CN106606858B - A kind of judgment method, training statistical method and the football of football lifting the ball movement - Google Patents
A kind of judgment method, training statistical method and the football of football lifting the ball movement Download PDFInfo
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- CN106606858B CN106606858B CN201610164163.2A CN201610164163A CN106606858B CN 106606858 B CN106606858 B CN 106606858B CN 201610164163 A CN201610164163 A CN 201610164163A CN 106606858 B CN106606858 B CN 106606858B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B43/00—Balls with special arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of judgment methods of football lifting the ball movement, a kind of football lifting the ball training statistical method, and a kind of automatic football for carrying out lifting the ball counting.The judgment method of football lifting the ball movement of the present invention, based on sensor acquisition acceleration and angular speed, and then calculates and obtains lifting the ball characteristic value, judges whether lifting the ball success further according to lifting the ball characteristic value.Entire deterministic process is automatically performed, efficiently and accurately.Football lifting the ball training statistical method is realized based on the judgment method, and in football lifting the ball training, automatic progress lifting the ball number and training time are counted.Entire training statistic processes is automatically performed, efficiently and accurately.The football of automatic carry out lifting the ball counting of the present invention, the data acquired by sensor are completed to judge automatically the function with statistics, lifting the ball training are enable thoroughly to get rid of the constraint of manual type, efficiently and accurately based on above-mentioned judgement and statistical method.
Description
Technical field
The present invention relates to sport movement judgement field, the judgment method acted more specifically to a kind of football lifting the ball,
A kind of football lifting the ball training statistical method, and a kind of automatic football for carrying out lifting the ball counting.
Background technique
Lifting the ball movement in football is that forefoot is placed on to ball top, and another foot stands on ball rear as support leg,
Touching ball foot firmly retracts ball to support leg direction, which is mainly used for feel of the ball training, and one of the skill that dribble is remarkable.
Aprowl left and right foot alternately lifting the ball, left foot or a right crus of diaphragm ball of every touching, remember a lifting the ball.
But the prior art is not carried out judgement and calculates the technical solution of lifting the ball number, during lifting the ball training, still
It can only so be counted using manual type.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of automatic football lifting the balls for carrying out lifting the ball judgement
The judgment method of movement, a kind of football lifting the ball training statistical method of automatic carry out lifting the ball statistics, a kind of realization are drawn automatically
The football of ball count.
Technical scheme is as follows:
A kind of judgment method of football lifting the ball movement, obtains resultant acceleration a (n), the rotary shaft angle changing of football in real time
Axisangle (n), wherein n=1,2,3 ... indicate resultant acceleration a (n), rotary shaft angle changing that n-th obtains
axisangle(n)；
Calculate lifting the ball characteristic value Feature (n)=a (n) axisangle (n)；If lifting the ball characteristic value Feature (n)
Greater than preset lifting the ball threshold values Threshold, then it is judged as and carries out lifting the ball movement once；
If the movement of lifting the ball twice is greater than prefixed time interval T, judgement successfully completes a lifting the ball.
Preferably, the timestamp that acquisition lifting the ball movement occurs, the time interval of the judgement movement of lifting the ball twice, if twice
Lifting the ball movement is greater than prefixed time interval T, then judgement successfully completes a lifting the ball.
Preferably, resultant acceleration a (n) specifically:
Wherein, ax (n), ay (n), az (n) are that the X-axis acceleration, Y-axis acceleration, Z axis of acceleration transducer acquisition accelerate
Degree.
Preferably, rotary shaft angle changing axisangle (n) is calculated by angular speed, specifically:
Axisangle (n)=arccos (cosaxisangle(n))；
Wherein, gx (n), gy (n), gz (n) are X-axis angular speed, Y-axis angular speed, Z axis the angle speed of n-th gyroscope acquisition
Degree；Gx (n-1), gy (n-1), gz (n-1) are the X-axis angular speed of No. (n-1)th gyroscope acquisition, Y-axis angular speed, Z axis angular speed.
A kind of football lifting the ball training statistical method identifies lifting the ball using the judgment method that the football lifting the ball acts, and
Count lifting the ball number；
If be not successfully completed a lifting the ball or do not start lifting the ball, and be not judged as successfully lifting the ball act, then again into
The judgement of row football lifting the ball movement；
If being successfully completed a lifting the ball, and it is not judged as successfully that lifting the ball acts, then lifting the ball training statistics terminates.
A kind of football of automatic carry out lifting the ball counting, which is characterized in that be equipped with gyroscope, acceleration transducer, utilize institute
The judgment method identification lifting the ball for the football lifting the ball movement stated, and statistics drawing is carried out using the football lifting the ball training statistical method
Ball number.
