CN106669114A - Method and device for obtaining impact point spatio-temporal information - Google Patents

Method and device for obtaining impact point spatio-temporal information Download PDF

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Publication number
CN106669114A
CN106669114A CN201710016180.6A CN201710016180A CN106669114A CN 106669114 A CN106669114 A CN 106669114A CN 201710016180 A CN201710016180 A CN 201710016180A CN 106669114 A CN106669114 A CN 106669114A
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axis
time window
max
racket
acceleration
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孟勤
李珂
张韫贇
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Yue Yue Electronic Technology (shanghai) Co Ltd
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Yue Yue Electronic Technology (shanghai) Co Ltd
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Priority to CN201710016180.6A priority Critical patent/CN106669114A/en
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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
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B49/00—Stringed rackets, e.g. for tennis
    • A63B49/02—Frames
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B49/00—Stringed rackets, e.g. for tennis
    • A63B49/02—Frames
    • A63B49/08—Frames with special construction of the handle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0037—Tracking a path or terminating locations on a target surface or at impact on the ground
    • A63B2024/0043—Systems for locating the point of impact on a specific surface

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention provides a method and device for obtaining impact point spatio-temporal information. A low-cost and low-consumption sensor technology is utilized and combines an existing algorithm to obtain a space trajectory of racket actions, then an impact point moment and a corresponding space position are judged by calculating acceleration and angular acceleration change degree in a short time window, the hardware cost is not increased. The method is simple to achieve, and the technical problem that the space trajectory of a racket can be obtained by adopting a sensor-based identification technology and no means is provided to accurately determine a ball hitting point is surely solved.

Description

Obtain the method and its device of rum point space time information
Technical field
The present invention relates to Internet of Things and sports technology field, relate in particular to rum point space-time in a kind of racket class physical culture The recognition mechanism and its device of information.
Background technology
Generally existing the shock of racket and ball, such as hitting between table tennis bat and table tennis in racket class sports Hit, the shock between racket and shuttlecock, shock between tennis racket and tennis etc..These sports are with its week The continuous expansion of edge equipment, analyzes locus and generation moment of the racket with the rum point of ball in racket track and increasingly weighs Will, for example specialty player and numerous amateurs intentionally get these information to analyze shot, so as to targetedly Improve batting skill.
It should be noted that it is existing at present it is a kind of based on high-speed camera shoot racket track and its shot based on Image/video technology of identification, to judge the air position of rum point and the moment occurs, this process is including but not limited to image And video processing technique.However, need to use high-speed camera based on the technology of identification of image recognition, and high-speed camera price Costliness, inconvenient to carry, under being only applicable to professional training scene, and the professional requirement to hardware platform and disposal ability are also very Height, range of application is limited.
Also a kind of sensor-based technology of identification, it collects the acceleration and angular acceleration of racket using sensor Deng initial data, and the movement locus during being swung the bat based on initial data measurement.However, compared to the knowledge based on image recognition Other technology, although the cost and range of application of sensor do not limit to, is only capable of learning the space tracking of racket, lacks means The accurate moment for determining striking point on the ball.
The content of the invention
In view of the foregoing, the present invention is improved to sensor-based technology of identification, there is provided one kind obtains rum point The method and its device of space time information, to recognize the locus of rum point and the moment occurs, solves existing sensor-based Technology of identification is only capable of learning the space tracking of racket that shortage means accurately determine the technical problem at the moment of striking point on the ball.
For achieving the above object, the present invention is adopted the technical scheme that and provides a kind of side for obtaining rum point space time information Method, it is used to determine the rum point between racket and ball, and the racket is provided with sensor；Wherein, methods described step includes：
Step a, by the sensor on racket during swinging the bat continuous collecting obtain racket action initial data, adopt Sampling point and its sustained periods of time；
Step b, based on initial data, obtain the space tracking of racket action；
Step c, from the start time of the sustained periods of time of racket action, slide and generate multiple time window I；
Step d, each time window I is calculated, with obtain respectively the X-axis, Y-axis and Z axis of the time window I plus Velocity variations degree Δ X, Δ Y, Δ Z, and angular acceleration change degree Δ ω X, Δ ω Y, the Δ ω Z of X-axis, Y-axis and Z axis, And intensity of variation Δ ω X, the Δ ω based on the intensity of variation Δ X of the 3-axis acceleration, Δ Y, Δ Z and three shaft angle acceleration Y, Δ ω Z, by blending algorithm overall variation degree A is calculatedI；
Step e, to all of overall variation degree AITake maximum AI,MAX, from the maximum AI,MAXCorresponding time window Sampled point in mouth I obtains the rum point moment；
Step f, based on the rum point moment, the locus of rum point are obtained in the space tracking of racket action.
