CN114234963A - Device and method for recognizing individual posture in individual training confrontation device - Google Patents
Device and method for recognizing individual posture in individual training confrontation device Download PDFInfo
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- G—PHYSICS
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- G—PHYSICS
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Abstract
The invention discloses a device and a method for identifying individual posture in an individual training confrontation device, wherein the device comprises an individual harness and a posture identification sensor arranged on the individual harness; the method comprises the steps that the posture recognition sensors comprise a back posture recognition sensor, a left leg posture recognition sensor and a right leg posture recognition sensor which are arranged corresponding to the back, the left leg and the right leg of the individual soldier harness, and the method utilizes the back posture recognition sensor, the left leg posture recognition sensor and the right leg posture recognition sensor to acquire the angular velocity, the acceleration and the magnetic field intensity of the corresponding areas and recognize the posture and the facing direction of the individual soldier harness. The invention can quickly judge the position and check whether the gesture recognition is abnormal, thereby improving the exercise efficiency.
Description
Technical Field
The invention relates to the technical field of individual training confrontation, in particular to a device and a method for recognizing individual postures in an individual training confrontation device.
Background
In order to meet the requirements of military construction modernization and training intellectualization, laser simulation training systems are researched in many countries, the laser shooting systems are used for simulating firing practice, the intelligent individual soldier harness is used for replacing the traditional practice, the intelligent harness sends the exercise state to the background guide control through the base station, the exercise state is monitored in real time through the background guide control, tactical analysis is carried out more accurately, and the exercise efficiency is improved. Because the research on laser simulation training in China is carried out later, and many products cannot completely meet the military training requirements of troops, the application range is extremely limited. At present, the individual soldier outfit used by the army cannot identify the posture, and because the individual soldier posture and the face direction have different injury effects under different attacks in the actual combat process, the identification of the individual soldier posture has great significance on the actual soldier confrontation training technology. In order to enhance the battlefield atmosphere and fidelity of simulated tactical confrontation training, reflect the real battlefield condition, improve the tactical training level and the military training quality, a method capable of identifying the posture of an individual soldier in real time is urgently needed.
Because the posture of the existing individual soldier harness can not be recognized, the processing method of the individual soldier after receiving the same attack injury is consistent, the training of the individual soldier on tactical actions can not be applied to the exercise, the exercise efficiency is greatly reduced, and a larger error can be generated in the exercise process, which is obviously inconsistent with the effect of the confrontation training of the actual soldier.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a device and a method for identifying the posture of an individual soldier in an individual training confrontation device, which aim to solve the defects of the prior art, confirm the posture and the facing direction of the individual soldier and improve the tactical training level and the military training quality.
The technical scheme is as follows: the device for identifying the individual posture in the individual training countermeasure device comprises an individual harness and a posture identification sensor arranged on the individual harness; the individual clothes are provided with a main control module, the posture recognition sensor comprises a back posture recognition sensor, a left leg posture recognition sensor and a right leg posture recognition sensor which are arranged corresponding to the back, the left leg and the right leg of the individual clothes, the left leg posture recognition sensor and the right leg posture recognition sensor are electrically connected with the back posture recognition sensor, and the back posture recognition sensor is connected with the main control module through a wireless communication module; the back posture identification sensor, the left leg posture identification sensor and the right leg posture identification sensor respectively comprise a gyroscope, an accelerometer and a magnetometer, and the gyroscope, the accelerometer and the magnetometer are respectively used for acquiring the angular velocity, the acceleration and the magnetic field intensity of a corresponding area; the left leg posture recognition sensor and the right leg posture recognition sensor transmit the collected angular velocity, acceleration and magnetic field intensity data of the left leg region and the right leg region to the back posture recognition sensor, the back posture recognition sensor collects the angular velocity, the acceleration and the magnetic field intensity of the back region, the back posture recognition sensor and the data transmitted by the left leg posture recognition sensor and the right leg posture recognition sensor are combined and calculated, the posture and the facing direction of the individual soldier harness are calculated, and the posture and the facing direction of the individual soldier harness are transmitted to the main control module.
