CN118233743A

CN118233743A - Automatic sliding control method, device and system

Info

Publication number: CN118233743A
Application number: CN202410308440.7A
Authority: CN
Inventors: 陈鸽; 王天助
Original assignee: Guangzhou Qimiao Technology Co ltd
Current assignee: Guangzhou Qimiao Technology Co ltd
Priority date: 2024-03-18
Filing date: 2024-03-18
Publication date: 2024-06-21

Abstract

The application is suitable for the technical field of automatic control, and provides an automatic sliding control method, device and system, which comprise the following steps: the automatic sliding control device is provided with a rotatable first camera module and a rotatable second camera module, and the view of the first camera module is controlled to be opposite to the mountain top direction and collect mountain top direction images at each moment, and the view of the second camera module is controlled to be opposite to the mountain foot direction and collect mountain foot direction images, and target detection is carried out on the mountain top direction images; the method comprises the steps that when a rear skier is included in a detected mountain top direction image, and the rear skier is determined to collide with a current skier according to first sliding speed and first sliding track information of the rear skier and second sliding speed and second sliding track information of the current skier, target detection is carried out on the mountain foot direction image; and determining the target sliding direction according to the collision point and the position of the front skier, and prompting the current skier to slide according to the target sliding direction by voice, so that the safety of skiing is improved.

Description

Automatic sliding control method, device and system

Technical Field

The application belongs to the technical field of automatic control, and particularly relates to an automatic sliding control method, device and system.

Background

In order to improve safety of skiing, a camera is generally fixed on the back of a skier's clothes, and skier sliding information in the mountain top direction is collected by the camera, and the skier sliding information in the mountain top direction is displayed by augmented reality (augmented reality, AR) glasses worn by the skier, so that the skier can roughly judge the sliding state of the skier in the mountain top direction according to the skier sliding information in the mountain top direction, and collision with the skier in the mountain top direction is avoided.

However, since the camera is fixedly disposed at the back of the skier's clothing, that is, the view of the camera always faces the rear of the skier, the view of the camera may change with the rotation of the skier's body, resulting in that the camera cannot stably capture the image of the skier in the mountain top direction, and thus the AR glasses cannot stably display the sliding information of the skier in the mountain top direction. In addition, the sliding information of the skier in the mountain top direction is displayed through the AR glasses, so that the current skier can not only block the sight of the current skier, but also be distracted due to the sliding information of the skier in the mountain top direction being concerned by the current skier in a transitional manner, and the current skier is likely to fall or collide with the skier in the mountain foot direction. As can be seen, the related art is not effective in improving the safety of skiing.

Disclosure of Invention

In view of the above, the embodiments of the present application provide an automatic sliding control method, apparatus and system, which can automatically guide a skier during skiing, thereby improving the safety of skiing.

In a first aspect, an embodiment of the present application provides an automatic sliding control method, which is applied to an automatic sliding control device, where the automatic sliding control device includes a rotatable first camera module and a rotatable second camera module; the automatic coasting control method includes:

determining a first rotation angle of the current moment according to the azimuth angle of the current moment snowboard, and controlling the first camera module and the second camera module to rotate by the first rotation angle so that the view of the first camera module is opposite to the mountain top direction and acquires a mountain top direction image of the current moment, and the view of the second camera module is opposite to the mountain foot direction and acquires a mountain foot direction image of the current moment;

Performing target detection on a mountain top direction image at the current moment, and determining first sliding speed and first sliding track information of a rear skier and determining second sliding speed and second sliding track information of the current skier when the fact that the mountain top direction image at the current moment comprises the rear skier is detected;

Under the condition that the rear skier collides with the current skier in a future period of a target according to the first sliding speed, the first sliding track information, the second sliding speed and the second sliding track information, determining the coordinates of a collision point in a world coordinate system, and carrying out target detection on a mountain foot direction image at the current moment;

in the case that the mountain leg direction image at the current moment comprises a front skier, determining coordinates of the front skier at the current moment in the world coordinate system;

And determining a target sliding direction of the current skier based on the coordinates of the collision point in the world coordinate system, the coordinates of the front skier in the world coordinate system at the current moment and the coordinates of the current skier in the world coordinate system at the current moment, and prompting the current skier to slide according to the target sliding direction in a voice prompt mode.

In an optional implementation of the first aspect, determining the first speed and first trajectory information of the rear skier and determining the second speed and second trajectory information of the current skier includes:

acquiring multi-frame mountain top direction images in a target history period, and acquiring longitude and latitude coordinates of the current skier at the acquisition time corresponding to each multi-frame mountain top direction image; the target history period includes a current time;

For each frame of mountain top direction image in the target history period, determining the coordinates of the current skier in a world coordinate system at the acquisition time corresponding to the mountain top direction image according to the longitude and latitude coordinates of the current skier at the acquisition time corresponding to the mountain top direction image;

For each frame of mountain top direction image in the target history period, determining the coordinates of the rear skier in the mountain top direction image in the world coordinate system according to the pixel coordinates of the central point of the rear skier in the mountain top direction image and the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to the mountain top direction image; the pixel coordinates of the central point of the rear skier are obtained when the mountain top direction image is subjected to target detection;

drawing a first historical sliding track of a rear skier based on coordinates of the rear skier in the world coordinate system in the multi-frame mountain top direction image in the target historical period, and determining a track type corresponding to the first historical sliding track;

drawing a second historical sliding track of the current skier based on the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to each of the multi-frame mountain top direction images in the target historical period, and determining a track type corresponding to the second historical sliding track;

Determining a first taxi speed of the rear skier based on coordinates of the rear skier in the world coordinate system in the multi-frame mountain top direction image within the target history period;

And determining a second sliding speed of the current skier based on the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to each of the multiple frames of mountain top direction images in the target history period.

In an optional implementation manner of the first aspect, determining the first taxi speed of the rear skier based on coordinates of the rear skier in the world coordinate system in the multi-frame mountain top direction image within the target history period includes:

Determining the historical sliding speed of the rear skier at the acquisition time corresponding to each frame of mountain top direction image based on the coordinates of the rear skier in the world coordinate system in each frame of mountain top direction image in the target historical period;

Determining an average speed of the rear skier over the target history period based on all of the historical speeds of the rear skier over the target history period;

A first speed of the rear skier is determined based on the average speed of the rear skier over the target history period and the speed of the rear skier at the current time.

In an optional implementation manner of the first aspect, determining the first speed of the rear skier based on the average speed of the rear skier and the current speed of the rear skier in the target history period includes:

calculating a first sliding speed of the rear skier through a first speed prediction formula based on the average sliding speed of the rear skier in the target history period and the sliding speed of the rear skier at the current moment; the first speed prediction formula is:

Wherein v ₁ is the first sliding speed of the rear skier, v _1n is the historical sliding speed of the rear skier at the acquisition time corresponding to the mountain top direction image of the nth frame in the target historical period, and v _1p is the average sliding speed of the rear skier in the target historical period.

In an optional implementation manner of the first aspect, determining the target taxiing direction of the current skier based on the coordinates of the collision point in the world coordinate system, the coordinates of the front skier at the current time in the world coordinate system, and the coordinates of the current skier at the current time in the world coordinate system includes:

Determining a first included angle between a first position vector and a second position vector, a second included angle between the first position vector and a first horizontal vector, and a third included angle between the second position vector and a second horizontal vector based on coordinates of the collision point in the world coordinate system, coordinates of the front skier in the world coordinate system at a current time, and coordinates of the current skier in the world coordinate system at the current time; the first position vector refers to a vector from the current skier position to the collision point position at the current moment, and the second position vector refers to a vector from the current skier position to the front skier position at the current moment; the first horizontal vector refers to the horizontal vector adjacent to the first position vector in the horizontal vectors with opposite directions of the current skier at the current moment; the second horizontal vector refers to a horizontal vector adjacent to the second position vector in the two horizontal vectors with opposite directions;

determining a target taxiing direction of the current skier based on a magnitude relation among the first included angle, the second included angle and the third included angle;

Determining a target clock direction corresponding to the target sliding direction, generating voice prompt information carrying the target clock direction, and outputting the voice prompt information.

In an optional implementation manner of the first aspect, the target taxiing direction of the current skier is determined based on a magnitude relation among the first angle, the second angle, and the third angle;

Under the condition that the first included angle is the largest, determining the direction pointed by the symmetry axes of the first position vector and the second position vector as the target sliding direction;

Under the condition that the second included angle is the largest, determining the direction pointed by the symmetry axes of the first position vector and the first horizontal vector as the target sliding direction;

and under the condition that the third included angle is the largest, determining the direction pointed by the symmetry axes of the second position vector and the second horizontal vector as the target sliding direction.

