperature correction coefficient is epsilon, the humidity correction coefficient is epsilon, the temperature value obtained by the temperature sensor is T, and the humidity value obtained by the humidity sensor is s.

5. The method for calculating the motion state of the land curling as claimed in claim 4, wherein when the angular velocity is not zero, the motion trajectory of the land curling in the current motion is a curve in the fourth step, and the corresponding equation is expressed as:

wherein the content of the first and second substances,is the curve motion track of the land curling in current motion,in a curved track state, the non-collided land curling moves on the curling track along the direction of the central line by a first transverse distance;

v_qtthe current speed of the land curling in curvilinear motion before collision occurs, gamma is the angular velocity deflection correction factor, omega_TIs the effective angular velocity, omega_oAs the reference angular velocity, the angular velocity of the object,is a ground friction factor, and g is gravity acceleration;

μ_minis the smallest friction factor, mu, of the surface of the curling track_maxIs the largest friction factor on the surface of the curling track, f_rIs a friction coefficient control factor.

6. The method as claimed in claim 5, wherein when the angular velocity is not zero and the motion track of the land curling is a curve, in step six, if there are other stationary land curling on the motion track of the currently moving land curling and there is a collision between them, the method further comprises:

according to the current speed corresponding to the instant before the collision of the currently moving land curling, and the collision included angle between the currently moving land curling and the collided land curling, calculating to obtain the current speed corresponding to the instant after the collision of the currently moving land curling;

the calculation formula of the current speed corresponding to the moment after the collision of the currently moving land curling is as follows:

wherein the content of the first and second substances,current speed, V, in the x-axis direction at the moment after collision of a land curling in curvilinear motion_qtThe speed is the current speed corresponding to the moment before the collision of the land curling in curvilinear motion, and theta is the collision included angle between the land curling in current motion and the collided land curling.

7. The method of claim 6, wherein when the angular velocity is not zero and the motion trajectory of the land curling is a curve, after the collision of the currently moving land curling, the method further comprises:

calculating a second transverse distance of the collided land curling moving along the direction of the central line on the curling track according to the current speed corresponding to the collided land curling at the moment;

wherein the calculation formula of the second lateral distance is expressed as:

wherein the content of the first and second substances,indicating a second lateral distance that the bumped land curling moves in the direction of the centerline on the curling track.

8. The method as claimed in claim 4, wherein when the obtained angular velocity is zero, the motion trajectory of the currently moving land curling is a straight line, and there are no other land curling on the motion trajectory of the currently moving land curling, a third transverse distance for the non-collided land curling to move along the centerline direction on the curling track is represented as:

wherein the content of the first and second substances,a third transverse distance, v, for the non-colliding land curling moving linearly on the curling track in the direction of the centre line_ztFor the current speed of the linearly moving land curling before the collision occurs,is a ground friction factor, g is the acceleration of gravity, a_TIs the effective acceleration.

9. The method according to claim 8, wherein when the obtained angular velocity is zero and the motion trajectory of the currently moving land curling is a straight line, and other land curling exists on the motion trajectory of the currently moving land curling, the formula for calculating the current velocity corresponding to the instant after the collision of the currently moving land curling is as follows:

wherein the content of the first and second substances,current speed, v, in the x-axis direction at the moment after collision of a land curling moving linearly_ztThe speed theta is the current speed corresponding to the instant moment before the collision of the currently moving land curling, and theta is the collision included angle between the currently moving land curling and the collided land curling;

the method further comprises the following steps:

calculating a fourth transverse distance of the collided land curling moving along the direction of the central line on the curling track according to the current speed corresponding to the collided land curling at the moment;

wherein the calculation formula of the fourth lateral distance is expressed as:

wherein the content of the first and second substances,indicating collisionAnd the fourth transverse distance that the bumped land curling moves along the direction of the central line on the curling track.