Preferably, 3 axis gyroscopes and 3 axis in 9 axis inertial sensors are respectively adopted in gyroscope and acceleration transducer
The data of acceleration transducer, the magnetometric sensor acquisition in 9 axis inertial sensors are in real time corrected the angular speed of acquisition.
A kind of training system of automatic carry out lifting the ball counting, football, operation terminal including carrying out lifting the ball counting automatically, from
The dynamic football for carrying out lifting the ball counting is equipped with gyroscope, acceleration transducer, data transmitter-receiver set, by gyroscope, acceleration sensing
The data of device acquisition are sent to operation terminal, and operation terminal is based on received data, are sentenced using what the football lifting the ball acted
Disconnected method identifies lifting the ball, and carries out statistics lifting the ball number using the football lifting the ball training statistical method.
Preferably, 3 axis gyroscopes and 3 axis in 9 axis inertial sensors are respectively adopted in gyroscope and acceleration transducer
The data of acceleration transducer, the magnetometric sensor acquisition in 9 axis inertial sensors are in real time corrected the angular speed of acquisition.
Beneficial effects of the present invention are as follows:
The judgment method of football lifting the ball movement of the present invention, based on sensor acquisition acceleration and angular speed, in turn
It calculates and obtains lifting the ball characteristic value, judge whether lifting the ball success further according to lifting the ball characteristic value.Entire deterministic process is automatically performed, efficiently
Accurately.Realize that football lifting the ball training statistical method carries out lifting the ball in football lifting the ball training automatically based on the judgment method
Number and training time count.Entire training statistic processes is automatically performed, efficiently and accurately.
The football of automatic carry out lifting the ball counting of the present invention, the data acquired by sensor, is sentenced based on above-mentioned
Disconnected and statistical method is completed to judge automatically the function with statistics, lifting the ball training is enable thoroughly to get rid of the constraint of manual type, high
Effect is accurate.
Specific embodiment
The present invention is further described in detail with reference to embodiments.
The present invention in order to realize it is automatic carry out lifting the ball judgement and statistics, provide a kind of football lifting the ball movement judgment method,
A kind of football lifting the ball training statistical method, and a kind of automatic football for carrying out lifting the ball counting.
The judgment method of the football lifting the ball movement, utilizes the variation characteristic of the acceleration and angular speed of sensor acquisition
It calculates lifting the ball characteristic value and is judged as lifting the ball when lifting the ball characteristic value reaches preset lifting the ball threshold values.Specifically:
Resultant acceleration a (n), the rotary shaft angle changing axisangle (n) of football are obtained in real time；Calculate lifting the ball characteristic value
Feature (n)=a (n) axisangle (n)；If lifting the ball characteristic value Feature (n) is greater than preset lifting the ball threshold values
Threshold is then judged as and carries out lifting the ball movement once；
Wherein, n=1,2,3 ..., indicate resultant acceleration a (n), rotary shaft angle changing axisangle that n-th obtains
(n)。
In order to more accurately judge whether to normal lifting the ball, prevent from being also judged as success to nonstandard lifting the ball movement
Lifting the ball, if the movement of lifting the ball twice is greater than prefixed time interval T, judgement successfully completes a lifting the ball.Specifically: acquisition lifting the ball
Act the timestamp occurred, the time interval of the judgement movement of lifting the ball twice, if the movement of lifting the ball twice is greater than prefixed time interval
T, then judgement successfully completes a lifting the ball.By temporal constraint, guarantee the accuracy of each lifting the ball judgement.
Wherein, resultant acceleration a (n) specifically:
Wherein, ax (n), ay (n), az (n) are that the X-axis acceleration, Y-axis acceleration, Z axis of acceleration transducer acquisition accelerate
Degree.
Rotary shaft angle changing axisangle (n) is calculated by angular speed, specifically:
Axisangle (n)=arccos (cosaxisangle(n))；
Wherein, gx (n), gy (n), gz (n) are X-axis angular speed, Y-axis angular speed, Z axis the angle speed of n-th gyroscope acquisition
Degree；Gx (n-1), gy (n-1), gz (n-1) are the X-axis angular speed of No. (n-1)th gyroscope acquisition, Y-axis angular speed, Z axis angular speed.
Lifting the ball is identified using the judgment method that the football lifting the ball acts, and the present invention also provides a kind of football lifting the ball training
Statistical method counts lifting the ball number after the judgment method judgement that the football lifting the ball acts successfully completes lifting the ball；
If be not successfully completed a lifting the ball or do not start lifting the ball, and be not judged as successfully lifting the ball act, then again into
The judgement of row football lifting the ball movement；
If being successfully completed a lifting the ball, and it is not judged as successfully that lifting the ball acts, then lifting the ball training statistics terminates.