The present invention obtains the further improvements in methods of rum point space time information, in step c, the time window I is to generate a time window I based on each sampled point；Wherein, the initial time interval of adjacent time window is equal to sensing The device sampling interval.
The present invention obtains the further improvements in methods of rum point space time information, in step c, the time window I is the initial time interval that adjacent time window I is determined based on configurable time value.
The present invention obtains the further improvements in methods of rum point space time information, in step c, the time The width of window I may be selected to include at least two sampled points in configuration, but each time window I.
The present invention obtains the further improvements in methods of rum point space time information, in step d,
The acceleration change degree of the X-axis is according to formula Δ X=(XMAX-XMIN) calculate acquisition；Wherein, XMAXIt is described The maximum of X-axis acceleration, X in time windowMINIt is the minima of X-axis acceleration in the time window；
The acceleration change degree of the Y-axis is according to formula Δ Y=(YMAX-YMIN) calculate acquisition；Wherein, YMAXIt is described The maximum of Y-axis acceleration, Y in time windowMINIt is the minima of Y-axis acceleration in the time window；
The acceleration change degree of the Z axis is according to formula Δ Z=(ZMAX-ZMIN) calculate acquisition；Wherein, ZMAXIt is described The maximum of Z axis acceleration, Z in time windowMINIt is the minima of Z axis acceleration in the time window.
The angular acceleration change degree of the X-axis is according to formula Δ ω X=(ω XMAX-ωXMIN) calculate acquisition；Wherein, ω XMAXIt is the maximum of X-axis angular acceleration in the time window, ω XMINIt is the minimum of X-axis angular acceleration in the time window Value；
The angular acceleration change degree of the Y-axis is according to formula Δ ω Y=(ω YMAX-ωYMIN) calculate acquisition；Wherein, ω YMAXIt is the maximum of Y-axis angular acceleration in the time window, ω YMINIt is the minimum of Y-axis angular acceleration in the time window Value
The angular acceleration change degree of the Z axis is according to formula Δ ω Z=(ω ZMAX-ωZMIN) calculate acquisition；Wherein, ω ZMAXIt is the maximum of Z axis angular acceleration in the time window, ω ZMINIt is the minimum of Z axis angular acceleration in the time window Value.
The present invention obtains the further improvements in methods of rum point space time information, in step e, by the maximum AI,MAXWhole sampled points in corresponding time window I are considered as the rum point moment.
The present invention obtains the further improvements in methods of rum point space time information, in step e, the optimal shock The point moment is that sampled point corresponding moment in the sampling window I is determined based on optimal practice in sports.
The present invention obtains the further improvements in methods of rum point space time information, in step e, configures a threshold Value, as maximum AI,MAXLess than the threshold value, then judge that the racket action does not have rum point.
The present invention obtains the further improvements in methods of rum point space time information, and methods described is used to be rattled The racket of ball, tennis or shuttlecock and the rum point temporal information of ball.
Additionally, the present invention also provides a kind of device to implement aforementioned acquisition rum point space time information method, the dress Put including：Racket, with handle；Data acquisition module, located at the handle, the data acquisition module is passed including data acquisition Sensor and information transmission modular；The data sampling sensor is to gather three-dimensional acceleration data and three-dimensional angular acceleration number According to；Server, is connected and is carried out data transmission with the data acquisition module by described information transport module；Make the data The initial data is sent to the service by acquisition module by the data sampling sensor continuous collecting initial data Device is calculated to obtain the rum point space time information.
The present invention is as a result of above technical scheme so as to have the advantages that：Because the present invention still is based on The sensor technology of low cost low-power consumption, the space tracking of racket action is obtained using existing algorithm, and further by front State method to calculate in time window acceleration and angular acceleration change degree to judge rum point moment and its corresponding space bit Put, not only the moment of accurate striking point on the ball is not limited to and be obtained in that to range of application, is beneficial to user and targetedly changes It is kind and improve batting skill, with more can realize that the Advantageous such as preceding method imitate on the premise of hardware cost is not increased Really.
Description of the drawings
Fig. 1 is the present invention for implementing the device architecture schematic diagram of acquisition rum point space time information method.
Reference is as follows with the corresponding relation of part：
Racket 10；Handle 11；Data acquisition module 20；Data sampling sensor 21；Information transmission modular 22；Server 30。
Specific embodiment
For the benefit of to the understanding of the present invention, illustrate below in conjunction with drawings and Examples.