10. The utility model provides a computing system of land curling motion state, is applied to land curling racetrack and monitors and calculate in order to the motion state of land curling, its characterized in that the lateral margin of land curling racetrack is equipped with a plurality of cloud platform cameras be equipped with microprocessor in the land curling, with microprocessor electric connection's angular velocity sensor, acceleration sensor, temperature sensor and humidity transducer, it is a plurality of cloud platform camera and microprocessor all with backstage server between there is data transmission, the system includes:

the information acquisition module is used for acquiring the track image information through the plurality of pan-tilt cameras, extracting track boundary information from the track image information, and performing virtual modeling according to the track boundary information to obtain a virtual track area;

the information processing module is used for capturing objects of a plurality of land curling in the virtual track area from the track image information, locking the currently moving land curling and acquiring the angular velocity and the acceleration corresponding to the currently moving land curling through the angular velocity sensor and the acceleration sensor;

the data correction module is used for correcting the angular velocity and the acceleration according to the temperature value and the humidity value respectively obtained by the temperature sensor and the humidity sensor so as to respectively obtain an effective angular velocity and an effective acceleration;

the first calculation module is used for obtaining the motion track of the currently moving land curling through simulation calculation according to the current speed, the effective angular speed, the effective acceleration and the ground friction factor of the currently moving land curling;

the first judgment module is used for judging whether other static land curling exist on the motion track of the currently moving land curling;

and the second calculation module is used for obtaining the current position coordinate of the stationary land curling after collision through simulation calculation when other stationary land curling exist on the motion track of the currently moving land curling, and obtaining the corresponding score value through calculation according to the current position coordinate so as to calculate the complete motion state of the complete land curling.

Technical Field

The invention relates to the technical field of curling motion, in particular to a method and a system for calculating a motion state of a land curling.

Background

A dry Curling (also known as a polo Curling), is a throwing sport that is performed on smooth ground in team units. The goal of defeating can be achieved by stopping the curling ball at a preset position or knocking out the curling ball of the other side.

The dry land curling is a popular version of the curling of the Olympic Game project in winter, the equipment and the rule are similar to those of the curling, the ball body is lighter, and 3 pulleys are additionally arranged below the curling for ground sliding. The dry land curling breaks through the field limitation, is a game integrating physical strength and intelligence through team cooperation, and is a sport project needing the cooperation of personal technology and team tactics. The dry land curling can be carried out on smooth ground and in school auditoriums, wall courts, badminton courts and indoors and outdoors, which can contain 9.7 multiplied by 1.6 m track, is the best way for learning curling sports under ice-free conditions, so that the people can deepen the understanding and cognition of curling, and the enthusiasm for learning curling is stimulated, and the curling is suitable for sports participated by the people all over the world and people of all ages and different abilities.

However, in the prior art, a method capable of performing calculation analysis on the motion state of the land curling is absent, and the motion trajectory of the land curling in the next step cannot be well predicted, so that the motion of the land curling cannot be deeply recognized and judged.

Disclosure of Invention

In view of the above situation, a need exists to solve the problem that in the prior art, a method for performing calculation and analysis on the movement state of the land curling is absent, and the movement track of the land curling in the next step cannot be well predicted, so that the movement of the land curling cannot be deeply recognized and judged.

The embodiment of the invention provides a method for calculating the motion state of a land curling, which is applied to a land curling track to monitor and calculate the motion state of the land curling, wherein a plurality of pan-tilt cameras are arranged on the side edge of the land curling track, a microprocessor, an angular velocity sensor, an acceleration sensor, a temperature sensor and a humidity sensor are arranged in the land curling track and are electrically connected with the microprocessor, and data transmission exists between the plurality of pan-tilt cameras and the microprocessor and a background server, and the method comprises the following steps:

the method comprises the following steps: acquiring track image information through a plurality of pan-tilt cameras, extracting track boundary information from the track image information, and performing virtual modeling according to the track boundary information to obtain a virtual track area;