According to the technical scheme, the main control module is connected with the display module and the radio station module, the main control module displays the posture and the face direction of the individual soldier harness through the display module, and the main control module is connected with the background main control module through the radio station module to perform data transmission.
Further, the wireless communication module is a bluetooth module.
The method for identifying the individual posture based on the device for identifying the individual posture in the individual training countermeasure device comprises the following steps:
s1: a back posture recognition sensor is installed in the back area of the individual soldier harness to serve as posture master control, and a left leg posture recognition sensor and a right leg posture recognition sensor are respectively installed on the outer side faces of the left thigh and the right thigh of the individual soldier harness to serve as posture sub-nodes on two sides; the attitude main control unit and the attitude sub-nodes on the two sides are integrated with 9-axis sensors which comprise a gyroscope, an accelerometer and a magnetometer, wherein the gyroscope, the accelerometer and the magnetometer are respectively provided with XYZ three-axis directions;
s2: carrying out acceleration and magnetic field calibration on the attitude master control and the attitude sub-nodes on the two sides, and calibrating the zero position of each axis;
s3: the posture sub-nodes on the two sides respectively collect angle, angular velocity and acceleration data of the left leg and the right leg and transmit the data to the posture main control, and the posture main control collects angle, angular velocity and acceleration data of the back and carries out posture recognition calculation by combining the data collected by the posture sub-nodes on the two sides;
s4: the posture master control outputs the data of the posture and the face direction of the individual soldier harness and transmits the data to the master control module of the individual soldier harness, and the master control module is connected with the display module for displaying and wirelessly transmits the data to the background master control module through the radio station module.
Further, the posture of the individual harness comprises standing, sitting, running, walking, lying, squatting left and squatting right; the facing direction of the individual soldier harness comprises a true east, a southeast, a northeast, a true west, a southwest, a northwest, a true south and a true north.
Furthermore, the individual harness is worn by people with different weights, heights and wearing habits, acceleration and angle values of different postures are obtained, statistics is carried out on the obtained data, interference data are removed, and the numerical value gathering area of the same posture is determined as the range of the acceleration and the angle of the corresponding posture of the individual harness.
Further, the calculation process of the gesture master for gesture recognition is as follows:
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is-1, 0, the angle of the Y axis is 90 degrees, the angular velocity of the Y axis is 0; the right leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 1, 0, the angle of the Y axis is-90 degrees, the angular speed of the Y axis is 0 degree; the back posture recognition sensor acquires data as follows: x, Y, Z axes acceleration is 0, 1, X, Y axes angle is 0 degree, 0 degree; judging the posture identification of the individual harness as follows: sitting posture;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is-1, 0, the angular velocity of the Y axis is 0; the right leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 1, 0, the angular speed of the Y axis is 0 degree; the back posture recognition sensor acquires data as follows: x, Y, Z axes acceleration is 0, 1, X, Y axes angle is 0 degree, 0 degree; when the Y-axis inclination angle of the right leg posture identification sensor is more than 30 degrees and not more than 90 degrees larger than that of the left leg posture identification sensor, the posture of the individual soldier outfit is judged to be left squat, and when the Y-axis inclination angle of the left leg posture identification sensor is more than 30 degrees and not more than 90 degrees larger than that of the right leg posture identification sensor, the posture of the individual soldier outfit is judged to be right squat;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, the angle of the XY axis is 0 degree, 0 degree; the right leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, the angle of the XY axis is 0 degree, 0 degree; the back posture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, the angle of the XY axis is 0 degree, 0 degree; judging the posture identification of the individual harness as follows: standing;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is-1, 0, the angle of the Y axis is 90 degrees; the right leg gesture recognition sensor acquires data as follows: x, Y, Z the acceleration of the axis is 1, 0, the angle of the Y axis is-90 degrees; the back posture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, 0, the angle of the XY axis is 90 degrees, 0 degrees; judging the posture identification of the individual harness as follows: lying posture;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z the acceleration of the axis is 1, 0, the angle of the Y axis is-90 degrees; the right leg gesture recognition sensor acquires data as follows: the acceleration of the right leg X, Y, Z axis is-1, 0, the angle of the Y axis is 90 degrees; the back posture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, -1, 0, the angle of XY axis is-90 degree, 0 degree; judging the posture identification of the individual harness as follows: and (4) a prone position.