The present invention provides a kind of method for obtaining rum point space time information, and it is obtained based on sensor technology；Work as racket The moment of impact bead, moment impact force can have of short duration burst to affect on the acceleration of racket and angular acceleration.Different racket classes Although sports are slightly different, but identical be some the direction of the power that the direction of impact force and human body apply on racket not Unanimously, it is or even substantially completely contrary (such as forehand is head-on batted), when freely swinging the bat (do not impact ball) compared to people, short Temporarily there is quick change in section inner sensor acceleration and angular acceleration in a dimension or multiple dimensions.The present invention is by dividing Analyse the acceleration of short time three dimensions of window inner sensor and the intensity of variation of angular acceleration to differentiate whether racket strikes Ball, and when struck ball.
Wherein, need to first illustrate, due to sensor-based initial data obtain racket action original position and Space tracking is prior art, therefore the present invention is repeated no more.
Please refer to Fig. 1, the device architecture for showing the present invention for implementing to obtain rum point space time information method is illustrated Figure.Described device include being arranged on the handle 11 of racket 10 data acquisition module 20 either internally or externally and with it is described The server 30 that data acquisition module 20 carries out data transmission；Wherein, the data acquisition module 20 is sensed including data acquisition Device 21 and information transmission modular 22；The data sampling sensor 21 in the course of action of racket 10 to gather racket 10 three Three-dimensional acceleration data and three-dimensional angular acceleration data in dimension space；The server 30 and the data acquisition module 20 Connect and carry out data transmission by described information transport module 22.
Specifically, when the data acquisition module 20 is located at 11 inside of handle, can be by data sampling sensor 21st, the component such as information transmission modular 22 is integrally disposed inside handle 11.When the data acquisition module 20 is located at the handle Outside 11, can by by the components such as data sampling sensor 21, information transmission modular 22 it is integrated after by with fastening make Cuff is combined, to be removably fixedly installed on outside handle 11.
In the present invention, the data sampling sensor 21 is specially six axle sensors；Described information transport module 22 is then Low-power consumption bluetooth transmission technology can be adopted to complete the transmission of information.It is to be understood that, the data sampling sensor of the present invention 21 and information transmission modular 22 be not limited to previous embodiment, but to be obtained in that the sensing for calculating rum point space time information Device all can be applied in technical scheme as the data sampling sensor 21；Additionally, other can be used in carrying out The information transmission technology of wireless information transfer also all can be applied to technical scheme as described information transport module 22 In.
Thereby, the data acquisition module 20 is made by the continuous collecting initial data of the data sampling sensor 21, and The initial data is sent to into the server 30 to be calculated to obtain the rum point space time information of the racket 10.Yu Ben In invention, the racket 10 can be the rum point time letter selected from table tennis, tennis or shuttlecock or other racket sports Breath.
The present invention includes to the locus and the method and step at generation moment for recognizing racket 10 and ball impact point：
Step a, by the sensor on racket during swinging the bat continuous collecting obtain racket action initial data, adopt Sampling point and its sustained periods of time；
Step b, based on initial data, obtain the space tracking of racket action；
Step c, from the start time of the sustained periods of time of racket action, slide and generate multiple time window I；
Step d, each time window I is calculated, with obtain respectively the X-axis, Y-axis and Z axis of the time window I plus Velocity variations degree Δ X, Δ Y, Δ Z, and angular acceleration change degree Δ ω X, Δ ω Y, the Δ ω Z of X-axis, Y-axis and Z axis, And intensity of variation Δ ω X, the Δ ω based on the intensity of variation Δ X of the 3-axis acceleration, Δ Y, Δ Z and three shaft angle acceleration Y, Δ ω Z, by blending algorithm overall variation degree A is calculatedI；
Step e, to all of overall variation degree AITake maximum AI,MAX, from the maximum AI,MAXCorresponding time window Sampled point in mouth I obtains the rum point moment；
Step f, based on the rum point moment, the locus of rum point are obtained in the space tracking of racket action.
Wherein, in step c, the quantity of the time window I, window start times and window duration are visual real Border demand is adjusted configuration.Specifically, the time window I can generate a time window based on each sampled point, Wherein, the initial time interval of adjacent time window is equal to sensor sample interval；Or, the time window I can be The initial time interval of adjacent window apertures is determined based on configurable time value.Additionally, the width of the time window I is also optional Select configuration, but each time window I planted agent includes at least two sampled points, with calculate the acceleration in the time window I and Angular acceleration change degree.