Lifting the ball and statistics lifting the ball number are judged automatically in order to realize, also a kind of automatic foot for carrying out lifting the ball counting of the present invention
Ball is equipped with gyroscope, acceleration transducer, identifies lifting the ball using the judgment method that the football lifting the ball acts, and utilize institute
The football lifting the ball training statistical method stated carries out statistics lifting the ball number.
The present invention also provides another systems for realizing and judging automatically lifting the ball and counting lifting the ball number, including are drawn automatically
The football of ball count, operation terminal, football are only responsible for data acquisition, and all subsequent calculate carry out in operation terminal.Automatically into
The football that row lifting the ball counts is equipped with gyroscope, acceleration transducer, data transmitter-receiver set, and gyroscope, acceleration transducer are adopted
The data of collection are sent to operation terminal, and operation terminal is based on received data, the judgement side acted using the football lifting the ball
Method identifies lifting the ball, and carries out statistics lifting the ball number using the football lifting the ball training statistical method.
4.0 transmitter of bluetooth BLE is such as set, and when lifting the ball campaign starts, collecting sensor becomes football during the motion
Change data, then through bluetooth data transmission to operation terminal, then calculate the beginning and lifting the ball of lifting the ball in real time in operation terminal
Number, trained time and accuracy can be accurately known that by making sportsman in the training process.
In two kinds of embodiments of the football, nine axis inertial sensors are respectively adopted in gyroscope and acceleration transducer
In 3 axis gyroscopes and 3 axle acceleration sensors, the data of the magnetometric sensor acquisition in 9 axis inertial sensors are in real time to adopting
The angular speed of collection is corrected.
When carrying out lifting the ball judgement, 9 axis inertial sensors and 3 axle acceleration sensors are in a football shift in position of progress
When, acquire 7 groups of data, X-axis acceleration ax (n), the Y-axis acceleration ay that respectively time ts (n), 9 axis inertial sensors acquire
(n), Z axis acceleration az (n).
The electric mechanical of sensor can also draw with variation with temperature per se with certain noise and ring measuring value.Such as
Gyro sensor will cause bigger error with the cumulative of noise.In order to solve above-mentioned noise, the present invention utilizes 9 axis
The real-time correction of magnetometric sensor acquisition in inertial sensor, obtains more accurate angular speed changing value.
Above-described embodiment is intended merely to illustrate the present invention, and is not used as limitation of the invention.As long as according to this hair
Bright technical spirit is changed above-described embodiment, modification etc. will all be fallen in the scope of the claims of the invention.
Claims (9)
1. a kind of judgment method of football lifting the ball movement, which is characterized in that obtain resultant acceleration a (n), the rotary shaft of football in real time
Angle changing axisangle (n), wherein n=1,2,3 ... indicate that the resultant acceleration a (n) of n-th acquisition, rotary shaft change angle
It spends axisangle (n)；
Calculate lifting the ball characteristic value Feature (n)=a (n) axisangle (n)；If lifting the ball characteristic value Feature (n) is greater than
Preset lifting the ball threshold value Threshold is then judged as and carries out lifting the ball movement once；
If the time interval of the movement of lifting the ball twice is greater than prefixed time interval T, judgement successfully completes a lifting the ball.
2. the judgment method of football lifting the ball movement according to claim 1, which is characterized in that acquisition lifting the ball movement occurs
Timestamp, the time interval of the judgement movement of lifting the ball twice, if the time interval of the movement of lifting the ball twice is greater than prefixed time interval
T, then judgement successfully completes a lifting the ball.
3. the judgment method of football lifting the ball movement according to claim 1, which is characterized in that resultant acceleration a (n) is specific
Are as follows:
Wherein, ax (n), ay (n), az (n) are the X-axis acceleration of acceleration transducer acquisition, Y-axis acceleration, Z axis acceleration.
4. the judgment method of football lifting the ball movement according to claim 1, which is characterized in that calculated and rotated by angular speed
Axis angle changing axisangle (n), specifically:
Axisangle (n)=arccos (cosaxisangle(n))；
Wherein, gx (n), gy (n), gz (n) are the X-axis angular speed of n-th gyroscope acquisition, Y-axis angular speed, Z axis angular speed；gx
(n-1), gy (n-1), gz (n-1) are the X-axis angular speed of No. (n-1)th gyroscope acquisition, Y-axis angular speed, Z axis angular speed.