step two: capturing objects of a plurality of land curling in the virtual track area from the track image information, locking the currently moving land curling, and acquiring the angular velocity and the acceleration corresponding to the currently moving land curling through the angular velocity sensor and the acceleration sensor;

step three: correcting the angular velocity and the acceleration according to the temperature value and the humidity value respectively obtained by the temperature sensor and the humidity sensor to respectively obtain an effective angular velocity and an effective acceleration;

step four: according to the current speed, the effective angular speed, the effective acceleration and the ground friction factor of the currently moving land curling, simulating and calculating to obtain the motion track of the currently moving land curling;

step five:

judging whether other static land curling exist on the motion trail of the currently moving land curling or not;

step six:

if so, performing simulation calculation to obtain the current position coordinates of the stationary land curling after collision, and calculating to obtain a corresponding score value according to the current position coordinates so as to complete the calculation of the complete motion state of the land curling.

The invention provides a method for calculating the motion state of a land curling, which comprises the steps of acquiring track image information through a plurality of pan-tilt cameras, extracting track boundary information from the track image information, carrying out virtual modeling according to the track boundary information to obtain a virtual track area, then carrying out object capture on a plurality of land curling in the virtual track area, correcting the angular velocity and the acceleration by combining the temperature and the humidity, and carrying out analog calculation according to the current velocity, the effective angular velocity, the effective acceleration and the ground friction factor of the currently moving land curling to obtain the motion track of the currently moving land curling so as to accurately calculate and predict the motion of the land curling. The method for calculating the motion state of the land curling can accurately calculate and simulate the motion trail of the land curling, so that athletes can recognize and judge more deeply.

In the first step, the track boundary information includes a plurality of node tags, where the node tags include a first node tag and a second node tag, the first node tag is located at an outer edge of the virtual track area, the second node tag is located inside the virtual track area, the first node tag corresponds to a first node tag coordinate, the second node tag corresponds to a second node tag coordinate, and the method for performing virtual modeling on the track boundary information to obtain the virtual track area includes the following steps:

determining a first boundary of the virtual track area according to a plurality of first node tag coordinates extracted from the track image information, wherein the first boundary comprises a starting area, a tee area, a middle area, a score area and an end area;

determining a second boundary of the virtual track area according to a plurality of second node label coordinates extracted from the track image information, wherein the second boundary comprises a score positioning area and a serve positioning area;

the scoring positioning area is located inside the scoring area, the serving positioning area is located inside the serving area, the scoring positioning area and the serving positioning area are circular, and the starting area, the serving area, the middle line area, the scoring area and the ending area are square.

The method for calculating the motion state of the land curling, wherein when the angular velocity is not zero, the calculation formula of the effective angular velocity in the third step is as follows:

wherein, ω is_TIn order to be said effective angular velocity, the angular velocity,ω_Jthe angular velocity corresponding to the currently moving land curling acquired by the angular velocity sensor,the temperature correction coefficient is epsilon, the humidity correction coefficient is epsilon, the temperature value obtained by the temperature sensor is T, and the humidity value obtained by the humidity sensor is s.

The method for calculating the motion state of the land curling, wherein in the third step, the calculation formula of the effective acceleration is represented as follows:

wherein, a_TIs the effective acceleration, a_JThe acceleration corresponding to the currently moving land curling acquired by the acceleration sensor,the temperature correction coefficient is epsilon, the humidity correction coefficient is epsilon, the temperature value obtained by the temperature sensor is T, and the humidity value obtained by the humidity sensor is s.

When the angular velocity is not zero, in the fourth step, the motion trajectory of the currently moving land curling is a curve, and the corresponding equation is expressed as:

wherein the content of the first and second substances,is the curve motion track of the land curling in current motion,under the state of curve track, the land curling which does not collide is arranged on the curling track along the center lineA first lateral distance of movement;

v_qtthe current speed of the land curling in curvilinear motion before collision occurs, gamma is the angular velocity deflection correction factor, omega_TIs the effective angular velocity, omega_oAs the reference angular velocity, the angular velocity of the object,is a ground friction factor, and g is gravity acceleration;

μ_minis the smallest friction factor, mu, of the surface of the curling track_maxIs the largest friction factor on the surface of the curling track, f_rIs a friction coefficient control factor.