Further, when the absolute value of the difference value of the Z-axis acceleration collected by the left leg posture recognition sensor, the right leg posture recognition sensor and the back posture recognition sensor exceeds 1, the change of the Y-axis angle collected by the left leg posture recognition sensor and the right leg posture recognition sensor is opposite; establishing a ring buffer area with the size of 20 data spaces for storing the difference value of the Y-axis angles of the left leg gesture recognition sensor and the right leg gesture recognition sensor, putting new difference value data into the next data space of the ring buffer area every 100ms, when 2s time is up, the ring buffer is filled with data, when 2s +100ms is up, the new difference data covers the position of the first data, the data in the data space is maintained as data within 2s immediately before by updating the data, and the data is arranged as time-varying data, and the variation curve of the difference data is detected every 2 seconds, when the difference value of the left leg posture identification sensor Y-axis angle minus the right leg posture identification sensor Y-axis angle is positive, otherwise, the difference value is negative, if at least one positive, negative or positive change appears, the posture identification of the individual harness is determined as follows: running;
when the absolute value of the Z-axis acceleration difference value acquired by the left leg gesture recognition sensor, the right leg gesture recognition sensor and the back gesture recognition sensor is less than 0.5, and the Y-axis angle change acquired by the left leg gesture recognition sensor and the right leg gesture recognition sensor is opposite; establishing a ring buffer area with the size of 20 data spaces for storing the difference value of the Y-axis angles of the left leg gesture recognition sensor and the right leg gesture recognition sensor, putting new difference value data into the next data space of the ring buffer area every 100ms, when 2s time is up, the ring buffer is filled with data, when 2s +100ms is up, the new difference data covers the position of the first data, the data in the data space is maintained as data within 2s immediately before by updating the data, and the data is arranged as time-varying data, and the variation curve of the difference data is detected every 2 seconds, when the difference value of the left leg posture identification sensor Y-axis angle minus the right leg posture identification sensor Y-axis angle is positive, otherwise, the difference value is negative, if at least one positive, negative or positive change appears, the posture identification of the individual harness is determined as follows: and (5) walking posture.
Further, the two side attitude sub-nodes transmit data to the attitude master control at the frequency of 10 HZ.
Furthermore, the face-facing direction of the individual harness is identified through the magnetometer in the back posture identification sensor, and when the individual harness rotates, the magnetometer in the back posture identification sensor synchronously rotates around the Z axis to sense the change of the magnetometer so as to judge the current face-facing direction of the individual harness.
Has the advantages that: compared with the prior art, the invention has the advantages that: according to the method for recognizing the postures of the individual soldiers in the individual training confrontation device, the posture recognition sensors are respectively fixed on the left leg, the right leg and the back of a human body, and angle and acceleration data of corresponding parts are collected, so that the current postures of all parts are analyzed, integrated and the overall posture of the individual soldier is analyzed, the method not only can solve eight postures of standing, lying, left squatting, right squatting, sitting, running, walking and lying, but also can solve eight directions of east, south, west and north, northwest, southwest, southeast and northeast, and the accuracy and diversity of posture recognition are ensured; meanwhile, the posture of the individual soldier is sent to a screen for displaying, the position of the individual soldier can be rapidly judged, whether the posture recognition is abnormal or not can be checked, and the exercise efficiency is improved; when the individual soldier is exploded, the background main control can also judge the damage effect that the individual soldier should receive according to the current posture and direction of the individual soldier, and the effect of tactical action drilling in the actual combat confrontation is enhanced, so that the drilling effect is closer to reality. The hardware structure adopted by the invention is simple, the data characteristics which are simple and aim at tactical actions of the army are found out by utilizing a statistical method in advance, the data is acquired at key human body nodes, complex mathematical calculation and formula derivation are not needed, the power consumption is low, the size is small, the wearing is convenient, the calibration is simple, and the identification speed is high. The invention can effectively capture the tactical action of the individual soldier, so that the background main control software can judge damage according to the current posture of the individual soldier, effectively solves the problems that the individual soldiers in different postures in the exercise process are consistent in damage and cannot be distinguished, enables the damage model to be closer to the effect of actual soldier engagement, and is beneficial to improving the significance of the individual soldier tactical action training in the actual soldier engagement exercise.
