CN115282585A - Novel rope skipping counting method and device, electronic equipment and readable storage medium - Google Patents
Novel rope skipping counting method and device, electronic equipment and readable storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0669—Score-keepers or score display devices
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B5/00—Apparatus for jumping
- A63B5/20—Skipping-ropes or similar devices rotating in a vertical plane
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
- G06V10/457—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by analysing connectivity, e.g. edge linking, connected component analysis or slices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
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Abstract
The invention discloses a novel rope skipping counting method, which belongs to the technical field of intelligent sports engineering and comprises the following steps: acquiring multi-frame point cloud data in a target motion area by adopting a 2D laser radar; converting the multi-frame point cloud data into multi-frame image data; acquiring foot information of a sporter in a target movement area according to the multi-frame image data; updating the rope skipping times of the sporter in the target movement area according to the foot information of the sporter; the complete point cloud data of a sporter in the rope skipping process is obtained through laser radar scanning; then, the jumping information of the sporter is analyzed based on the point cloud data; therefore, high-precision and high-robustness rope skipping counting is achieved, the counting of the multi-person rope skipping can be achieved through the same device, and the problem that the multi-person rope skipping movement is counted together is solved.
Description
Technical Field
The invention relates to the technical field of intelligent sports engineering, in particular to a novel rope skipping counting method and device, electronic equipment and a readable storage medium.
Background
The skipping rope is a sports with very high popularity, the operation is simple, the requirement on the field is not high, and the skipping rope has a plurality of advantages; the current rope skipping sports are also sports test items of a plurality of students in middle and primary schools, and the number of skipping ropes can provide important data support for a physical test result, so that accurate counting of sporters is very important in the test process.
At present, the existing skipping rope counting method mainly comprises the following steps:
(1) Manually counting; the traditional manual counting mode is mainly used for estimating by observing rope skipping times of a sportsman through manual naked eyes to obtain a final result; the error of naked eye detection is large, and particularly when the athlete rapidly jumps the rope, the speed of human eyes cannot timely respond, so that the meter is missed;
(2) A counting handle scheme based on a mechanical structure or an electronic sensor or a touch-press type carpet counting method; for example: chinese patent No. CN110755834A provides a skipping rope result obtaining method and device, and an intelligent skipping rope, which realizes skipping rope counting of a sporter through a counting sensor and an attitude sensor which are arranged in a skipping rope handle; for example, chinese patent No. CN108721826B proposes an intelligent rope skipping and rope skipping counting method and device, which uses a hall sensor in a handle to count the skipping rope; the two schemes have better precision under the condition of very standard motions, but can not judge the conditions of cheating such as only shaking arms and the like; meanwhile, the robustness of the two schemes is poor, and the situation of error counting can obviously occur when the difference of the rope swinging postures of the sporter;
(3) Technical methods based on wearable intelligent terminals (including watches, bracelets, and the like); for example, chinese patent No. CN111558195B proposes a rope skipping counting method, apparatus, device and storage medium based on wearable device, which counts by wearing an intelligent terminal on the wrist of a sporter; meanwhile, the second counting method has relatively good precision under the condition of very standard movement, but cannot judge the condition of cheating such as only shaking arms and the like; in addition, like the second counting method, one set of equipment of the two counting methods can only realize the counting of one sporter at the same time;
(4) A computer vision based counting method; for example, chinese patent No. CN113902084 proposes a motion counting method, device, electronic device, and computer storage medium, and further, for example, chinese patent No. CN112634400 proposes a rope skipping counting method, terminal, and computer readable storage medium; the two schemes are similar, and count analysis is performed by analyzing rope skipping video stream data of a sporter and acquiring the change of skeleton key points of the sporter in the rope skipping process; the biggest problem of the scheme is that the data quality of the image can not be ensured when a sporter jumps at high speed, and the condition of smear is caused, so that the rope skipping state of the sporter can not be accurately analyzed and judged; in addition, the adaptability of the scene image with increased illumination change cannot be ensured, and the counting accuracy cannot be guaranteed.