In the sixth step, if there are other stationary land curling on the motion trajectory of the currently moving land curling and a collision occurs between the two stationary land curling, the method further includes:

according to the current speed corresponding to the instant before the collision of the currently moving land curling, and the collision included angle between the currently moving land curling and the collided land curling, calculating to obtain the current speed corresponding to the instant after the collision of the currently moving land curling;

the calculation formula of the current speed corresponding to the moment after the collision of the currently moving land curling is as follows:

wherein the content of the first and second substances,current speed in x-axis direction, v, at the moment after collision of land curling in curvilinear motion_qtThe speed is the current speed corresponding to the moment before the collision of the land curling in curvilinear motion, and theta is the collision included angle between the land curling in current motion and the collided land curling.

The method for calculating the motion state of the land curling is characterized in that when the angular velocity is not zero and the motion trail of the land curling is a curve, after the collision of the currently moving land curling, the method further comprises the following steps:

calculating a second transverse distance of the collided land curling moving along the direction of the central line on the curling track according to the current speed corresponding to the collided land curling at the moment;

wherein the calculation formula of the second lateral distance is expressed as:

wherein the content of the first and second substances,indicating a second lateral distance that the bumped land curling moves in the direction of the centerline on the curling track.

The method for calculating the motion state of the land curling is characterized in that when the acquired angular velocity is zero, the motion trail of the currently moving land curling is a straight line, and no other land curling exists on the motion trail of the currently moving land curling, a third transverse distance of the land curling which is not collided moving along the direction of the central line on the curling track is represented as follows:

wherein the content of the first and second substances,a third transverse distance, v, for the non-colliding land curling moving linearly on the curling track in the direction of the centre line_ztTo impact the current speed of the currently moving land curling before the occurrence,is a ground friction factor, g is the acceleration of gravity, a_TIs the effective acceleration.

The method for calculating the motion state of the land curling is characterized in that when the acquired angular velocity is zero and the motion trail of the currently moving land curling is a straight line, and other land curling exists on the motion trail of the currently moving land curling, the calculation formula of the current velocity corresponding to the instant after the collision of the currently moving land curling is represented as follows:

wherein the content of the first and second substances,current speed, v, in the x-axis direction at the moment after collision of a land curling moving linearly_ztThe speed theta is the current speed corresponding to the instant moment before the collision of the currently moving land curling, and theta is the collision included angle between the currently moving land curling and the collided land curling;

the method further comprises the following steps:

calculating a fourth transverse distance of the collided land curling moving along the direction of the central line on the curling track according to the current speed corresponding to the collided land curling at the moment;

wherein the calculation formula of the fourth lateral distance is expressed as:

wherein the content of the first and second substances,indicating a fourth lateral distance that the bumped land curling moves in the direction of the centerline on the curling track.

The invention provides a computing system of a motion state of a land curling, which is applied to a land curling track to monitor and compute the motion state of the land curling, wherein a plurality of pan-tilt cameras are arranged on the side edge of the land curling track, a microprocessor, an angular velocity sensor, an acceleration sensor, a temperature sensor and a humidity sensor are arranged in the land curling, the angular velocity sensor, the acceleration sensor, the temperature sensor and the humidity sensor are electrically connected with the microprocessor, and data transmission exists between the plurality of pan-tilt cameras and the microprocessor and a background server, and the system comprises:

the information acquisition module is used for acquiring the track image information through the plurality of pan-tilt cameras, extracting track boundary information from the track image information, and performing virtual modeling according to the track boundary information to obtain a virtual track area;

the information processing module is used for capturing objects of a plurality of land curling in the virtual track area from the track image information, locking the currently moving land curling and acquiring the angular velocity and the acceleration corresponding to the currently moving land curling through the angular velocity sensor and the acceleration sensor;