In an optional implementation manner of the first aspect, before determining coordinates of the collision point in the world coordinate system and performing object detection on the mountain foot direction image at the current moment, the method further includes:

Drawing a first predicted taxi track of the rear skier in a target future period based on the first historical taxi track and drawing a second predicted taxi track of the current skier in the target future period based on the second historical taxi track under the condition that the first taxi speed is greater than the second taxi speed; the second preset duration corresponding to the target future period is less than or equal to one half of the first preset duration corresponding to the target history period;

determining that the rear skier would collide with the current skier if there is an intersection of the first predicted taxiing trajectory and the second predicted taxiing trajectory;

determining that the aft skier does not collide with the current skier if there is no intersection of the first predicted trajectory and the second predicted trajectory;

in the case that the first taxiing speed is less than or equal to the second taxiing speed, it is determined that the rear skier does not collide with the current skier.

In an optional implementation manner of the first aspect, determining the first rotation angle at the current moment according to the azimuth angle of the snowboard at the current moment includes:

Acquiring azimuth angles of the single-board snowboards at the current moment acquired by the gesture detection sensor; the gesture detection sensor is arranged on the single-board snowboard;

And determining the opposite number of azimuth angles of the snowboard at the current moment as a first rotation angle.

In a second aspect, an embodiment of the present application provides an automatic sliding control device, including a first installation component, a base, a first camera module, a first rotation component, a second camera module, a second rotation component, a positioning module, a wireless communication module, and a control module;

The automatic sliding control device is used for being installed on the helmet through the first installation component;

The base is fixedly arranged on the first installation component;

the first camera module is arranged at a first position on the base through the first rotating assembly, and the second camera module is arranged at a second position on the base through the second rotating assembly; in the case that the automatic sliding control device is mounted on the helmet, the connecting line of the first position and the second position is positioned on the same vertical plane with the first axial symmetry line of the helmet; the first axisymmetric line refers to a connecting line between a first end point and a second end point of the helmet, wherein the first end point is a point at the rearmost end of the helmet, and the second end point is a point at the foremost end of the helmet;

The positioning module, the wireless communication module and the control module are all arranged in the base, and the control module is connected with the first rotating assembly, the second rotating assembly, the positioning module and the wireless communication module;

the first rotating assembly is used for driving the first camera module to rotate under the control of the control module, and the second rotating assembly is used for driving the second camera module to rotate under the control of the control module;

The positioning module user obtains longitude and latitude coordinates of the current skier position and sends the longitude and latitude coordinates to the control module;

The wireless communication module is used for receiving the azimuth angle of the single-board snowboard acquired by the attitude sensor and sending the azimuth angle to the control module;

The control module is configured to execute the automatic sliding control method according to any optional implementation manner of the first aspect.

In a third aspect, an embodiment of the present application provides an automatic sliding control system, including a gesture detection sensor, a helmet, and an automatic sliding control device according to the second aspect; the automatic sliding control device is used for being arranged on the helmet, and the gesture sensor is in wireless connection with the automatic sliding control device.

The automatic sliding control method, the automatic sliding control device and the automatic sliding control system provided by the embodiment of the application have the following beneficial effects:

According to the automatic sliding control method, the automatic sliding control device and the automatic sliding control system provided by the embodiment of the application, the automatic sliding control device is arranged on the helmet of the current skier, the first camera module and the second camera module which can rotate are arranged on the automatic sliding control device, the view of the first camera module is controlled to be opposite to the mountain top direction and collect the mountain top direction image at each moment, the view of the second camera module is controlled to be opposite to the mountain foot direction and collect the mountain foot direction image, and the object detection is carried out on the mountain top direction image; detecting a mountain top direction image including a rear skier, and performing target detection on the mountain foot direction image under the condition that the rear skier is determined to collide with the current skier according to the first sliding speed and the first sliding track information of the rear skier and the second sliding speed and the second sliding track information of the current skier; under the condition that the mountain leg direction image comprises a front skier, determining a target sliding direction according to the collision point and the position of the front skier, and prompting the current skier to slide according to the target sliding direction by voice, so that a user can avoid collision with a rear skier and avoid the front skier, and the skiing accident caused by collision among skiers is reduced. Simultaneously, through the visual field of control first camera module just to mountain top direction all the time, the visual field of second camera module just to mountain foot direction all the time, can improve the shooting stability of mountain top direction image and mountain foot direction image, and then improve the stability and the accuracy of coasting guide. In addition, through automatic determination current skier's target direction of sliding to adopt voice prompt mode to carry out the suggestion to current skier, for the sliding information that shows the rear skier through AR glasses, not only can not shelter from the sight of skier, can avoid the skier to split moreover, thereby reduced the possibility that skier self fell down, improved the security of skiing.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an automatic sliding control system according to an embodiment of the present application;

FIG. 2 is a top view of a snow race according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an automatic sliding control device according to an embodiment of the present application;

FIG. 4 is a schematic view of the structure and usage scenario of another automatic sliding control device according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of an automatic coasting control method according to an embodiment of the present application;

fig. 6 is a flowchart of a specific implementation of S52 in an automatic sliding control method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a sliding track according to an embodiment of the present application;

Fig. 8 is a flowchart of a specific implementation of S55 in an automatic sliding control method according to an embodiment of the present application;

fig. 9 is a schematic diagram of a skiing scene provided by an embodiment of the present application;

Fig. 10 is a schematic diagram of a target sliding direction according to an embodiment of the present application.

Detailed Description

The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

It should be noted that all technical terms used in the embodiments of the present application have the same meaning as commonly understood by those skilled in the art to which the present application pertains unless otherwise specified. The technical terms used in the embodiments of the present application are only used to explain specific embodiments of the present application, and are not intended to limit the present application.

In describing embodiments of the present application, the technical terms "comprising," "including," "having," and any variations thereof, etc., are intended to be "including but not limited to" unless otherwise specifically emphasized. In the description of the embodiments of the present application, unless otherwise indicated, the technical term "plurality" means two or more, and the technical term "at least one", "one or more" means one, two or more. The technical terms "first," "second," etc. are used merely to distinguish between different objects and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. The technical term "and/or" is merely an association relation describing the associated object, meaning that three relations may exist, e.g. a and/or B, may be represented: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Skiing is a popular sport in winter, however, skiing is entertaining and also has a certain risk. For example, a skiing accident due to a collision between skiers is often generated during skiing, and the collision between skiers is more likely to cause injury to the skiers than to the skiers themselves, so in order to reduce the possibility of injury to the skiers, the skiers need to avoid collision with other skiers as much as possible during skiing. For example, when the skier is at a slow speed or crossing the snow path during skiing, the skier needs to keep track of whether the skier is subjected to a mountain top direction of the impact; when the skier is running at a high speed, the skier needs to keep track of whether the skier is striking the mountain in the direction of the foot. Wherein, skiers in the mountain top direction refer to skiers in the same snow track with higher altitudes than the current skiers, and skiers in the mountain foot direction refer to skiers in the same snow track with lower altitudes than the current skiers.

For example, for a snowman, in order to keep his body steady at all times to avoid a fall, the line of sight of the snowman needs to always be consistent with the direction of the board head. For example, when a snowman is performing straight skiing (i.e., the board head is facing the direction of the foot), the line of sight of the snowman needs to be directed down the hill, and the snowman cannot observe the skiing state of the snowman in the direction of the top of the hill at all; for another example, when a snowman skies across a snow channel (i.e., the board head faces a side of the snow channel), the line of sight of the snowman needs to be directed to a side of the snow channel toward which the board head is directed, in which case the snowman can observe the skiing state of a part of the skiers in the mountain top direction through the afterlight. However, the skier's sliding state in the mountain top direction cannot be accurately judged only by the afterlight, and erroneous judgment is likely to be caused and the skier in the mountain top direction collides with the skier; in addition, skiers who deliberately observe the direction of the mountain top through the afterlight easily distract the snowboard skiers, increasing the probability of falling down by the snowboard skiers themselves.