Therefore, a new rope skipping counting method is needed to solve the above problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a novel rope skipping counting method, a novel rope skipping counting device, electronic equipment and a readable storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme:
a novel rope skipping counting method comprises the following steps:
acquiring multi-frame point cloud data in a target motion area by adopting a 2D laser radar; the target motion area is an area with a distance from the laser radar central point smaller than or equal to a threshold value C;
converting the multi-frame point cloud data into multi-frame image data;
acquiring foot information of a sporter in a target movement area according to the multi-frame image data;
and updating the rope skipping times of the sporter in the target movement area according to the foot information of the sporter.
Further, the converting the plurality of frames of point cloud data into the plurality of frames of image data includes:
a1: acquiring the number N of frames in the multi-frame point cloud data, and traversing each frame of point cloud data in the number N of frames;
a2: performing the following operations on the each frame of point cloud data:
a21: newly building an Image with the resolution of K x K, and initializing the value of each pixel point to be 0;
a22: and projecting the current frame point cloud data onto the Image.
Further, the projecting the current frame point cloud data onto the Image includes:
a22.1: traversing each point coordinate (x) in the current frame point cloud data in the laser radar coordinate system l ,y l ) (ii) a And calculating the coordinates (x) of each point l ,y l ) Coordinates (u, v) in the image coordinate system to achieve the transformation, wherein the formula of the transformation is as follows:
in the formula: x is the number of l And y l Respectively representing the horizontal coordinate and the vertical coordinate of each point in the current frame point cloud data in a laser radar coordinate system; u and v respectively represent horizontal and vertical coordinates of each point in the current frame point cloud data under an image coordinate system; k represents the size of the Image;
a22.2: the value of the pixel point corresponding to the coordinate (u, v) in the Image is set to 255.
Further, the obtaining foot information of the sporter in the target motion area according to the multi-frame image data includes:
b1: preprocessing the Image of the current frame to remove fine miscellaneous point data in the Image data; the preprocessing is specifically to carry out corrosion operation on the current Image;
b2: extracting a connected domain from the preprocessed current frame Image to obtain a candidate foot information setA i ；
B3: when the candidate foot information set A i When the number of the elements in the candidate foot information set A is greater than or equal to 2 i Filtering to obtain final foot information set B i ；
The set of foot information A for the pair of candidates i Performing a filtering operation comprising:
b31: initializing set B i Is equal to set A i ；
B32: traversing the foot information set B in the step B2 i When the nearest distance between the two connected domains is smaller than a threshold value T, the two connected domains are fused into a new connected domain; and delete set B i And adding the newly generated connected domain to set B i In (1).
Further, the updating of the number of rope skips of the athlete in the target exercise area according to the foot information of the athlete includes:
c1: collecting final foot information B of the sporter of the N frames of images i Merge into the motion information set C of the final K users j The process comprises the following steps:
c11: setting the initialization value of K as a foot information set B from the first frame 1 Number of internal elements, and B 1 Adding different elements into the movement information combination C 1 To C k ；
C12: comparing the step information set B of the current frame from the second frame to the Nth frame i All-in-one element and current motion information set C j All the elements in the composition;
c13: comparing the step information set B of the current frame from the second frame to the Nth frame i All elements in the frame and the previous frame step information set B i-1 All elements in the composition;
c2: traverse the motion information set C j Analyzing to obtain final counting results score of K users respectively j The specific process is as follows:
c21: for each motion information set C j Setting the initialized score j Is 0;
c22: traversing motion information sets C in order j Finding the number of inflection points of each element;
c23: assigning the number of inflection points to the corresponding counting result score j 。
A novel rope skipping counting device comprises:
the data acquisition module is used for acquiring multi-frame point cloud data of a sporter during rope skipping;
the projection conversion module is used for acquiring projected multi-frame image data according to the multi-frame point cloud data;
the acquisition and analysis module is used for analyzing and acquiring foot information of the sporter according to the multi-frame image data;
the updating module is used for updating the rope skipping times of the sporter according to the foot information of the sporter.
An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of a novel jump rope counting method according to any one of claims 1-5 when executing the computer program.
A readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of a novel jump rope counting method according to any one of claims 1-5.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the novel rope skipping counting method, the novel rope skipping counting device, the electronic equipment and the readable storage medium, complete point cloud data of a sportsman in a rope skipping process are obtained through laser radar scanning, then jumping information of the sportsman is analyzed based on the point cloud data, and compared with manual counting and a counting handle scheme or a touch-press type carpet counting method based on a mechanical structure or an electronic sensor, the rope skipping counting method is completed by acquiring foot information, so that high-precision counting can be completed even if actions of the sportsman are not standard, and errors cannot occur;
(2) The application provides a novel rope skipping counting method, device, electronic equipment and readable storage medium, which can realize the collection of foot information of a plurality of sporters through the same device, and then can realize the counting of a plurality of rope skipping by analyzing the foot information of the sporters, thereby solving the problem of counting the movement of the rope skipping of a plurality of people.
(3) Compared with the existing rope skipping counting method based on computer vision, the novel rope skipping counting method and device, the electronic equipment and the readable storage medium have the advantages that the robustness is high, the smear cannot occur, and the rope skipping counting scene with large illumination change can be adapted.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic overall flow chart of a novel rope skipping counting method provided by the invention;
FIG. 2 is a schematic diagram of the transformation between the lidar coordinate system and the image coordinate system in an embodiment of the present invention;
fig. 3 is a schematic view of the overall structure of the novel skipping rope counting device provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In one embodiment, referring to fig. 1-2, a novel rope skipping counting method is provided, comprising the steps of:
s101: acquiring multi-frame point cloud data in a target motion area by adopting a 2D laser radar; the target motion area is an area with a distance from the laser radar central point smaller than or equal to a threshold value C;
in one embodiment, the typical value of the threshold C is 300.
S102: converting the multi-frame point cloud data into multi-frame image data;
in one embodiment, the converting the plurality of frames of point cloud data into a plurality of frames of image data includes:
a1: acquiring the number N of frames in the multi-frame point cloud data, and traversing each frame of point cloud data in the number N of frames;
a2: performing the following operations on the each frame of point cloud data:
a21: newly building an Image with the resolution of K x K, and initializing the value of each pixel point to be 0;
in one embodiment, a typical value for K is 600.
A22: and projecting the current frame point cloud data onto the Image.
The projecting the current frame point cloud data onto the Image comprises:
a22.1: traversing each point coordinate (x) in the current frame point cloud data in a laser radar coordinate system l ,y l ) (where l is expressed in lidar coordinates in centimeters); and calculating the coordinates (x) of each point l ,y l ) Coordinates (u, v) in the image coordinate system to achieve the transformation, wherein the formula of the transformation is as follows:
in the formula:x l and y l Respectively representing the horizontal coordinate and the vertical coordinate of each point in the current frame point cloud data in a laser radar coordinate system; u and v respectively represent the horizontal coordinate and the vertical coordinate of each point in the current frame point cloud data under an image coordinate system; k represents the size of the Image;
specifically, the schematic diagram of the conversion between the lidar coordinate system and the image coordinate system is shown in FIG. 2, where O l (u 0 ,v 0 ) Is the coordinate origin under the laser coordinate system, and the coordinate value under the image coordinate is (K/2; where O is the origin of coordinates in the image coordinate system.
A22.2: the value of the pixel point corresponding to the coordinate (u, v) in the Image is set to be 255.
S103: acquiring foot information of a sporter in a target movement area according to the multi-frame image data;
in one embodiment, the obtaining foot information of the sporter in the target motion area according to the multiple frames of image data includes:
b1: preprocessing the Image of the current frame, and removing fine miscellaneous data in the Image data; the preprocessing is to carry out corrosion operation on the current Image;
b2: extracting a connected domain from the preprocessed current frame Image to obtain a candidate foot information set A i Where i is the number of the current frame (the span is 1-N), and set A i Is expressed as (num, x, y, w, h), num is the number of 255 points in the current connected domain, and x, y, w, h are respectively the abscissa of the center point of the minimum connected domain circumscribed rectangle in the image coordinate system, the ordinate of the minimum connected domain circumscribed rectangle in the image coordinate system, and the width and length of the minimum connected domain circumscribed rectangle in the connected domain.