In step d, the change journey of the intensity of variation Δ X of the 3-axis acceleration, Δ Y, Δ Z and three shaft angle acceleration Degree Δ ω X, Δ ω Y, Δ ω Z are to calculate to obtain according to below equation：
The intensity of variation of X-axis acceleration：Δ X=(XMAX-XMIN)；Wherein, XMAXIt is X-axis acceleration in the time window Maximum, XMINIt is the minima of X-axis acceleration in the time window.
The intensity of variation of Y-axis acceleration：Δ Y=(YMAX-YMIN)；Wherein, YMAXIt is Y-axis acceleration in the time window Maximum, YMINIt is the minima of Y-axis acceleration in the time window.
The intensity of variation of Z axis acceleration：Δ Z=(ZMAX-ZMIN)；Wherein, ZMAXIt is Z axis acceleration in the time window Maximum, ZMINIt is the minima of Z axis acceleration in the time window.
The intensity of variation of X-axis angular acceleration：Δ ω X=(ω XMAX-ωXMIN)；Wherein, ω XMAXIn being the time window The maximum of X-axis angular acceleration, ω XMINIt is the minima of X-axis angular acceleration in the time window.
The intensity of variation of Y-axis angular acceleration：Δ ω Y=(ω YMAX-ωYMIN)；Wherein, ω YMAXIn being the time window The maximum of Y-axis angular acceleration, ω YMINIt is the minima of Y-axis angular acceleration in the time window.
The intensity of variation of Z axis angular acceleration：Δ ω Z=(ω ZMAX-ωZMIN)；Wherein, ω ZMAXIn being the time window The maximum of Z axis angular acceleration, ω ZMINIt is the minima of Z axis angular acceleration in the time window.
Additionally, the present invention is in step d, can be calculated using suitable blending algorithm on different embodiments AI, it is neither departed from the scope of the present invention.Specifically, the blending algorithm can be for example：Maximum value process is (by aforementioned six values Take absolute value, take maximum therein) or mean value method (aforementioned six values are taken absolute value, divided by 6) after addition.
It it is not mathematical one because the shock contact of racket and ball actually can be continued for some time in step e Time instant.Therefore in the method that the present invention obtains rum point space time information, by the maximum AI,MAXCorresponding time window Any one sampled point in mouth I is accordingly to be regarded as the rum point moment.Further, when the optimal rum point moment is determined, can be with base Determine it is the maximum A in optimal practice in sportsI,MAXThat sampled point corresponding moment in corresponding time window I； For example：First sampled point, last sampled point or the sampled point positioned at centre in sampling time window I.
In this, it should be noted that, when which or which sampled point how is selected in time window as optimal rum point Carve, can be adjusted and preset according to type of sports and other factors when actually implementing, therefore not within the scope of the present invention.
Additionally, in step e, to avoid the false judgment rum point in the case where racket waves sky, the inventive method is optional Selecting property ground configures in advance a threshold value in server；Thereby, server can be as the maximum A of overall variation degreeI,MAX During less than the threshold value, judge that the racked swing does not have rum point, belong to invalid data；Conversely, when overall variation degree Maximum AI,MAXDuring more than the threshold value, judge that the racked swing has rum point, after belonging to valid data and proceeding Continuous step.
The embodiment that the present invention obtains the method and its device of rum point space time information is explained above, below please be joined again Read Fig. 1, it is said that will with reference to concrete data and by taking table tennis bat forehand stroke as an example bright a specific embodiment of the present invention.
Step a, at the handle 11 of table tennis bat 10 data acquisition module 20 is placed, the data acquisition module 20 includes Data sampling sensor 21 and information transmission modular 22；Wherein, the data sampling sensor 21 is to gather racket 10 Three-dimensional acceleration and three-dimensional angular acceleration data, described information transport module 22 is data sampling sensor 21 to be collected Data are sent to server 30 by low-power consumption bluetooth technology.
Step b, during the forehand stroke of table tennis bat 10, by the continuous collecting initial data (example of data acquisition module 20 The such as original position of racket action, final position) and sensing data is sent to into server 30.Wherein, with racket action Sustained periods of time be 0.2 second, sensor sample frequency be 1000Hz (1/ second) as a example by, then server 30 receive aforementioned information Afterwards, the space tracking of racket action in effectual time will be calculated, and calculate acquisition altogether 200 sampled points (0.2 second × 1000Hz)。
Step c, based on step b, by 200 sampled points, from the beginning of first sampled point, one by one sampled point generate one Individual time window I, and each time window I includes 10 sampled points.190 sampling windows are collectively generated accordingly.