In order to improve safety of skiers during skiing, a method for displaying skiing blind areas based on augmented reality (augmented reality, AR) glasses is provided, in which a camera is fixedly installed on the back of a helmet or skiers' clothing, the sliding information of skiers in the mountain top direction is collected by the camera, and the sliding information of skiers in the mountain top direction is displayed by AR glasses worn by the skiers, so that the skiers can judge the sliding state of skiers in the mountain top direction in time based on the sliding information of skiers in the mountain top direction, and the sliding route can be adjusted in time when the skiers in the mountain top direction are judged to have a tendency to collide, thereby avoiding collision with skiers in the mountain top direction. However, the skiing blind area display method has the following technical problems:

Because the camera is fixedly arranged on the back of the helmet or the skier's clothes, namely the visual field range of the camera always faces to the rear of the skier, the visual field range of the camera can change along with the rotation of the skier body. In particular, since the body of a snowman is directed to one side of the snow path when performing straight-plate skating, in this case, the camera includes only the other side of the snow path directly behind the body of the snowman in the field of view, and the camera does not include a skier in the mountain top direction, and therefore the camera cannot stably capture an image of the skier in the mountain top direction, and further the AR glasses cannot stably display the sliding information of the skier in the mountain top direction. In addition, the sliding information of the skier in the mountain top direction is displayed through the AR glasses, so that the current skier can not only block the sight of the current skier, but also be distracted due to the sliding information of the skier in the mountain top direction being concerned by the current skier in a transitional manner, and the current skier is likely to fall or collide with the skier in the mountain foot direction. It can be seen that the existing skiing blind area display method cannot effectively improve the safety of skiing.

In view of the above, the embodiments of the present application provide an automatic sliding control method, apparatus and system, by setting an automatic sliding control device on a helmet of a current skier, setting a rotatable first camera module and a rotatable second camera module on the automatic sliding control device, and by controlling a view of the first camera module to face a mountain top direction and collect a mountain top direction image at each moment, a view of the second camera module to face a mountain foot direction and collect a mountain foot direction image, and performing target detection on the mountain top direction image; detecting a mountain top direction image including a rear skier, and performing target detection on the mountain foot direction image under the condition that the rear skier is determined to collide with the current skier according to the first sliding speed and the first sliding track information of the rear skier and the second sliding speed and the second sliding track information of the current skier; under the condition that the mountain leg direction image comprises a front skier, determining a target sliding direction according to the collision point and the position of the front skier, and prompting the current skier to slide according to the target sliding direction by voice, so that a user can avoid collision with a rear skier and avoid the front skier, and the skiing accident caused by collision among skiers is reduced. Simultaneously, through the visual field of control first camera module just to mountain top direction all the time, the visual field of second camera module just to mountain foot direction all the time, can improve the shooting stability of mountain top direction image and mountain foot direction image, and then improve the stability and the accuracy of coasting guide. In addition, through automatic determination current skier's target direction of sliding to adopt voice prompt mode to carry out the suggestion to current skier, for the sliding information that shows the rear skier through AR glasses, not only can not shelter from the sight of skier, can avoid the skier to split moreover, thereby reduced the possibility that skier self fell down, improved the security of skiing.

Referring to fig. 1, a schematic structural diagram of an automatic sliding control system according to an embodiment of the present application is provided. For example, the automatic taxi control system may be applied in a snowboarding scenario. As shown in fig. 1, the automatic coasting control system may include an automatic coasting control device 100, a helmet 200, and a gesture detection sensor 300.

Wherein the automatic sliding control apparatus 100 may be provided with a first mounting assembly 10. A second mounting assembly 20 may be provided on the helmet 200. The first mounting assembly 10 and the second mounting assembly 20 may be a mounting assembly for use in a kit. Based on this, the automatic sliding control apparatus 100 can be used to be fixedly mounted on the helmet 200 by the first and second mounting assemblies 10 and 20. The embodiment of the present application can improve the stability of the operation of the automatic sliding control apparatus 100 by fixedly mounting the automatic sliding control apparatus 100 on the helmet 200.

The first mounting assembly 10 and the second mounting assembly 20 may be mounting assemblies in the form of a snap, a magnetic attraction, a latch, or a mortise and tenon. The mounting manner between the first mounting assembly 10 and the second mounting assembly 20 is not particularly limited in the embodiment of the present application.

The attitude detection sensor 300 may be used to be mounted on a snowboard to acquire the azimuth of the snowboard. For example, the gesture detection sensor 300 may include a gyroscope.

The azimuth angle of a snowboard may refer to the angle between the head orientation of the snowboard and the line transverse to the snow race. The toe orientation of a snowboard may refer to rays directed from the midpoint of the tail of the snowboard to the midpoint of the toe. A transverse line of a snow channel may refer to a ray directed from a first side edge of the snow channel to a second side edge and parallel to the horizontal direction. The first side of the snow channel may refer to a side of the two sides of the snow channel located at the left side of the skier in a case where the skier is faced in the direction of the mountain foot; the second side of the snow channel may refer to a side of the two sides of the snow channel that is located on the right side of the skier with the skier facing in the direction of the foot. The skier facing in the direction of the foot may mean that both the skier's body facing in the direction of the foot and the head are facing in the direction of the foot.

Exemplary, please refer to fig. 2, which is a top view of a snow tunnel according to an embodiment of the present application. As shown in fig. 2, assuming that the lower part of the schematic diagram is in the mountain top direction and the upper part of the schematic diagram is in the mountain foot direction, the first side of the snow channel may be L1 in the figure, and the second side of the snow channel may be L2 in the figure. The ray L3 directed from the first side L1 to the second side L2 and parallel to the horizontal direction may be a transversal line of the snow channel. Assuming that the head of the snowboard at the first moment is oriented in the direction indicated by ray L4, the azimuth angle of the snowboard at that moment may be θ ₁ in the figure.

The azimuth angle of the snowboard can be in the range of 0, 180 DEG U0 DEG, -180 DEG.

Referring to fig. 3, an azimuth angle of a snowboard according to an embodiment of the application is shown. As shown in fig. 3 (a), in the case where the head of the snowboard is facing the second side of the snow race, the azimuth angle of the snowboard may be 0 °; as shown in (b) of fig. 3, in case that the head of the snowboard is facing the direction of the mountain foot, the azimuth angle of the snowboard may be 90 °; as shown in fig. 3 (c), in the case where the head of the snowboard is facing the first side of the snow race, the azimuth angle of the snowboard may be 180 ° or-180 °; as shown in (d) of fig. 3, in case that the head of the snowboard is facing in the direction of the mountain top, the azimuth angle of the snowboard may be-90 °.

The time interval for collecting the azimuth angle of the snowboard may be a first time interval, i.e., the attitude detection sensor 300 may collect the azimuth angle of the snowboard once every first time interval. The first time interval is set according to actual requirements, for example, the unit duration may be 0.1 seconds.

In the embodiment of the present application, the gesture detection sensor 300 may be wirelessly connected to the automatic sliding control apparatus 100, so that the gesture detection sensor 300 may send the azimuth angle of the snowboard collected by the gesture detection sensor to the automatic sliding control apparatus 100. By way of example, the wireless connection may include a bluetooth connection or a wireless fidelity (WIRELESS FIDELITY, WIFI) connection, etc.

After receiving the azimuth angle of the snowboard transmitted from the attitude detection sensor 300, the automatic sliding control apparatus 100 may perform automatic sliding guidance based on voice prompt for the snowman in combination with the azimuth angle of the snowboard, so as to improve safety of the snowman when the snowman skis. The specific process of the automatic skiing control device 100 for performing the automatic skiing guidance by the voice prompt for the snowman will be described in detail in the following method embodiments, and will not be described in detail here.

The following describes a specific configuration of the automatic coasting control device 100. Referring to fig. 4, a schematic diagram of a structure and a usage scenario of an automatic sliding control device according to an embodiment of the present application is shown. Fig. 4 (a) is a schematic perspective view of the automatic sliding control apparatus 100, and fig. 4 (b) is a schematic plan view of the helmet 200 used in cooperation with the automatic sliding control apparatus 100.

As shown in fig. 4 (a), the automatic coasting control device 100 may include: the device comprises a first mounting assembly 10, a base 11, a first camera module 12, a first rotating assembly 13, a second camera module 14, a second rotating assembly 15, a positioning module 16, a wireless communication module 17 and a control module 18.

Wherein the base 11 may be fixedly disposed on the first mounting assembly 10. Exemplary fixing means between the first mounting assembly 10 and the base 11 may include, but are not limited to, bonding, welding, or integrally forming, and the fixing means between the first mounting assembly 10 and the base 11 is not limited in the embodiment of the present application.

The first camera module 12 may be mounted on the base 11 at a first position W1 by a first rotation assembly 13. Specifically, the mounting manner between the first camera module 12 and the first rotating assembly 13 may be a fixed mounting, and the mounting manner between the first rotating assembly 13 and the base 11 may be a movable mounting (i.e., a non-fixed mounting), so that the first rotating assembly 13 may rotate relative to the base 11. For example, the first rotating assembly 13 may rotate with the central axis of the first rotating assembly 13 as a rotation axis under the control of the control module 18. Wherein the central axis of the first rotating component 13 is perpendicular to the base 11. The rotation range of the first rotation element 13 may be, for example, [0 °,180 ° ] u [0 °, -180 ° ]. Since the first camera module 12 is fixedly mounted on the first rotating assembly 13, the first camera module 12 may rotate with the rotation of the first rotating assembly 13.