the data correction module is used for correcting the angular velocity and the acceleration according to the temperature value and the humidity value respectively obtained by the temperature sensor and the humidity sensor so as to respectively obtain an effective angular velocity and an effective acceleration;

the first calculation module is used for obtaining the motion track of the currently moving land curling through simulation calculation according to the current speed, the effective angular speed, the effective acceleration and the ground friction factor of the currently moving land curling;

the first judgment module is used for judging whether other static land curling exist on the motion track of the currently moving land curling;

and the second calculation module is used for obtaining the current position coordinate of the stationary land curling after collision through simulation calculation when other stationary land curling exist on the motion track of the currently moving land curling, and obtaining the corresponding score value through calculation according to the current position coordinate so as to calculate the complete motion state of the complete land curling.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a flowchart of a method for calculating a movement state of a land curling;

FIG. 2 is a schematic view of the overall structure of a land curling according to the first embodiment of the invention;

FIG. 3 is a schematic bottom view of a land curling according to a first embodiment of the invention;

FIG. 4 is a schematic view of the internal structure of a land curling according to the first embodiment of the invention;

FIG. 5 is a schematic structural diagram of a virtual racetrack area according to a first embodiment of the present invention;

FIG. 6 is a schematic diagram of the curved movement and collision of the land curling in the first embodiment of the present invention;

FIG. 7 is a schematic diagram of a land curling in a collision mode according to a first embodiment of the invention;

FIG. 8 is a schematic diagram of the movement of the land curling in a curved motion without collision according to the first embodiment of the present invention;

FIG. 9 is a schematic diagram of a second embodiment of the invention showing a curved land curling and collision occurring;

FIG. 10 is a schematic diagram of a land curling in a second embodiment of the invention in the event of a crash;

fig. 11 is a schematic structural diagram of a computing system for a land curling motion state according to a third embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

These and other aspects of embodiments of the invention will be apparent with reference to the following description and attached drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the ways in which the principles of the embodiments of the invention may be practiced, but it is understood that the scope of the embodiments of the invention is not limited correspondingly. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.

In the prior art, a method capable of calculating and analyzing the motion state of the land curling is lacked, and the motion track of the land curling in the next step cannot be well predicted, so that the motion of the land curling cannot be deeply known and judged.

To solve the technical problem, please refer to fig. 1 to 8, the present invention provides a method for calculating a motion state of a terrestrial curling, which is applied to a terrestrial curling track to monitor and calculate the motion state of the terrestrial curling.

Wherein, the lateral margin at land curling stone racetrack is equipped with a plurality of cloud platform cameras. Referring to fig. 2 to 4, the land curling includes a curling body 11, a curling cover plate 12 and a handle 13 sequentially arranged from bottom to top. Three projections 110 are provided at the bottom of the curling body 11, and a steel ball 111 is provided inside each projection 110.

In addition, a microprocessor 102, an angular velocity sensor 101, an acceleration sensor 103, a temperature sensor 104 and a humidity sensor 105 are disposed in the curling body 11 of the land curling, and are electrically connected to the microprocessor 102. In practical applications, data transmission exists between a plurality of pan-tilt cameras and the microprocessor 102 and the background server.

Specifically, the method comprises the following steps:

s101, acquiring track image information through a plurality of pan-tilt cameras, extracting track boundary information from the track image information, and performing virtual modeling according to the track boundary information to obtain a virtual track area.

In this step, a virtual track area obtained after virtual modeling is used. And a plurality of node labels are arranged at the boundary of the virtual track. The node labels include a first node label and a second node label. As can be seen from fig. 5, the first node labels are located at the outer edge of the virtual track area, and the second node labels are located inside the virtual track area.

It can be understood that the first node label corresponds to the first node label coordinate, and the second node label corresponds to the second node label coordinate. In this step, the method for obtaining the virtual track area by performing virtual modeling from the track boundary information includes the following steps:

s1011, determining a first boundary of the virtual track area according to the coordinates of the plurality of first node tags extracted from the track image information, where the first boundary includes a start area, a tee area, a center area, a score area, and an end area.