Drawings
FIG. 1 is a schematic structural diagram of an individual posture recognizing device in the individual training confrontation device of the invention;
fig. 2 is a flow chart of the method for identifying the posture of the individual soldier in the individual training confrontation device.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
The device for recognizing the posture of the individual soldier in the individual training confrontation device as shown in figure 1 comprises an individual harness and a posture recognition sensor arranged on the individual harness. The individual soldier harness comprises a main control module, a radio station module and a display screen, wherein the radio station module and the display screen are connected with the main control module through wires, and the main control module is wirelessly connected with a background main control through the radio station module; the posture sensor comprises a back posture recognition sensor, a left leg posture recognition sensor and a right leg posture recognition sensor, the back posture recognition sensor comprises a Bluetooth module, the back posture recognition sensor is connected with an individual soldier harness main control module through the Bluetooth module, and the left leg posture recognition sensor and the right leg posture recognition sensor are connected with the back posture recognition sensor through wires.
The back gesture recognition sensor, the left leg gesture recognition sensor and the right leg gesture recognition sensor respectively comprise a calibration key, an indicator light, an acceleration and angle acquisition device and a power supply connecting wire. The back gesture recognition sensor indicator lamp flickers after being connected with the individual soldier main control module, and is often on when not connected; the power supply connecting wire of the back posture recognition sensor is connected with a battery box of the individual harness, and the individual harness supplies power when being started; the indicator lights of the left leg gesture recognition sensor and the right leg gesture recognition sensor are powered on, the power supply connecting wires of the left leg gesture recognition sensor and the right leg gesture recognition sensor are connected with the back gesture recognition sensor, and the individual soldier harness is powered on.
The method for recognizing the posture of the individual soldier in the individual training confrontation device as shown in figure 2 comprises the following steps:
1. and starting the individual harness and the attitude identification sensor.
After the posture recognition sensor is correctly connected with the individual harness, the individual harness is started, and the back posture recognition sensor is automatically started after receiving power supply. After the back gesture recognition sensor is started, the Bluetooth module is started to judge whether the back gesture recognition sensor is connected with the Bluetooth module controlled by the individual soldier or not, if the back gesture recognition sensor is connected with the Bluetooth module controlled by the individual soldier, the red light of the indicator light flickers, and if the back gesture recognition sensor is not connected with the individual soldier, the red light is normally on; meanwhile, the back gesture recognition sensor supplies power to the left leg gesture recognition sensor and the right leg gesture recognition sensor, the leg gesture recognition sensors are automatically started up when supplying power, and the indicating lamp flickers.
2. And acquiring data of the attitude recognition sensor.
When the posture recognition sensor is in a working mode, the posture recognition sensor can collect self data in real time, the leg posture recognition sensor judges postures such as walking and running through collecting X-axis data of acceleration, the collected data are sent to the back posture recognition sensor in real time, the back posture recognition sensor collects acceleration Y-axis data and angle data, the data sent by the leg posture recognition sensor are integrated, after the current posture is calculated, a main control module of the individual soldier harness is sent, and the main control module sends the data to a display screen to be displayed.