The second camera module 14 may be mounted on the base 11 at a second position W2 by a second swivel assembly 15. Specifically, the second camera module 14 and the second rotating assembly 15 may be mounted in a fixed manner, and the second rotating assembly 15 and the base 11 may be mounted in a movable manner (i.e., non-fixed manner), so that the second rotating assembly 15 may rotate relative to the base 11. The second rotating assembly 15 may rotate with the central axis of the second rotating assembly 15 as a rotation axis under the control of the control module 18. The central axis of the second rotating component 15 is perpendicular to the base 11, and the rotating range of the second rotating component 15 can be, for example, [0 °,180 ° ] U [0 °, -180 ° ]. Since the second camera module 14 is fixedly mounted on the second rotating assembly 15, the second camera module 14 may rotate with the rotation of the second rotating assembly 15.

When the automatic sliding control apparatus 100 is mounted on the helmet 200, the line connecting the first position W1 and the second position W2 may be on the same vertical plane as the first axis of symmetry of the helmet 200. Specifically, as shown in (b) of fig. 4, the first axis of symmetry of the helmet 200 may be a straight line where a line connecting the first end point W3 and the second end point W4 of the helmet 200 is located. Wherein, the first end point W3 of the helmet 200 may refer to a rearmost point of the helmet 200, and the second end point W4 of the helmet 200 may refer to a frontmost point of the helmet 200.

In an alternative implementation, the second mounting assembly 20 may be positioned at the very top of the helmet 200 so that the automatic slide control device 100 may be fixedly mounted at the very top of the helmet 200 to ensure that both the field of view of the first camera module 12 and the field of view of the second camera module 14 are not obscured.

The positioning module 16, the wireless communication module 17 and the control module 18 may be disposed inside the base 11, and the control module 18 may be connected with the first rotating assembly 13, the second rotating assembly 15, the positioning module 16 and the wireless communication module 17.

In particular, the positioning module 16 may be used to obtain position information of a skier equipped with the automatic skates control system described above and send the position information of the skier to the control module 18. For example, the location information of the skier may include latitude and longitude coordinates of the location of the skier.

The wireless communication module 17 may be configured to receive the azimuth angle of the snowboard sent by the gesture detection sensor 300, and send the azimuth angle of the snowboard to the control module 18.

The control module 18 may be configured to determine the first rotation angle based on the azimuth of the snowboard and control each of the first rotation assembly 13 and the second rotation assembly 15 to rotate the first rotation angle such that the first camera module 12 follows the first rotation assembly 13 and the second camera module 14 follows the second rotation assembly 15 to rotate the first rotation angle to ensure that the field of view of the first camera module 12 is always directed in the direction of the mountain top and the field of view of the second camera module 14 is always directed in the direction of the mountain foot.

Based on this, the first imaging module 12 may be used to capture a mountain top direction image of the skier for the mountain top direction and send the mountain top direction image to the control module 18. The second camera module 14 may be used to capture a toe direction image of a skier for a toe direction and send the toe direction image to the control module 18.

For example, the time interval in which the first image capturing module 12 captures the mountain top direction image may be a first time interval, that is, the first image capturing module 12 may capture the mountain top direction image once every first time interval.

The time interval for the second camera module 14 to capture the mountain foot direction image may be a first time interval, that is, the second camera module 14 may capture the mountain foot direction image once every first time interval.

The control module 18 may also be configured to automatically guide the current skier to slide based on voice prompts at each time during skiing based on the azimuth of the current snowboard at the current time, the latitude and longitude coordinates of the current skier's location, the mountain top direction image captured by the first camera module 12, and/or the mountain foot direction image captured by the second camera module 14. It should be noted that, the specific operation of the control module 18 may refer to the related description in the following method embodiments, which will not be described in detail herein.

The following describes the automatic sliding control method provided by the embodiment of the present application in detail with reference to the automatic sliding control system. The execution main body of the automatic sliding control method can be an automatic sliding control device, and particularly can be a control module in the automatic sliding control device. Referring to fig. 5, a schematic flow chart of an automatic sliding control method according to an embodiment of the present application is shown. The automatic coasting control method may include S51 to S55, as follows:

S51, determining a first rotation angle at the current moment according to the azimuth angle of the single-board snowboard at the current moment, and controlling the first rotation assembly and the second rotation assembly to rotate by the first rotation angle so that the view of the first camera module is opposite to the mountain top direction and acquires a mountain top direction image at the current moment, and the view of the second camera module is opposite to the mountain bottom direction and acquires a mountain bottom direction image at the current moment.

In practical application, a skier provided with the automatic sliding control system can start the automatic sliding control system before each skiing starts, so that the automatic sliding guide is realized through the automatic sliding control system, and the safety of skiing is improved; and the automatic sliding control system can be closed after each skiing is finished, so that the power consumption of the automatic sliding control system is reduced.

In the embodiment of the application, after the automatic sliding control system is started, the automatic sliding control device in the automatic sliding control system can acquire the azimuth angle of the current-moment single-board snowboard at each moment in the skiing process, and determine the first rotation angle of the current-moment single-board according to the azimuth angle of the current-moment single-board. For example, the time interval between every two adjacent moments may be a unit duration.

In a specific implementation manner, determining the first rotation angle at the current moment according to the azimuth angle of the snowboard at the current moment in S51 may specifically include:

acquiring azimuth angles of the current-moment snowboard, and determining the opposite number of the azimuth angles of the current-moment snowboard as a first rotation angle of the current moment.

Specifically, the automatic sliding control device can acquire the azimuth angle of the snowboard at the current moment acquired by the gesture detection sensor from the gesture detection sensor.

In the embodiment of the application, the first rotation angle at the current moment is equal to the azimuth angle of the snowboard at the current moment, and the signs are opposite. For example, assuming that the azimuth angle of the snowboard at the current time is 50 °, the automatic sliding control apparatus may determine that the first rotation angle at the current time is-50 °.

It should be noted that, when the skier faces the direction of the mountain, and the first rotating assembly and the second rotating assembly are not rotating (i.e., when the first rotating assembly and the second rotating assembly are both in the default state), the view of the first camera module faces the direction of the mountain top, and the view of the second camera module faces the direction of the mountain bottom. In the embodiment of the application, after the automatic sliding control device is started each time, the first rotating assembly and the second rotating assembly are automatically reset, so that the first rotating assembly and the rotating assembly are in a default state.

Based on this, in the case where the first rotation angle is a negative value, it may be represented that both the first rotation assembly and the second rotation assembly are rotated clockwise by the corresponding angles; in case the first rotation angle is a positive value, it may mean that both the first rotation assembly and the second rotation assembly are rotated counterclockwise by the corresponding angles.

It can be understood that, in the case that the azimuth angle of the snowboard at the current moment is a positive value, it is indicated that the snowman rotates counterclockwise by a certain angle relative to the direction of the front face towards the mountain foot at the current moment, in this case, by rotating both the first rotating assembly and the second rotating assembly clockwise by a corresponding angle, the view of the first camera module at the current moment is opposite to the direction of the mountain top, and the view of the second camera module is opposite to the direction of the mountain foot. Similarly, in the case that the azimuth angle of the snowboard at the current moment is a negative value, it is indicated that the skier at the current moment rotates clockwise by a certain angle relative to the direction of the mountain feet facing the front surface, and in this case, by rotating both the first rotating assembly and the second rotating assembly counterclockwise by a corresponding angle, the view of the first camera module at the current moment is opposite to the direction of the mountain tops, and the view of the second camera module is opposite to the direction of the mountain feet.

The current moment can be any moment in the skiing process, so that the first rotation angle of the first rotation component and the first rotation angle of the second rotation component at each moment in the skiing process are determined, the first rotation component and the second rotation component are rotated by corresponding angles at each moment, the view of the first camera module in the whole skiing process always faces the mountain top direction, the view of the second camera module always faces the mountain bottom direction, the first camera module can stably shoot images of skiers in the mountain top direction, the second camera module can stably shoot images of skiers in the mountain bottom direction, and therefore the automatic sliding control device can accurately slide and guide the current skiers in the whole skiing process, and safety in the skiing process is improved.

S52, performing target detection on the mountain top direction image at the current moment, and when the fact that the mountain top direction image at the current moment comprises a rear skier is detected, determining first sliding speed and first sliding track information of the rear skier and determining second sliding speed and second sliding track information of the current skier.