And S1012, determining a second boundary of the virtual track area according to a plurality of second node label coordinates extracted from the track image information, wherein the second boundary comprises a score positioning area and a serve positioning area.

The scoring positioning area is located inside the scoring area, and the serving positioning area is located inside the serving area. The scoring positioning area and the serving positioning area are circular, and the starting area, the serving area, the middle line area, the scoring area and the terminal area are square.

It should be added that, in the present invention, the employed virtual simulation software is simulw_orks。

And S102, capturing objects of a plurality of land curling in the virtual track area from the track image information, locking the currently moving land curling, and acquiring the angular velocity and the acceleration corresponding to the currently moving land curling through the angular velocity sensor and the acceleration sensor.

As described above, since the angular velocity sensor 101 and the acceleration sensor 103 are provided in the land curling, the angular velocity and the acceleration corresponding to the currently moving land curling can be obtained, respectively, and the detected angular velocity and acceleration information is transmitted to the microprocessor and the background server.

S103, correcting the angular velocity and the acceleration according to the temperature value and the humidity value respectively obtained by the temperature sensor and the humidity sensor to respectively obtain an effective angular velocity and an effective acceleration.

In the actual movement process of the land curling, environmental factors such as the temperature and the humidity of air also have certain influence on the movement track of the land curling. Therefore, the factors of air temperature and humidity need to be taken into consideration when carrying out simulation modeling.

It should be noted that the present embodiment has been described with respect to the case where the angular velocity is not zero.

When the angular velocity is not zero, the above calculation formula of the effective angular velocity is expressed as:

wherein, ω is_TIs the effective angular velocity, omega_JThe angular velocity corresponding to the currently moving land curling acquired by the angular velocity sensor,the temperature correction coefficient is epsilon, the humidity correction coefficient is epsilon, the temperature value obtained by the temperature sensor is T, and the humidity value obtained by the humidity sensor is s.

The calculation formula of the effective acceleration is represented as:

wherein, a_TFor effective acceleration, a_JThe acceleration corresponding to the currently moving land curling acquired by the acceleration sensor,the temperature correction coefficient is epsilon, the humidity correction coefficient is epsilon, the temperature value obtained by the temperature sensor is T, and the humidity value obtained by the humidity sensor is s.

And S104, according to the current speed, the effective angular speed, the effective acceleration and the ground friction factor of the currently moving land curling, performing simulation calculation to obtain the motion track of the currently moving land curling.

As described above, when the angular velocity is not zero and the currently moving land curling is not collided with other land curling, the motion trajectory of the currently moving land curling is a curve, and the corresponding equation is expressed as (as shown in fig. 8):

wherein the content of the first and second substances,is the curve motion track of the land curling in current motion,in the curved track state, the non-collided land curling moves on the curling track along the central line direction (x axis) by a first transverse distance.

Specifically, the first lateral distance that the non-collided land curling moves on the curling track along the center line direction can be expressed as:

v_qtthe current speed of the land curling in curvilinear motion before collision occurs, gamma is the angular velocity deflection correction factor, omega_TIs the effective angular velocity, omega_oAs the reference angular velocity, the angular velocity of the object,is a ground friction factor, and g is gravity acceleration.

For the above-mentioned ground friction factor, the corresponding expression is:

μ_minis the smallest friction factor, mu, of the surface of the curling track_maxIs the largest friction factor on the surface of the curling track, f_rIs a friction coefficient control factor.

Meanwhile, the first longitudinal distance that the non-collided land curling moves along the center line direction on the curling track can be expressed as:

that is, when the land curling is moving in a curve and no collision occurs, the corresponding coordinate position can be expressed asAs can be appreciated, based on the coordinate positionWith the center coordinate (x) of the score location area_o′，y_o′) The distance between the two can be calculated. It can be understood that, according to the calculated distance, the score of the current land curling can be judged according to the calculated distance value, so as to determine the final score。

And S105, judging whether other stationary land curling exist on the motion trail of the currently moving land curling.