A back attitude identification sensor is arranged in the back area of the individual soldier harness to serve as an attitude master control, a left leg attitude identification sensor and a right leg attitude identification sensor are respectively arranged on the outer side surfaces of the left thigh and the right thigh of the individual soldier harness to serve as two side attitude sub-nodes, and the attitude master control and the two side attitude sub-nodes are respectively integrated with 9-axis sensors which comprise an angular velocity sensor (gyroscope), an acceleration sensor (accelerometer) and a magnetic induction sensor (magnetometer); firstly, the acceleration calibration and the magnetic field calibration are carried out on each node sensor, the zero point position of each axis is calibrated, and when a person acts, the acceleration, the angle and the angular speed are changed, so that the posture is calculated. The facing direction is identified through the sensor in the attitude master control, when the person faces to the rotation, the sensor just rotates around the z axis to sense the change of the magnetometer, and the person facing direction can be obtained, wherein the z axis of the sensor is vertical to the ground and is in the same direction with the person facing to the rotation shaft.
And the attitude sub-node sensor transmits the acquired angle, angular velocity and acceleration to the attitude main control unit at the frequency of 10HZ for performing attitude identification calculation. The gesture actions are as follows: standing, sitting, running, walking, lying, squatting left and squatting right. The posture direction is divided into: zhengdong, southeast, northeast, Zhengxi, southwest, northwest, Zhengnan, and Zhengbei.
The data of each posture is subjected to big data statistics by people with different weights, heights and wearing habits to obtain a characteristic value, so that the ranges of acceleration, angular velocity and angle of each posture are obtained. The method comprises the steps that 50 people wear the harness, a serial port of a posture main control outputs acceleration and angle data of three posture sensors, the 50 people do 20 times of actions in each posture, the data are counted into a table, then a statistical graph is drawn (an x axis is taken as the posture, a y axis is taken as the acceleration table, an x axis is taken as the posture, a y axis is taken as the angle table, the counted data of 50 people are drawn into the statistical graph by drawing points, the data of 50 people can be seen, the characteristics of each action can be separated according to the density of a drawing point area, interference points are removed, characteristic points of standing postures of different people always gather in one area of the graph, the sitting postures of different people gather in the other area of the graph, and the rest postures are analogized).
Sitting posture:
the acceleration of the left leg X, Y, Z axis is-1, 0, the Y axis angle is 90 degrees, the Y axis angular velocity is 0;
the acceleration of the right leg X, Y, Z axis is 1, 0, the Y axis angle is-90 degrees, and the Y axis angular velocity is 0;
the acceleration of the axis of the back X, Y, Z is 0, 0 and 1, and the angle of the axis X, Y is 0 degree and 0 degree.
The angle judgment value of one leg can be adjusted according to the similar sitting posture in the judgment of the squat of the left leg and the squat of the right leg, when the left leg squats, the left leg is closer to the ground, and the Y-axis inclination angle of the right leg is more than 30 degrees and is not more than 90 degrees larger than the Y-axis inclination angle of the left leg. When squatting on the right side, the right leg is closer to the ground, and the Y-axis inclination angle of the left leg is more than 30 degrees and is not more than 90 degrees larger than the Y-axis inclination angle of the right leg.
Standing:
the acceleration of the left leg X, Y, Z axis is 0, 1, the angle of XY axis is 0 degree, 0 degree;
the acceleration of the right leg X, Y, Z axis is 0, 1, the angle of XY axis is 0 degree, 0 degree;
the acceleration of the back X, Y, Z axis is 0, 1, and the angle of the XY axis is 0 degree, 0 degree.
Lying posture:
the acceleration of the left leg X, Y, Z axis is-1, 0, the angle of the Y axis is 90 degrees;
the acceleration of the right leg X, Y, Z axis is 1, 0, the angle of the Y axis is-90 degrees;
the acceleration of the back X, Y, Z axis is 0, 1, 0, and the angle of the XY axis is 90 degrees, 0 degrees.
A prone position:
the acceleration of the left leg X, Y, Z axis is 1, 0, the angle of the Y axis is-90 degrees;
the acceleration of the right leg X, Y, Z axis is-1, 0, the angle of the Y axis is 90 degrees;
the acceleration of the back X, Y, Z axis is 0, -1, 0, the angle of XY axis is-90 degree, 0 degree.