It will be appreciated that in order to distinguish between skiers in the top of hill direction images and skiers in the foot of hill direction images, embodiments of the present application describe skiers in the top of hill direction images as rear skiers and skiers in the foot of hill direction images as front skiers. That is, the rear skier may refer to a skier positioned in the mountain top direction of the current skier in the actual skiing scene, and the front skier may refer to a skier positioned in the mountain foot direction of the current skier in the actual skiing scene. The current skier may be assigned to a snowboard skier equipped with an automatic skiing control device for performing the current automatic skiing control method.

In a specific implementation manner, the automatic sliding control device may perform target detection on the mountain top direction image at the current moment based on a target detection algorithm, so as to detect whether a rear skier is included in the mountain top direction image at the current moment. It should be noted that, because the target detection algorithm is in the prior art, the specific target detection process of the target detection algorithm is not described in detail in the embodiment of the present application.

Optionally, when it is detected that the mountain top direction image at the current time includes the rear skier, the automatic sliding control device may store the current time, the mountain top direction image at the current time, and longitude and latitude coordinates of a position where the current skier is located at the current time in the first storage space in association.

In the case where the rear skier is included in the mountain top direction image at the current time, the current skier cannot observe the sliding condition of the rear skier, and therefore, in this case, the automatic sliding control device can help the current skier to determine whether or not the rear skier has a possibility of striking the current skier. For example, the automatic skiing control device may determine whether the rear skier collides with the current skier by determining first skier's first skiing speed and first skiing trajectory information and current skier's second skiing speed and second skiing trajectory information, and according to the first skiing speed, the first skiing trajectory information, the second skiing speed, and the second skiing trajectory information.

The first sliding track information may include a first historical sliding track of the rear skier on the snow road and a track type corresponding to the first historical sliding track. The second taxiing track information may include a second historical taxiing track of the current skier on the snow track and a track type corresponding to the second historical taxiing track. That is, the first historical sliding track and the second historical sliding track are both real sliding tracks on the actual sliding track.

Exemplary track types may include, but are not limited to, S-type tracks and straight-type tracks. The S-shaped track can be a corresponding sliding track when a skier slides in a blade-changing sliding mode. The linear track can be a corresponding sliding track when a skier slides in a slope pushing sliding mode or a straight plate sliding mode.

Referring to fig. 6, a flowchart of a specific implementation of S52 in an automatic sliding control method according to an embodiment of the present application is shown. As shown in fig. 6, in S52, the first sliding speed and the first sliding track information of the skier are determined, and the second sliding speed and the second sliding track information of the current skier are determined, which may specifically include S521 to S527, which are described in detail below:

S521, acquiring a plurality of frames of mountain top direction images in a target history period and longitude and latitude coordinates of the current skier position at the acquisition time corresponding to the frames of mountain top direction images.

Wherein the target history period may refer to a period between the current time and the first history time. The first history time may be a history time obtained by pushing the current time to the past for a first preset time period, and the target history period may include the current time. The first preset duration may be set according to actual requirements, for example, the first preset duration may be 10 seconds or 20 seconds, etc. For example, assuming that the current time is 13 hours 0 minutes 0 seconds and the first preset time period is 10 seconds, the first history time may be 12 hours 59 minutes 50 seconds and the target history period may be a period between 12 hours 59 minutes 50 seconds and 13 hours 0 minutes 0 seconds.

Since each moment in the skiing process, when the mountain top direction image at the current moment includes the rear skier, the automatic sliding control device stores the current moment, the mountain top direction image at the current moment, and longitude and latitude coordinates of the current skier at the current moment in the first storage space in association. Therefore, in a specific implementation manner, the automatic sliding control device may acquire, from the first storage space, multiple frames of mountain top direction images in the target history period and longitude and latitude coordinates of the current skier position at the acquisition time corresponding to the multiple frames of mountain top direction images.

S522, for each frame of mountain top direction image in the target history period, determining the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to the mountain top direction image according to the longitude and latitude coordinates of the current skier at the acquisition time corresponding to the mountain top direction image.

In a specific implementation, S522 may specifically include the following steps:

For each frame of mountain top direction image in the target history period, determining the coordinates of the current skier in a world coordinate system at the acquisition time corresponding to the mountain top direction image according to the longitude and latitude coordinates of the current skier at the acquisition time corresponding to the mountain top direction image through a first coordinate conversion formula;

The first coordinate conversion formula is:

wherein (X _di,Y_di,Z_di) is the coordinate of the current skier in the world coordinate system at the acquisition time corresponding to the ith frame of mountain top direction image in the target history period, R is the earth radius, and (phi _i,λ_i) is the longitude and latitude coordinate of the position of the current skier at the acquisition time corresponding to the ith frame of mountain top direction image in the target history period.

Wherein 1<i is less than or equal to n, n is the number of mountain top direction images in the target history period.

S523, for each frame of the mountain top direction image in the target history period, determining the coordinates of the rear skier in the mountain top direction image in the world coordinate system according to the pixel coordinates of the center point of the rear skier in the mountain top direction image and the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to the mountain top direction image.

The center point of the rear skier in the mountain top direction image may be a center point of the target detection frame corresponding to the rear skier in the mountain top direction image. The target detection frame corresponding to the rear skier in the mountain top direction image may be obtained when the mountain top direction image is subjected to target detection.

The pixel coordinates of the center point of the rear skier in the mountain top direction image may be used to represent the position of the center point of the rear skier in the mountain top direction image relative to the origin of the image. The image origin may be, for example, the upper left corner vertex of the image. Assuming that the pixel coordinate of the center point of the rear skier in the mountain top direction image is (x _h,y_h), the distance between the center point of the rear skier in the mountain top direction image and the origin of the image in the horizontal direction is x _h, and the distance between the center point of the rear skier in the vertical direction and the origin of the image is y _h.

In a specific implementation, S523 may include steps 1.1 to 1.3, as follows:

step 1.1, determining a normalized coordinate of a central point of a rear skier in a mountain top direction image under a camera coordinate system according to a pixel coordinate of the central point of the rear skier in the mountain top direction image for each frame of the mountain top direction image in a target history period through a second coordinate conversion formula;

The second coordinate conversion formula is:

Wherein, (x _ci,y_ci) is the normalized coordinate of the center point of the rear skier in the i-th frame mountain top direction image under the camera coordinate system, (x _hi,y_hi) is the pixel coordinate of the center point of the rear skier in the i-th frame mountain top direction image, (c _x1,c_y1) is the main point coordinate of the first image capturing module, and f _x1 and f _y1 are the focal lengths of the first image capturing module in the horizontal direction and the vertical direction, respectively. The principal point coordinates of the first camera module may be understood as coordinates of an imaging origin of the first camera module, which may be, for example, an upper left corner vertex of the image.

Step 1.2, determining the actual coordinates of the center point of the rear skier in the mountain top direction image in the camera coordinate system according to the normalized coordinates of the center point of the rear skier in the camera coordinate system and the depth value of the center point of the rear skier in the mountain top direction image according to a third coordinate conversion formula for each frame of the mountain top direction image in the target history period, wherein the third coordinate conversion formula is as follows:

Where (x _si,y_si) is the actual coordinates of the center point of the rear skier in the i-frame mountain top direction image in the camera coordinate system, and z _i is the depth value of the center point of the rear skier in the i-frame mountain top direction image.

Step 1.3, determining the coordinates of the rear skier in the mountain top direction image in the world coordinate system through a fourth coordinate conversion formula according to the actual coordinates of the central point of the rear skier in the mountain top direction image in the camera coordinate system and the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to the mountain top direction image for each frame of mountain top direction image in the target history period; the fourth coordinate conversion formula is:

Where (X _hi,Y_hi,Z_hi) is the coordinates of the trailing skier in the world coordinate system in the ith frame of the mountain top direction image, and z _i is the depth value of the center point of the trailing skier in the ith frame of the mountain top direction image.

S524, drawing a first historical sliding track of the rear skier based on coordinates of the rear skier in a world coordinate system in the multi-frame mountain top direction images in the target historical period, and determining a track type corresponding to the first historical sliding track.

After determining the coordinates of the rear skier in the world coordinate system in each frame of the mountain top direction image in the target history period, the automatic sliding control device can determine the position points of the rear skier in the world coordinate system in each frame of the mountain top direction image according to the coordinates of the rear skier in the world coordinate system in each frame of the mountain top direction image in the target history period, and sequentially connect the position points of the rear skier in the world coordinate system in each frame of the mountain top direction image according to the sequence from the early to the late of the acquisition time of the mountain top direction image, so as to obtain the first historical sliding track of the rear skier. Then, the automatic sliding control device can input the first historical sliding track into the trained track recognition model, and determine the track type corresponding to the first historical sliding track.