B3: when the candidate foot information set A i When the number of the elements in the candidate foot information set A is greater than or equal to 2 i Filtering to obtain final foot information set B i ；
The set of foot information A for the pair of candidates i Performing a filtering operation comprising:
b31: initializing set B i Is equal to set A i ；
B32: traversing the foot information set B in the step B2 i When the nearest distance between the two connected domains is smaller than a threshold value T, the two connected domains are fused into a new connected domain; and delete set B i And adding the newly generated connected domain to set B i In (1).
In the present embodiment, a typical value of the threshold T is 20.
S104: updating the rope skipping times of the sporter in the target movement area according to the foot information of the sporter;
in one embodiment, the updating the rope skipping times of the sporter in the target movement area according to the foot information of the sporter comprises:
c1: collecting final foot information B of the sporter of the N frames of images i (where i takes on values of 1-N) are merged into the final set of motion information C for K users j (where j takes the value of 0-K), the process is as follows:
c11: setting the initialization value of K as a foot information set B from the first frame 1 Number of internal elements, and B 1 Different elements are added to the motion information combination C 1 To C k ；
C12: comparing the step information set B of the current frame from the second frame to the Nth frame i (where i takes a value of 2-N) all elements in the set C of motion information and current motion information j (where j takes on values of all elements from 0-K;
if the current frame is the step information set B i A certain element and the current motion information set C j (where j is 0-K) the distance of the minimum bounding rectangle of an element is less than T (where the typical value of the threshold T is 20), then set B of the current frame footstep information i Wherein the element is added to the corresponding motion information set C j The Chinese character Zhongyuan.
If the current frame is the step information set B i Inner newly added and C j ZhongshiThe number of the elements which are not related is p, and the judgment basis of the non-relation is that the minimum distances of the corresponding external rectangles are all larger than T; and updating the motion information set C j (where j is 0-K); the operation of the update here is: k = K + p, and simultaneously, the newly added elements are corresponding to the motion information sets C corresponding to the newly added elements respectively j The preparation method comprises the following steps.
C13: comparing the current frame step information set B from the second frame to the Nth frame i All elements in the frame and the previous frame step information set B i-1 All elements in the composition;
if the elements of the previous frame are not associated in the current frame, judging that the minimum distances of the corresponding circumscribed rectangles are all larger than T according to the unassociated condition; then the element (0, 0) is added to the motion information set C corresponding to this element of the previous frame j The preparation method comprises the following steps.
C2: traversing the motion information set C j Analyzing to obtain final counting results score of K users respectively j The specific process is as follows:
c21: for each motion information set C j Setting the initial score j Is 0;
c22: traversing motion information sets C in order j For each element in (1), finding the number of inflection points, where the inflection points are defined as: the num value in the element is changed from more than 0 to 0, wherein the 0 value is an inflection point;
c23: assigning the number of the inflection points to the corresponding counting result score j (where j is 0-K).
In one embodiment, referring to fig. 3, a novel jump rope counting apparatus 200 is provided, comprising:
the data acquisition module 210 is configured to acquire multi-frame point cloud data of a sporter during rope skipping;
the projection conversion module 220 is configured to obtain projected multi-frame image data according to the multi-frame point cloud data;
the acquisition and analysis module 230 is used for analyzing and acquiring foot information of the sporter according to the multi-frame image data;
the updating module 240 is configured to update the rope skipping times of the athlete according to the foot information of the athlete.
In one embodiment, an electronic device is disclosed, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of a novel jump rope counting method according to any one of claims 1-5 when executing the computer program.
In one embodiment, a readable storage medium is disclosed, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of a novel rope skipping counting method according to any one of the claims 1-5;
in this embodiment, the readable storage medium may include any entity or device capable of carrying computer program code, a recording medium, such as a ROM/RAM, a magnetic disk, an optical disk, a flash memory, and the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A novel skipping rope counting method is characterized by comprising the following steps:
acquiring multi-frame point cloud data in a target motion area by adopting a 2D laser radar; the target motion area is an area with a distance from the laser radar central point smaller than or equal to a threshold value C;
converting the multi-frame point cloud data into multi-frame image data;
acquiring foot information of a sporter in a target movement area according to the multi-frame image data;
and updating the rope skipping times of the sporter in the target movement area according to the foot information of the sporter.