Running posture:
the acceleration of the Z axis of the left leg, the Z axis of the right leg and the Z axis of the back has large fluctuation, the absolute value of the difference value of the acceleration when the human body is vacated and falls is more than 1, the angle change of the Y axis of the left leg and the right leg is opposite, meanwhile, in order to describe the running, the process quantity is a process quantity, and the data in 2 seconds in real time are recorded by using the data structure of the first-in first-out queue to carry out process judgment: establishing a ring buffer with a size of 20 data spaces for storing the difference of the Y-axis angles of the left leg and the right leg, placing a new difference data into the next data space of the ring buffer every 100ms, when 2s time has elapsed, the ring buffer is filled with data, and when 2s100ms, the new difference data overwrites the position of the first data, the data in the data space is maintained as data in two seconds immediately before, and is arranged as time-varying data, the variation curve of the difference data is detected every 2 seconds, the left and right legs are alternately raised when the person runs, when the left leg is lifted higher than the right leg, the difference value of the left leg y-axis angle minus the right leg y-axis angle is positive, otherwise, the difference value is negative, the running posture is judged according to the fact that running can be calculated only by at least once positive, negative or positive change, and the running posture is judged in the process.
Walking posture:
the Z-axis acceleration of the left leg, the Z-axis acceleration of the right leg and the Z-axis acceleration of the back have small fluctuation, the absolute value of the acceleration difference value when the human body is vacated and fallen is less than 0.5, and the angle change of the Y-axis of the left leg and the right leg is opposite. Meanwhile, in order to describe that the walking is a process quantity, the data structure of the first-in first-out queue is used for recording the data within 2 seconds in real time to judge the process, and the judgment process is the same as the running posture.
3. Display of gestures
After receiving the posture data sent by the back posture recognition sensor, the main control module of the individual harness respectively sends the data to the display module for displaying. The display module reserves a posture display storage space, receives data sent by the main control module, and judges whether the data contains posture related data: and if the posture data comprises the relevant posture data, the posture data is sorted and displayed on the individual soldier display module in real time, and if the posture data relevant to the posture display is not received, the posture data received last time is displayed in the posture display area until new posture data is received.
The background master control receives data sent by the individual soldier master control module and judges whether the data contain posture related data: if the relative posture data is contained, when the individual soldier is injured, particularly explosive injury, the damage condition of the individual soldier to be suffered under the injury in the current posture is judged, and a damage model closer to reality is established.
The method for identifying the posture of the individual soldier in the individual training confrontation device provided by the embodiment comprises the steps of respectively fixing the posture identification sensors on the left leg, the right leg and the back of a human body, and collecting angle and acceleration data of corresponding parts, so that the current postures of all the parts are analyzed and integrated, and the overall posture of the individual soldier is analyzed.
Meanwhile, the posture of the individual soldier is sent to a screen for displaying, the position of the individual soldier can be rapidly judged, whether the posture recognition is abnormal or not can be checked, and the exercise efficiency is improved; when the individual soldier is exploded, the background main control can also judge the damage effect that the individual soldier should receive according to the current posture and direction of the individual soldier, and the effect of tactical action drilling in the actual combat confrontation is enhanced, so that the drilling effect is closer to reality.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a device of discernment individual soldier gesture in individual soldier's training confrontation device which characterized in that: comprises an individual harness and an attitude identification sensor arranged on the individual harness; the individual clothes are provided with a main control module, the posture recognition sensor comprises a back posture recognition sensor, a left leg posture recognition sensor and a right leg posture recognition sensor which are arranged corresponding to the back, the left leg and the right leg of the individual clothes, the left leg posture recognition sensor and the right leg posture recognition sensor are electrically connected with the back posture recognition sensor, and the back posture recognition sensor is connected with the main control module through a wireless communication module; the back posture identification sensor, the left leg posture identification sensor and the right leg posture identification sensor respectively comprise a gyroscope, an accelerometer and a magnetometer, and the gyroscope, the accelerometer and the magnetometer are respectively used for acquiring the angular velocity, the acceleration and the magnetic field intensity of a corresponding area; the left leg posture recognition sensor and the right leg posture recognition sensor transmit the collected angular velocity, acceleration and magnetic field intensity data of the left leg region and the right leg region to the back posture recognition sensor, the back posture recognition sensor collects the angular velocity, the acceleration and the magnetic field intensity of the back region, the back posture recognition sensor and the data transmitted by the left leg posture recognition sensor and the right leg posture recognition sensor are combined and calculated, the posture and the facing direction of the individual soldier harness are calculated, and the posture and the facing direction of the individual soldier harness are transmitted to the main control module.