As shown in fig. 6, if there are other stationary land curling on the motion trajectory of the currently moving land curling, a collision occurs. As described above, the angular velocity of the land curling in current motion is not zero, and the motion trajectory of the land curling is a curve.

S106, if other stationary land curling exist on the motion trail of the land curling in the current motion, the current position coordinates of the stationary land curling after collision are obtained through simulation calculation, and the corresponding score value is obtained through calculation according to the current position coordinates so as to complete the calculation of the complete motion state of the land curling.

Further, if the currently moving land curling is collided with other land curling, the method for calculating the current speed after collision comprises the following steps:

and calculating to obtain the current speed corresponding to the instant after the collision of the currently moving land curling according to the current speed corresponding to the instant before the collision of the currently moving land curling and the collision included angle between the currently moving land curling and the collided land curling.

Specifically, the calculation formula of the current speed corresponding to the moment after the collision of the currently moving land curling is represented as:

wherein the content of the first and second substances,current speed in x-axis direction, v, at the moment after collision of land curling for curvilinear movement_qtThe speed is the current speed corresponding to the moment before the collision of the land curling in curvilinear motion, and theta is the collision included angle between the land curling in current motion and the collided land curling.

Further, after calculating the current speed corresponding to the instant after the collision of the currently moving land curling, the method further comprises:

calculating a second transverse distance (as shown in fig. 6) of the collided land curling moving on the curling track along the direction of the central line according to the current speed corresponding to the collided land curling at the moment;

wherein the calculation formula of the second lateral distance is expressed as:

wherein the content of the first and second substances,indicating a second lateral distance that the bumped land curling moves in the direction of the centerline on the curling track.

Meanwhile, the second longitudinal distance that the collided land curling moves along the center line direction on the curling track can be expressed as:

wherein the content of the first and second substances,a second longitudinal distance of the collided land curling on the curling track along the y-axis direction;

is the current speed of the ground curling in the y-axis direction at the moment after the collision.

That is to sayWhen the land curling moves in a curve, and the land curling collides with other land curling, the corresponding coordinate position can be expressed asAs can be appreciated, based on the coordinate positionWith the center coordinate (x) of the score location area_o′，y_o′) The distance between the two can be calculated. It can be understood that, according to the calculated distance, the score of the current land curling can be judged according to the calculated distance value, so as to determine the final score.

The invention provides a method for calculating the motion state of a land curling, which comprises the steps of acquiring track image information through a plurality of pan-tilt cameras, extracting track boundary information from the track image information, carrying out virtual modeling according to the track boundary information to obtain a virtual track area, then carrying out object capture on a plurality of land curling in the virtual track area, correcting the angular velocity and the acceleration by combining the temperature and the humidity, and carrying out analog calculation according to the current velocity, the effective angular velocity, the effective acceleration and the ground friction factor of the currently moving land curling to obtain the motion track of the currently moving land curling so as to accurately calculate and predict the motion of the land curling. The method for calculating the motion state of the land curling can accurately calculate and simulate the motion trail of the land curling, so that athletes can recognize and judge more deeply.

Example two:

as described above, the first embodiment described above is directed to the case where the land curling is moving in a curve. In the present embodiment, please refer to fig. 9 and 10, when the obtained angular velocity is zero, that is, the motion trajectory of the currently moving land curling is a straight line.

If there are no other land curling on the motion trajectory of the currently moving land curling, the third lateral distance (see fig. 9) that the non-colliding land curling moves on the curling track in the direction of the centerline is expressed as:

wherein the content of the first and second substances,a third transverse distance, v, for the non-colliding land curling moving linearly on the curling track in the direction of the centre line_ztTo impact the current speed of the currently moving land curling before the occurrence,is a ground friction factor, g is the acceleration of gravity, a_TIs the effective acceleration.