The trajectory recognition model may be a classification model based on a deep learning network. The trajectory recognition model may be used to recognize whether the glide trajectory is an S-shaped trajectory or a straight-shaped trajectory.

S525, drawing a second historical sliding track of the current skier based on the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to the multi-frame mountain top direction images in the target historical period, and determining the track type corresponding to the second historical sliding track.

After determining the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to each frame of the mountain top direction image in the target history period, the automatic sliding control device can determine the position point of the current skier in the world coordinate system at the acquisition time corresponding to each frame of the mountain top direction image according to the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to each frame of the mountain top direction image in the target history period, and sequentially connect the position points of the current skier in the world coordinate system at the acquisition time corresponding to each frame of the mountain top direction image according to the sequence from the early to the late of the acquisition time of the mountain top direction image, so as to obtain the second historical sliding track of the current skier. And then, the automatic sliding control device can input the second historical sliding track into the trained track recognition model so as to determine the track type corresponding to the second historical sliding track.

S526, determining the first sliding speed of the rear skier based on the coordinates of the rear skier in the world coordinate system in the multi-frame mountain top direction images in the target history period.

In a specific implementation, S526 may include steps 2.1-2.3, as detailed below:

And 2.1, determining the historical sliding speed of the rear skier after the acquisition time corresponding to each frame of mountain top direction image based on the coordinates of the rear skier in the world coordinate system in each frame of mountain top direction image in the target historical period.

For example, for the ith frame of mountain top direction image in the target history period, the automatic sliding control device may calculate, according to the first historical speed calculation formula, the historical sliding speed of the skier after the acquisition time corresponding to the ith frame of mountain top direction image based on the coordinates of the rear skier in the world coordinate system in the ith frame of mountain top direction image and the coordinates of the rear skier in the world coordinate system in the ith-1 frame of mountain top direction image; 1<i is less than or equal to n, n is the number of mountain top direction images in a target history period, and a first history speed calculation formula is as follows:

Wherein v _1i is the historical sliding speed of the skier after the acquisition time corresponding to the ith frame of mountain top direction image, (X _hi,Y_hi,Z_hi) is the coordinate of the rear skier in the world coordinate system in the ith frame of mountain top direction image, (X _h(i-1),Y_h(i-1),Z_h(i-1)) is the coordinate of the rear skier in the world coordinate system in the ith-1 frame of mountain top direction image, T _i is the acquisition time corresponding to the ith frame of mountain top direction image, and T _i-1 is the acquisition time corresponding to the ith-1 frame of mountain top direction image.

Step 2.2, determining the average speed of the rear skier in the target history period based on all the historical speeds of the rear skier in the target history period.

For example, the automatic skiing control device may calculate the average skiing speed of the rear skier in the target history period by the first average speed calculation formula based on all the history skiing speeds of the rear skier in the target history period; the first average speed calculation formula is:

Where v _1p is the average glide speed of the aft skier over the target history period.

Step 2.3, determining a first taxi speed of the rear skier based on the average taxi speed of the rear skier in the target history period and the taxi speed of the rear skier at the current moment.

For example, the automatic skiing control device may calculate the first skiing speed of the rear skier through the first speed prediction formula based on the average skiing speed of the rear skier during the target history period and the skiing speed of the rear skier at the current time; the first speed prediction formula is:

Wherein v ₁ is the first sliding speed of the rear skier, and v _1n is the historical sliding speed of the rear skier at the acquisition time corresponding to the nth frame of mountain top direction image in the target historical period. Since the nth frame of mountain top direction image in the target history period is the mountain top direction image at the current moment, v _1n can be also understood as the sliding speed of the skier behind the current moment.

Due toCan be used to represent the rate of change of the skiing speed of the trailing skier at the current moment relative to the average skiing speed of the trailing skier over the target history period, so that the future probable skiing speed (i.e., the first skiing speed) of the trailing skier can be accurately predicted by the first speed prediction formula.

S527, determining a second sliding speed of the current skier based on coordinates of the current skier in a world coordinate system at the acquisition time corresponding to the multi-frame mountain top direction images in the target history period.

In a specific implementation, S527 may include steps 3.1 through 3.3, as detailed below:

And 3.1, determining the historical sliding speed of the current skier at the acquisition time corresponding to each frame of mountain top direction image based on the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to each frame of mountain top direction image in the target historical period.

For example, for the ith frame of mountain top direction image in the target history period, the automatic sliding control device may calculate, according to the second historical speed calculation formula, the historical sliding speed of the current skier at the collection time corresponding to the ith frame of mountain top direction image based on the coordinates of the current skier in the world coordinate system at the collection time corresponding to the ith frame of mountain top direction image and the coordinates of the current skier at the collection time corresponding to the ith-1 frame of mountain top direction image in the world coordinate system; 1<i is less than or equal to n, n is the number of mountain top direction images in a target history period, and a second history speed calculation formula is as follows:

Wherein v _2i is the historical sliding speed of the current skier at the acquisition time corresponding to the ith frame of mountain top direction image, (X _di,Y_di,Z_di) is the coordinate of the current skier in the world coordinate system at the acquisition time corresponding to the ith frame of mountain top direction image, (X _d(i-1),Y_d(i-1),Z_d(i-1)) is the coordinate of the current skier in the world coordinate system at the acquisition time corresponding to the ith-1 frame of mountain top direction image, T _i is the acquisition time corresponding to the ith frame of mountain top direction image, and T _i-1 is the acquisition time corresponding to the ith-1 frame of mountain top direction image.

And 3.2, determining the average sliding speed of the current skier in the target history period based on all the historical sliding speeds of the current skier in the target history period.

For example, the automatic skiing control device may calculate the average skiing speed of the current skier in the target history period by the second average speed calculation formula based on all the historical skiing speeds of the current skier in the target history period; the second average speed calculation formula is:

Where v _2p is the average ski speed of the current skier over the target history period.

And 3.3, determining a second sliding speed of the current skier based on the average sliding speed of the current skier in the target history period and the sliding speed of the current skier at the current moment.

For example, the automatic skiing control device may calculate the second skiing speed of the current skier through the second speed prediction formula based on the average skiing speed of the current skier in the target history period and the skiing speed of the current skier at the current time; the second speed prediction formula is:

V ₂ is the second sliding speed of the current skier, and v _2n is the historical sliding speed of the current skier at the acquisition time corresponding to the nth frame of mountain top direction image in the target historical period. Since the nth frame of mountain top direction image in the target history period is the mountain top direction image at the current moment, v _2n can be also understood as the sliding speed of the current skier at the current moment.

Due toCan be used to represent the rate of change of the current skier's speed of taxiing at the current time relative to the average skier's speed over the target history period, so that the current skier's future likely speed of taxiing (i.e., the second speed of taxiing) can be accurately predicted by the second speed prediction formula.

In the embodiment of the present application, after determining the first sliding speed and the first sliding track information of the rear skier and the second sliding speed and the second sliding track information of the current skier, the automatic sliding control device may determine whether the rear skier collides with the current skier according to the first sliding speed, the first sliding track information, the second sliding speed and the second sliding track information.

In a specific implementation, the automatic sliding control device may determine whether the rear skier collides with the current skier through steps 4.1 to 4.4, which is described in detail as follows:

And 4.1, drawing a first predicted sliding track of a rear skier in a future period of the target based on the first historical sliding track and drawing a second predicted sliding track of a current skier in the future period of the target based on the second historical sliding track under the condition that the first sliding speed is greater than the second sliding speed.

Since the rear skier is likely to catch up with the current skier in the case where the first taxiing speed is greater than the second taxiing speed, in this case, the automatic taxiing control device may draw a first predicted taxiing trajectory of the rear skier within the target future period based on the first historical taxiing trajectory, draw a second predicted taxiing trajectory of the current skier within the target future period based on the second historical taxiing trajectory, and determine whether the rear skier collides with the current skier based on the first predicted taxiing trajectory and the second predicted taxiing trajectory.

Wherein the target future period may refer to a period between the current time and the first future time. The first future time may be a future time obtained by pushing the current time to the future for a second preset time period.

For example, the second preset duration may be less than or equal to one-half of the first preset duration, which may ensure that the automatic sliding control apparatus is able to accurately draw the predicted sliding track.

For example, assuming that the first preset duration is 10 seconds, the second preset duration may be 5 seconds. Assuming that the current time is 13 hours 0 minutes 0 seconds and the second preset time period is 5 seconds, the first future time may be 13 hours 0 minutes 5 seconds and the target future period may be a period between 13 hours 0 minutes 0 seconds and 13 hours 0 minutes 5 seconds.