2. The individual training confrontation device as claimed in claim 1, wherein the device for recognizing the posture of the individual is characterized in that: the main control module is connected with a display module and a radio station module, the main control module displays the posture and the face direction of the individual soldier harness through the display module, and the main control module is connected with the background main control module through the radio station module for data transmission.
3. The individual training confrontation device as claimed in claim 1, wherein the device for recognizing the posture of the individual is characterized in that: the wireless communication module is a Bluetooth module.
4. A method for identifying the posture of an individual soldier in an individual training confrontation device is characterized by comprising the following steps:
s1: a back posture recognition sensor is installed in the back area of the individual soldier harness to serve as posture master control, and a left leg posture recognition sensor and a right leg posture recognition sensor are respectively installed on the outer side faces of the left thigh and the right thigh of the individual soldier harness to serve as posture sub-nodes on two sides; the attitude main control unit and the attitude sub-nodes on the two sides are integrated with 9-axis sensors which comprise a gyroscope, an accelerometer and a magnetometer, wherein the gyroscope, the accelerometer and the magnetometer are respectively provided with XYZ three-axis directions;
s2: carrying out acceleration and magnetic field calibration on the attitude master control and the attitude sub-nodes on the two sides, and calibrating the zero position of each axis;
s3: the posture sub-nodes on the two sides respectively collect angle, angular velocity and acceleration data of the left leg and the right leg and transmit the data to the posture main control, and the posture main control collects angle, angular velocity and acceleration data of the back and carries out posture recognition calculation by combining the data collected by the posture sub-nodes on the two sides;
s4: the posture master control outputs the data of the posture and the face direction of the individual soldier harness and transmits the data to the master control module of the individual soldier harness, and the master control module is connected with the display module for displaying and wirelessly transmits the data to the background master control module through the radio station module.
5. The method for identifying the posture of an individual soldier in an individual training confrontation device as claimed in claim 4, wherein: the posture of the individual harness comprises standing, sitting, running, walking, lying, left squatting and right squatting; the facing direction of the individual soldier harness comprises a true east, a southeast, a northeast, a true west, a southwest, a northwest, a true south and a true north.
6. The method for identifying the posture of an individual soldier in an individual training confrontation device as claimed in claim 5, wherein: the individual harness is worn by people with different weights, heights and wearing habits to acquire acceleration and angle values of different postures, statistics is performed on acquired data, interference data is removed, and the numerical value gathering area of the same posture is determined as the range of the acceleration and the angle of the corresponding posture of the individual harness.