2. The novel rope skipping counting method according to claim 1, wherein the step of converting the multi-frame point cloud data into multi-frame image data comprises the following steps:
a1: acquiring the number N of frames in the multi-frame point cloud data, and traversing each frame of point cloud data in the number N of frames;
a2: performing the following operations on the each frame of point cloud data:
a21: newly building an Image with the resolution of K x K, and initializing the value of each pixel point to be 0;
a22: and projecting the current frame point cloud data onto the Image.
3. The novel rope skipping counting method according to claim 2, wherein the step of projecting the current frame point cloud data onto the Image comprises the following steps:
a22.1: traversing each point coordinate (x) in the current frame point cloud data in the laser radar coordinate system l ,y l ) (ii) a And calculating the coordinates (x) of each point l ,y l ) Coordinates (u, v) in the image coordinate system to achieve the transformation, wherein the formula of the transformation is as follows:
in the formula: x is the number of l And y l Respectively representing the horizontal coordinate and the vertical coordinate of each point in the current frame point cloud data in a laser radar coordinate system; u and v respectively represent horizontal and vertical coordinates of each point in the current frame point cloud data under an image coordinate system; k represents the size of the Image;
a22.2: the value of the pixel point corresponding to the coordinate (u, v) in the Image is set to be 255.
4. The novel rope skipping counting method according to claim 1, wherein the step of obtaining foot information of a sporter in a target motion area according to the multi-frame image data comprises the steps of:
b1: preprocessing the Image of the current frame, and removing fine miscellaneous data in the Image data; the preprocessing is specifically to carry out corrosion operation on the current Image;
b2: extracting a connected domain from the preprocessed current frame Image to obtain a candidate foot information set A i ；
B3: when the candidate foot information set A i When the number of the elements in the candidate foot information set A is greater than or equal to 2 i Filtering to obtain final foot information set B i ；
The set of foot information A for the pair of candidates i Performing a filtering operation comprising:
b31: initializing set B i Is equal to set A i ；
B32: traversing the foot information set B in the step B2 i When the nearest distance between the two connected domains is smaller than a threshold value T, the two connected domains are fused into a new connected domain; and delete set B i And adding the newly generated connected domain to set B i In (1).
5. The novel rope skipping counting method according to claim 1, wherein the updating of the number of rope skipping for the sporter in the target sport area based on the foot information of the sporter comprises:
c1: the final foot information set B of the sporter of the N frames of images i Merge into the final motion information set C of K users j The process is as follows:
c11: starting from the first frame, setting the initialization value of K as a foot information set B 1 Number of internal elements, and B 1 Different elements are added to the motion information combination C 1 To C k ；
C12: comparing the step information set B of the current frame from the second frame to the Nth frame i All-in-one element and current motion information set C j All the elements in the composition;
C13：comparing the step information set B of the current frame from the second frame to the Nth frame i All elements in the frame and the previous frame step information set B i-1 All the elements in the composition;
c2: traversing the motion information set C j Analyzing to obtain final counting results score of K users respectively j The specific process is as follows:
c21: for each motion information set C j Setting the initial score j Is 0;
c22: traversing motion information sets C in order j Finding the number of inflection points of each element;
c23: assigning the number of inflection points to the corresponding counting result score j 。
6. The utility model provides a novel rope skipping counting assembly which characterized in that includes:
the data acquisition module is used for acquiring multi-frame point cloud data of a sporter during rope skipping;
the projection conversion module is used for acquiring projected multi-frame image data according to the multi-frame point cloud data;
the acquisition and analysis module is used for analyzing and acquiring foot information of the sporter according to the multi-frame image data;
the updating module is used for updating the rope skipping times of the sporter according to the foot information of the sporter.
7. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of the novel jump rope counting method according to any one of claims 1-5.
8. A readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a novel jump rope counting method according to any one of claims 1-5.
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2022
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