In a specific implementation, in the case where the first historical sliding track is an S-shaped track, the automatic sliding control apparatus may draw the first predicted sliding track by:

performing curve fitting through a preset fitting algorithm based on coordinates of a rear skier in each frame of mountain top direction image in a target historical period in a world coordinate system to obtain a first mathematical model corresponding to a first historical sliding track; determining coordinates of predicted position points of the rear skier in a world coordinate system at each moment in a future period of the target based on the first mathematical model; and sequentially connecting all the predicted position points of the rear skiers according to the time sequence to obtain a first predicted sliding track.

The preset fitting algorithm may be determined according to actual requirements, for example, the preset fitting algorithm may be a higher-order curve fitting algorithm or a polynomial fitting algorithm.

In another specific implementation, in the case where the first historical sliding track is a linear track, the automatic sliding control apparatus may draw the first predicted sliding track by:

a first displacement of the aft skier within a future period of the target is determined based on the first taxi speed, the first historical taxi track is extended by the first displacement, and an extension of the first historical taxi track is determined as the first predicted taxi track.

In a specific implementation, in the case where the second historical sliding track is an S-shaped track, the automatic sliding control apparatus may draw the second predicted sliding track as follows:

Based on the coordinates of the current skier in the world coordinate system at the acquisition time corresponding to each frame of mountain top direction image in the target history period,

Performing curve fitting through a preset fitting algorithm based on coordinates of a current skier in a world coordinate system at the acquisition time corresponding to each frame of mountain top direction image in a target historical period to obtain a second mathematical model corresponding to a second historical sliding track; based on the second mathematical model, determining coordinates of predicted position points of the current skier at all moments in a future period of the target in a world coordinate system; and sequentially connecting all the predicted position points of the current skier according to the time sequence to obtain a second predicted sliding track.

In another specific implementation, in the case where the second historical sliding track is a linear track, the automatic sliding control apparatus may draw the second predicted sliding track as follows:

A second displacement of the aft skier within the future period of the target is determined based on the second taxi speed, the second historical taxi track is extended by the second displacement, and an extension of the second historical taxi track is determined as the second predicted taxi track.

For example, please refer to fig. 7, which is a schematic diagram of a sliding track according to an embodiment of the present application. As shown in fig. 7, assuming that the current skier is at the a position and the skier is at the B position after the current time, the first historical sliding track is a solid line type curve in the figure, and the second historical sliding track is a solid line type straight line in the figure, the first predicted sliding track may be a dotted line type curve in the figure, and the second predicted sliding track may be a dotted line type straight line in the figure. Fig. 7 (a) shows a possible case where there is an intersection of the first predicted skid trajectory and the second predicted skid trajectory, and fig. 7 (b) shows a possible case where there is no intersection of the first predicted skid trajectory and the second predicted skid trajectory.

Step 4.2, determining that the rear skier collides with the current skier when the first predicted sliding track and the second predicted sliding track have crossing points.

In the embodiment of the present application, the automatic sliding control apparatus may perform S53 in case it is determined that the rear skier collides with the current skier.

And 4.3, determining that the rear skier cannot collide with the current skier under the condition that the first predicted sliding track and the second predicted sliding track do not have crossing points.

Step 4.4, determining that the rear skier does not collide with the current skier in the case that the first sliding speed is less than or equal to the second sliding speed.

Since the rear skier is not likely to catch up with the current skier regardless of the track type corresponding to the first historical sliding track and the track type corresponding to the second historical sliding track in the case where the first sliding speed is less than or equal to the second sliding speed, the automatic sliding control apparatus can directly determine that the rear skier is not in collision with the current skier in this case.

Alternatively, the automatic ski control device may not respond in any way in the event that it is determined that the trailing skier will not collide with the current skier.

Alternatively, in the case where the mountain top direction image at the current time does not include the rear skier, it is indicated that there is no other skier in the mountain top direction of the current skier, and in this case, the current skier is not bumped by the rear skier, and therefore, in order to save the storage space of the automatic sliding control apparatus, the automatic sliding control apparatus may delete the mountain top direction image at the current time.

And S53, determining coordinates of a collision point in a world coordinate system and detecting a target of a mountain foot direction image at the current moment when determining that a rear skier collides with the current skier in a future period of the target according to the first sliding speed, the first sliding track information, the second sliding speed and the second sliding track information.

In an alternative implementation, the automatic glide control device may determine the coordinates of the collision point in the world coordinate system based on the projections of the collision point on the X, Y, and Z axes of the world coordinate system.

In a specific implementation manner, the automatic sliding control device may perform target detection on the current-moment mountain leg direction image based on a target detection algorithm, so as to detect whether the current-moment mountain leg direction image includes a front skier. It should be noted that, because the target detection algorithm is in the prior art, the specific target detection process of the target detection algorithm is not described in detail in the embodiment of the present application.

Because the mountain foot direction image is detected only when the rear skier collides with the current skier, but not at every moment, the power consumption of the automatic sliding control device can be saved, and the endurance time of the automatic sliding control device can be prolonged.

S54, when it is detected that the front skier is included in the mountain direction image at the current time, the coordinates of the front skier in the world coordinate system at the current time are determined.

For example, the automatic skiing control device may determine the coordinates of the skier ahead at the current moment in the world coordinate system according to the pixel coordinates of the center point of the skier ahead in the mountain direction image at the current moment and the latitude and longitude coordinates of the location of the skier ahead at the current moment.

The center point of the front skier in the current mountain leg direction image may be the center point of the target detection frame corresponding to the front skier in the current mountain leg direction image. The target detection frame corresponding to the front skier in the mountain leg direction image at the current time may be obtained when the target detection is performed on the mountain leg direction image at the current time.

The pixel coordinates of the center point of the front skier in the mountain-leg direction image at the current time may be used to represent the position of the center point of the front skier relative to the origin of the image in the mountain-leg direction image at the current time. The image origin may be, for example, the upper left corner vertex of the image. Assuming that the pixel coordinate of the center point of the front skier in the mountain-leg direction image at the current time is (x _q,y_q), the distance between the center point of the front skier in the mountain-leg direction image at the current time and the origin of the image in the horizontal direction is x _q, and the distance between the center point of the front skier in the mountain-leg direction image at the current time and the origin of the image in the vertical direction is y _q.

In a specific implementation, S54 may include steps 5.1 to 5.3, which are described in detail below:

Step 5.1, determining the normalized coordinate of the center point of the front skier in the current mountain leg direction image under the camera coordinate system according to the pixel coordinate of the center point of the front skier in the current mountain leg direction image through a fifth coordinate conversion formula;

The fifth coordinate conversion formula is:

Wherein, (x _k,y_k) is the normalized coordinate of the center point of the front skier in the mountain-leg direction image under the camera coordinate system, (x _q,y_q) is the pixel coordinate of the center point of the front skier in the mountain-leg direction image, (c _x2,c_y2) is the main point coordinate of the second camera module, and f _x2 and f _y2 are the focal lengths of the second camera module in the horizontal direction and the vertical direction, respectively. The principal point coordinates of the second camera module may be understood as coordinates of an imaging origin of the second camera module, which may be, for example, an upper left corner vertex of the image.

Step 5.2, determining the actual coordinates of the center point of the front skier in the current mountain leg direction image in the camera coordinate system according to the normalized coordinates of the center point of the front skier in the camera coordinate system and the depth value of the center point of the front skier in the current mountain leg direction image by a sixth coordinate conversion formula, wherein the sixth coordinate conversion formula is as follows:

Wherein (x _g,y_g) is the actual coordinates of the center point of the front skier in the current mountain-leg direction image under the camera coordinate system, and z is the depth value of the center point of the front skier in the current mountain-leg direction image.

Step 5.3, determining the coordinates of the front skier in the mountain leg direction image at the current moment in the world coordinate system through a seventh coordinate conversion formula according to the actual coordinates of the center point of the front skier in the mountain leg direction image at the current moment in the camera coordinate system and the coordinates of the current skier in the world coordinate system at the current moment; the seventh coordinate conversion formula is:

wherein (X _q,Y_q,Z_q) is the coordinates of the front skier in the world coordinate system in the current mountain-leg direction image, and z is the depth value of the center point of the front skier in the current mountain-leg direction image.

S55, determining the target sliding direction of the current skier at the next moment based on the coordinates of the collision point in the world coordinate system, the coordinates of the skier in front of the current moment in the world coordinate system and the coordinates of the current skier at the current moment in the world coordinate system, and prompting the current skier to slide according to the target sliding direction in a voice prompt mode.