5. a kind of football lifting the ball training statistical method, which is characterized in that drawn using the described in any item footballs of Claims 1-4 4
The judgment method of ball movement identifies lifting the ball, and counts lifting the ball number；
If being not successfully completed a lifting the ball or not starting lifting the ball, and it is not judged as successfully that lifting the ball acts, then re-starts foot
The judgement of ball lifting the ball movement；
If being successfully completed a lifting the ball, and current action is not judged as successfully that lifting the ball acts, then lifting the ball training statistics terminates.
6. a kind of automatic football for carrying out lifting the ball counting, which is characterized in that be equipped with gyroscope, acceleration transducer, utilize right
It is required that the judgment method of 1 to 4 described in any item football lifting the ball movements identifies lifting the ball, and utilize football described in claim 5
Lifting the ball training statistical method carries out statistics lifting the ball number.
7. the football of automatic carry out lifting the ball counting according to claim 6, which is characterized in that gyroscope and acceleration sensing
3 axis gyroscopes and 3 axle acceleration sensors in 9 axis inertial sensors are respectively adopted in device, and the magnetic force in 9 axis inertial sensors passes
The data of sensor acquisition are in real time corrected the angular speed of acquisition.
8. a kind of automatic training system for carrying out lifting the ball counting, which is characterized in that football, fortune including carrying out lifting the ball counting automatically
Terminal is calculated, the automatic football for carrying out lifting the ball counting is equipped with gyroscope, acceleration transducer, data transmitter-receiver set, by gyroscope, adds
The data of velocity sensor acquisition are sent to operation terminal, and operation terminal is based on received data, is appointed using Claims 1-4 4
The judgment method of the movement of football lifting the ball described in one identifies lifting the ball, and utilizes the training system of football lifting the ball described in claim 5
Meter method carries out statistics lifting the ball number.
9. the training system of automatic carry out lifting the ball counting according to claim 8, which is characterized in that gyroscope and acceleration
3 axis gyroscopes and 3 axle acceleration sensors in 9 axis inertial sensors, the magnetic in 9 axis inertial sensors is respectively adopted in sensor
The data of force snesor acquisition are in real time corrected the angular speed of acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610164163.2A CN106606858B (en) | 2016-03-22 | 2016-03-22 | A kind of judgment method, training statistical method and the football of football lifting the ball movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610164163.2A CN106606858B (en) | 2016-03-22 | 2016-03-22 | A kind of judgment method, training statistical method and the football of football lifting the ball movement |
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| CN106606858A CN106606858A (en) | 2017-05-03 |
| CN106606858B true CN106606858B (en) | 2019-03-08 |
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| CN102221369A (en) * | 2011-04-29 | 2011-10-19 | 韩铮 | Gesture recognizing method and device of ball game and gesture auxiliary device |
| CN103142234A (en) * | 2013-01-25 | 2013-06-12 | 中国科学院深圳先进技术研究院 | Sensor system and method for judging body falldown and body protection device |
| CN104075731A (en) * | 2013-03-12 | 2014-10-01 | 阿迪达斯股份公司 | Methods Of Determining Performance Information For Individuals And Sports Objects |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8237787B2 (en) * | 2009-05-02 | 2012-08-07 | Steven J. Hollinger | Ball with camera and trajectory control for reconnaissance or recreation |
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2016
- 2016-03-22 CN CN201610164163.2A patent/CN106606858B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221369A (en) * | 2011-04-29 | 2011-10-19 | 韩铮 | Gesture recognizing method and device of ball game and gesture auxiliary device |
| CN103142234A (en) * | 2013-01-25 | 2013-06-12 | 中国科学院深圳先进技术研究院 | Sensor system and method for judging body falldown and body protection device |
| CN104075731A (en) * | 2013-03-12 | 2014-10-01 | 阿迪达斯股份公司 | Methods Of Determining Performance Information For Individuals And Sports Objects |
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Denomination of invention: Football driving movement judging method, football driving training statistical method and football Effective date of registration: 20190909 Granted publication date: 20190308 Pledgee: Lin Zhihong Pledgor: GENGEE TECHNOLOGY Co.,Ltd. Registration number: Y2019980000128 |
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Date of cancellation: 20220729 Granted publication date: 20190308 Pledgee: Lin Zhihong Pledgor: GENGEE TECHNOLOGY Co.,Ltd. Registration number: Y2019980000128 |
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Effective date of registration: 20230411 Address after: Unit 303, No. 14-3 Wangwanghai Road, Software Park 2, Xiamen Torch High tech Zone, Xiamen, Fujian Province, 361000 Patentee after: Xiamen Huakai Digital Intelligence Technology Co.,Ltd. Address before: Room 203-3, South Building, Torch Plaza, No. 56-58, Torch Road, Torch Park, Torch High-tech Zone, Xiamen, Fujian 361000 Patentee before: GENGEE TECHNOLOGY Co.,Ltd. |