7. The method for identifying the posture of an individual soldier in an individual training confrontation device as claimed in claim 6, wherein: the calculation process of the gesture master control for gesture recognition is as follows:
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is-1, 0, the angle of the Y axis is 90 degrees, the angular velocity of the Y axis is 0; the right leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 1, 0, the angle of the Y axis is-90 degrees, the angular speed of the Y axis is 0 degree; the back posture recognition sensor acquires data as follows: x, Y, Z axes acceleration is 0, 1, X, Y axes angle is 0 degree, 0 degree; judging the posture identification of the individual harness as follows: sitting posture;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is-1, 0, the angular velocity of the Y axis is 0; the right leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 1, 0, the angular speed of the Y axis is 0 degree; the back posture recognition sensor acquires data as follows: x, Y, Z axes acceleration is 0, 1, X, Y axes angle is 0 degree, 0 degree; when the Y-axis inclination angle of the right leg posture identification sensor is more than 30 degrees and not more than 90 degrees larger than that of the left leg posture identification sensor, the posture of the individual soldier outfit is judged to be left squat, and when the Y-axis inclination angle of the left leg posture identification sensor is more than 30 degrees and not more than 90 degrees larger than that of the right leg posture identification sensor, the posture of the individual soldier outfit is judged to be right squat;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, the angle of the XY axis is 0 degree, 0 degree; the right leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, the angle of the XY axis is 0 degree, 0 degree; the back posture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, the angle of the XY axis is 0 degree, 0 degree; judging the posture identification of the individual harness as follows: standing;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is-1, 0, the angle of the Y axis is 90 degrees; the right leg gesture recognition sensor acquires data as follows: x, Y, Z the acceleration of the axis is 1, 0, the angle of the Y axis is-90 degrees; the back posture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, 1, 0, the angle of the XY axis is 90 degrees, 0 degrees; judging the posture identification of the individual harness as follows: lying posture;
when the left leg gesture recognition sensor acquires data as follows: x, Y, Z the acceleration of the axis is 1, 0, the angle of the Y axis is-90 degrees; the right leg gesture recognition sensor acquires data as follows: the acceleration of the right leg X, Y, Z axis is-1, 0, the angle of the Y axis is 90 degrees; the back posture recognition sensor acquires data as follows: x, Y, Z, the acceleration of the axis is 0, -1, 0, the angle of XY axis is-90 degree, 0 degree; judging the posture identification of the individual harness as follows: and (4) a prone position.
8. The method for identifying the posture of an individual soldier in an individual training confrontation device as claimed in claim 5, wherein: when the absolute value of the Z-axis acceleration difference value acquired by the left leg gesture recognition sensor, the right leg gesture recognition sensor and the back gesture recognition sensor exceeds 1, and the Y-axis angle change acquired by the left leg gesture recognition sensor and the right leg gesture recognition sensor is opposite; establishing a ring buffer area with the size of 20 data spaces for storing the difference value of the Y-axis angles of the left leg gesture recognition sensor and the right leg gesture recognition sensor, putting new difference value data into the next data space of the ring buffer area every 100ms, when 2s time is up, the ring buffer is filled with data, when 2s +100ms is up, the new difference data covers the position of the first data, the data in the data space is maintained as data within 2s immediately before by updating the data, and the data is arranged as time-varying data, and the variation curve of the difference data is detected every 2 seconds, when the difference value of the left leg posture identification sensor Y-axis angle minus the right leg posture identification sensor Y-axis angle is positive, otherwise, the difference value is negative, if at least one positive, negative or positive change appears, the posture identification of the individual harness is determined as follows: running;
when the absolute value of the Z-axis acceleration difference value acquired by the left leg gesture recognition sensor, the right leg gesture recognition sensor and the back gesture recognition sensor is less than 0.5, and the Y-axis angle change acquired by the left leg gesture recognition sensor and the right leg gesture recognition sensor is opposite; establishing a ring buffer area with the size of 20 data spaces for storing the difference value of the Y-axis angles of the left leg gesture recognition sensor and the right leg gesture recognition sensor, putting new difference value data into the next data space of the ring buffer area every 100ms, when 2s time is up, the ring buffer is filled with data, when 2s +100ms is up, the new difference data covers the position of the first data, the data in the data space is maintained as data within 2s immediately before by updating the data, and the data is arranged as time-varying data, and the variation curve of the difference data is detected every 2 seconds, when the difference value of the left leg posture identification sensor Y-axis angle minus the right leg posture identification sensor Y-axis angle is positive, otherwise, the difference value is negative, if at least one positive, negative or positive change appears, the posture identification of the individual harness is determined as follows: and (5) walking posture.
9. The method for identifying the posture of an individual soldier in an individual training confrontation device as claimed in claim 5, wherein: and the two side attitude sub-nodes transmit data to the attitude master control at the frequency of 10 HZ.
10. The method for identifying the posture of an individual soldier in an individual training confrontation device as claimed in claim 5, wherein: the face-facing direction of the individual harness is identified through the magnetometer in the back posture identification sensor, and when the individual harness rotates, the magnetometer in the back posture identification sensor synchronously rotates around the Z axis to sense the change of the magnetometer so as to judge the current face-facing direction of the individual harness.
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