In a specific implementation, S55 may include S551 to S553 as shown in fig. 8, which are described in detail below:

S551, determining a first included angle between the first position vector and the second position vector, a second included angle between the first position vector and the first horizontal vector, and a third included angle between the second position vector and the second horizontal vector based on the coordinates of the collision point in the world coordinate system, the coordinates of the skier in front of the current moment in the world coordinate system, and the coordinates of the skier in front of the current moment in the world coordinate system.

The first position vector may refer to a vector from a current skier position at the current time to a position at which the collision point is located, and the second position vector may refer to a vector from a current skier position at the current time to a skier position in front of the current time.

The first horizontal vector may refer to a horizontal vector adjacent to the first position vector, among two horizontal vectors having opposite directions starting from the current skier's position at the current time. The second horizontal vector may refer to a horizontal vector adjacent to the second position vector, among two horizontal vectors having opposite directions starting from the current skier's position at the current time. That is, there are no other vectors between the first position vector and the first horizontal vector, while the second position vector is between the first position vector and the second horizontal vector; there are no other vectors between the second position vector and the second horizontal vector, while the first position vector is between the second position vector and the first horizontal vector.

An exemplary embodiment of the present application is shown in fig. 9. Assuming that the current skier is at the A position, the collision point is at the B position, and the skier is at the C position, the first position vector can beThe second position vector may be/>The first horizontal vector may be/>The second horizontal vector may be/>

In a specific implementation manner, the automatic sliding control device can calculate a first included angle between the first position vector and the second position vector through a first angle calculation formula; the first angle calculation formula is as follows:

Beta ₁ is the first included angle, and,

(X _xz,Y_xz,Z_xz) is the coordinates of the collision point in the world coordinate system.

In a specific implementation manner, the automatic sliding control device can calculate a second included angle between the first position vector and the first horizontal vector through a second angle calculation formula; the second angle calculation formula is as follows:

Wherein, (X ₁,Y₁,Z₁) is the coordinate of the D point in the world coordinate system, and the D point can be any point in the horizontal direction pointed by the first horizontal vector.

In a specific implementation manner, the automatic sliding control device can calculate a third included angle between the second position vector and the second horizontal vector through a third angle calculation formula; the third angle calculation formula is as follows:

Wherein, (X ₂,Y₂,Z₂) is the coordinate of the F point in the world coordinate system, and the F point can be any point in the horizontal direction pointed by the second horizontal vector.

S552, determining the target sliding direction of the current skier based on the magnitude relation among the first included angle, the second included angle and the third included angle.

In an alternative implementation, the automatic sliding control device may determine, as the target sliding direction, a direction indicated by a symmetry axis of the first position vector and the second position vector in the case where the first included angle is the largest.

In another alternative implementation, the automatic sliding control device may determine, as the target sliding direction, a direction in which the symmetry axis of the first position vector and the first horizontal vector points, in the case where the second included angle is the largest.

In still another alternative implementation, the automatic sliding control device may determine, as the target sliding direction, a direction in which the second position vector and the symmetry axis of the second horizontal vector point, in the case where the third included angle is the largest.

For example, as shown in fig. 9 (a), the automatic coasting control device may vector the first position when the first angle β ₁ is the largestAnd a second position vector/>The direction indicated by the symmetry axis of (2) is determined as the target taxiing direction. As shown in fig. 9 (b), the automatic coasting control device may perform the first position vector/>, in the case where the second angle β ₂ is the largestAnd the first horizontal vector/>The direction indicated by the symmetry axis of (2) is determined as the target taxiing direction. As shown in fig. 9 (c), the automatic coasting control device may perform the second position vector/>, in the case where the third angle β ₃ is the largestAnd a second horizontal vector/>The direction indicated by the symmetry axis of (2) is determined as the target taxiing direction.

S553, determining a target clock direction corresponding to the target sliding direction, generating voice prompt information carrying the target clock direction, and outputting the voice prompt information.

In the embodiment of the application, in order to enable the current skier to easily understand the target sliding direction, the automatic sliding control device can determine the target clock direction corresponding to the target sliding direction after determining the target sliding direction.

The clock direction refers to a direction indicated by time on the dial with reference to the clock dial. Illustratively, the clock direction may include a 12 o ' clock direction, a1 o ' clock direction, or an 11 o ' clock direction, etc. The range of the target clock direction can be [9 o 'clock direction, 12 o' clock direction ] [12 o 'clock direction, 3 o' clock direction ], namely the range of the target clock direction can be the range corresponding to the upper half part of the dial plate.

In an alternative implementation, the automatic coasting control device may determine the clock direction closest to the target coasting direction as the target clock direction.

For example, please refer to fig. 10, which is a schematic diagram of a target sliding direction according to an embodiment of the present application. Assuming that the target coasting direction is as the dotted line type ray in fig. 10, the automatic coasting control device may determine the 11 o' clock direction closest to the target coasting direction as the target clock direction. Based on this, the voice prompt may be, for example, "please slide in 11 o' clock direction".

It should be understood that, the sequence number of each step in the foregoing embodiment does not mean the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

It can be seen from the above that, in the automatic sliding control method provided by the embodiment of the present application, by arranging the automatic sliding control device on the helmet of the current skier, arranging the rotatable first camera module and the rotatable second camera module on the automatic sliding control device, by controlling the view of the first camera module to face the direction of the mountain top and collecting the image of the direction of the mountain top at each moment, the view of the second camera module to face the direction of the mountain foot and collecting the image of the direction of the mountain foot, and performing target detection on the image of the direction of the mountain top; detecting a mountain top direction image including a rear skier, and performing target detection on the mountain foot direction image under the condition that the rear skier is determined to collide with the current skier according to the first sliding speed and the first sliding track information of the rear skier and the second sliding speed and the second sliding track information of the current skier; under the condition that the mountain leg direction image comprises a front skier, determining a target sliding direction according to the collision point and the position of the front skier, and prompting the current skier to slide according to the target sliding direction by voice, so that a user can avoid collision with a rear skier and avoid the front skier, and the skiing accident caused by collision among skiers is reduced. Simultaneously, through the visual field of control first camera module just to mountain top direction all the time, the visual field of second camera module just to mountain foot direction all the time, can improve the shooting stability of mountain top direction image and mountain foot direction image, and then improve the stability and the accuracy of coasting guide. In addition, through automatic determination current skier's target direction of sliding to adopt voice prompt mode to carry out the suggestion to current skier, for the sliding information that shows the rear skier through AR glasses, not only can not shelter from the sight of skier, can avoid the skier to split moreover, thereby reduced the possibility that skier self fell down, improved the security of skiing.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference may be made to related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. An automatic sliding control method is characterized by being applied to an automatic sliding control device, wherein the automatic sliding control device comprises a rotatable first camera module and a rotatable second camera module; the automatic coasting control method includes:

2. The automatic skiing control method according to claim 1, wherein determining the first skiing speed and the first skiing trajectory information of the rear skier and determining the second skiing speed and the second skiing trajectory information of the current skier includes:

3. The automatic taxiing control method according to claim 2, wherein determining a first taxiing speed of the rear skier based on coordinates of the rear skier in the world coordinate system in the multi-frame mountain top direction image within the target history period comprises:

4. The automatic skiing control method according to claim 3, wherein determining the first skiing speed of the rear skier based on the average skiing speed of the rear skier and the skiing speed of the rear skier at the current time in the target history period includes:

5. The automatic skiing control method according to any one of claims 1 to 4, wherein determining the target skiing direction of the current skier based on the coordinates of the collision point in the world coordinate system, the coordinates of the front skier in the world coordinate system at the current time, and the coordinates of the current skier in the world coordinate system at the current time, includes:

6. The automatic taxiing control method according to claim 5, characterized in that the target taxiing direction of the current skier is determined based on a magnitude relation among the first angle, the second angle, and the third angle;

7. The automatic coasting control method according to any one of claims 2-4, characterized by further comprising, before determining coordinates of the collision point in a world coordinate system and performing object detection on the mountain leg direction image at the current time:

8. The automatic sliding control method according to any one of claims 1 to 4, wherein determining the first rotation angle at the present moment based on the azimuth angle of the snowboard at the present moment includes:

9. The automatic sliding control device is characterized by comprising a first installation component, a base, a first camera module, a first rotating component, a second camera module, a second rotating component, a positioning module, a wireless communication module and a control module;

The base is fixedly arranged on the first installation component;

The control module is configured to perform the automatic coasting control method according to any one of claims 1-8.

10. An automatic coasting control system comprising a gesture detection sensor, a helmet, and the automatic coasting control device of claim 9; the automatic sliding control device is used for being arranged on the helmet, and the gesture sensor is in wireless connection with the automatic sliding control device.