That is, when the land curling is moved linearly, and when the land curling is not collided with other land curling, the corresponding coordinate position can be expressed asAs can be appreciated, based on the coordinate positionWith the center coordinate (x) of the score location area_o′，y_o′) The distance between the two can be calculated. It can be understood that, according to the calculated distance, the score of the current land curling can be judged according to the calculated distance value, so as to determine the final score.

If other land curling exist on the motion track of the land curling, the calculation formula of the current speed of the land curling in the x-axis direction at the moment after the collision is shown as follows:

wherein the content of the first and second substances,current speed, v, in the x-axis direction at the moment after collision of a land curling moving linearly_ztThe speed is the current speed corresponding to the instant before the collision of the currently moving land curling, and theta is the collision included angle between the currently moving land curling and the collided land curling.

Further, after calculating the current speed of the currently moving land curling in the x-axis direction at the moment after the collision, the method further comprises:

calculating a fourth transverse distance of the collided land curling moving along the direction of the central line on the curling track according to the current speed corresponding to the collided land curling at the moment;

wherein the calculation formula of the fourth lateral distance is expressed as:

wherein the content of the first and second substances,indicating a fourth lateral distance that the bumped land curling moves in the direction of the centerline on the curling track.

Meanwhile, the fourth longitudinal distance of the collided land curling on the curling track along the y-axis direction is as follows:

wherein the content of the first and second substances,for the land after collisionA fourth longitudinal distance of the curling on the curling track in the y-axis direction,is the current speed of the linearly moving land curling in the y-axis direction at the instant after the collision.

That is, when the land curling is moved linearly, after colliding with other land curling, the coordinate position corresponding to the land curling after being finally stationary can be expressed asAs can be appreciated, based on the coordinate positionWith the center coordinate (x) of the score location area_o′，y_o′) The distance between the two can be calculated. It can be understood that, according to the calculated distance, the score of the current land curling can be judged according to the calculated distance value, so as to determine the final score.

Example three:

referring to fig. 11, a third embodiment of the present invention provides a system for calculating a motion state of a land curling stone, which is applied to a land curling stone track to monitor and calculate the motion state of the land curling stone, wherein a plurality of pan/tilt cameras are disposed on a side edge of the land curling stone track, a microprocessor, an angular velocity sensor, an acceleration sensor, a temperature sensor and a humidity sensor are disposed in the land curling stone, the angular velocity sensor, the acceleration sensor, the temperature sensor and the humidity sensor are electrically connected to the microprocessor, and data transmission exists between the plurality of pan/tilt cameras and the microprocessor and a background server, and the system includes:

the information acquisition module 11 is configured to acquire track image information through the plurality of pan-tilt cameras, extract track boundary information from the track image information, and perform virtual modeling according to the track boundary information to obtain a virtual track area;

the information processing module 12 is configured to capture objects of a plurality of land curling in the virtual track area from the track image information, lock a currently moving land curling, and acquire an angular velocity and an acceleration corresponding to the currently moving land curling through the angular velocity sensor and the acceleration sensor;

the data correction module 13 is configured to correct the angular velocity and the acceleration according to a temperature value and a humidity value respectively obtained by the temperature sensor and the humidity sensor, so as to respectively obtain an effective angular velocity and an effective acceleration;

the first calculating module 14 is configured to obtain a motion trajectory of the currently moving land curling through simulation calculation according to the current speed, the effective angular velocity, the effective acceleration, and the ground friction factor of the currently moving land curling;

the first judging module 15 is used for judging whether other stationary land curling exist on the motion track of the currently moving land curling;

and a second calculating module 16, configured to, when other stationary land curling exist on the motion trajectory of the currently moving land curling, perform simulation calculation to obtain a current position coordinate of the stationary land curling after collision, and calculate a corresponding score value according to the current position coordinate, so as to calculate a complete motion state of the complete land curling.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.