Step d, each sampling window is calculated to obtain the change journey of the 3-axis acceleration in each sampling window Intensity of variation Δ ω X, Δ ω Y, the Δ ω Z of degree Δ X, Δ Y, Δ Z and three shaft angle acceleration.Specifically it is calculated as follows：
The acceleration change degree of three dimensions is calculated respectively, obtains X-axis acceleration change degree Δ θ X, Y-axis acceleration Intensity of variation Δ θ Y and Z axis acceleration change degree Δ θ Z；
The angular acceleration change degree of three dimensions is calculated respectively, obtains X-axis angular acceleration change degree Δ ω X, Y-axis angle Acceleration change degree Δ ω Y and Z axis angular acceleration change degree Δ ω Z；
Overall variation degree A is calculated by weighting overall variation blending algorithmI：
CalculateWherein, Δ θ is acceleration overall variation degree, and Δ θ X are X Axle acceleration intensity of variation, Δ θ Y are Y-axis acceleration change degree, and Δ θ Z are Z axis acceleration change degree；
CalculateWherein, Δ ω is angular acceleration overall variation degree, Δ ω X is X-axis angular acceleration change degree, and Δ ω Y are Y-axis angular acceleration change degree, and Δ ω Z are Z axis angular acceleration change degree；
Calculate AI=0.8x Δ θ+0.2x Δ ω, obtain overall variation degree AI。
Step e, take 190 overall variation degree AIIn maximum AI,MAX, it is assumed that the 5th in its corresponding sampling window Individual sampled point is the rum point moment.
Step f, the rum point moment obtained according to step e, the space of rum point is obtained in the track of racket motion space Position.
Above-mentioned specific implementation can in the same manner inference to other racket class physical culture scene, such as tennis and shuttlecock etc..
To sum up, the present invention obtains the method and its device of rum point space time information, with the sensing based on low cost low-power consumption Device technology, after the space tracking of racket action is obtained using existing algorithm, then by calculate short time window in acceleration and Angular acceleration change degree with not increasing hardware cost, and is realized judging rum point moment and its corresponding locus Simple Advantageous Effects.
The present invention is described in detail above in association with drawings and Examples, those skilled in the art can basis Described above makes many variations example to the present invention.Thus, some of embodiment details should not constitute limitation of the invention, The present invention is by the scope defined using appended claims as protection scope of the present invention.

Claims (10)

1. it is a kind of obtain rum point space time information method, it is used to determine the rum point between racket and ball, on the racket It is provided with sensor；Characterized in that, methods described step includes：
Step a, by the sensor on racket during swinging the bat continuous collecting obtain racket action initial data, sampled point And its sustained periods of time；
Step b, based on initial data, obtain the space tracking of racket action；
Step c, from the start time of the sustained periods of time of racket action, slide and generate multiple time window I；
Step d, each time window I is calculated, to obtain the acceleration of the X-axis, Y-axis and Z axis of the time window I respectively Intensity of variation Δ X, Δ Y, Δ Z, and angular acceleration change degree Δ ω X, Δ ω Y, the Δ ω Z of X-axis, Y-axis and Z axis, and base Intensity of variation Δ ω X, Δ ω Y, the Δ of intensity of variation Δ X, Δ Y, Δ Z and three shaft angle acceleration in the 3-axis acceleration ω Z, by blending algorithm overall variation degree A is calculatedI；
Step e, to all of overall variation degree AITake maximum AI,MAX, from the maximum AI,MAXCorresponding time window I Interior sampled point obtains the rum point moment；
Step f, based on the rum point moment, the locus of rum point are obtained in the space tracking of racket action.
2. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
In step c, the time window I is to generate a time window I based on each sampled point；Wherein, adjacent time window The initial time interval of mouth is equal to sensor sample interval.
3. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
In step c, the time window I is the initial time that adjacent time window I is determined based on configurable time value Interval.
4. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
In step c, the width of the time window I may be selected to include at least two in configuration, but each time window I Sampled point.
5. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
In step d,
The acceleration change degree of the X-axis is according to formula Δ X=(XMAX-XMIN) calculate acquisition；Wherein, XMAXIt is the time The maximum of X-axis acceleration, X in windowMINIt is the minima of X-axis acceleration in the time window；
The acceleration change degree of the Y-axis is according to formula Δ Y=(YMAX-YMIN) calculate acquisition；Wherein, YMAXIt is the time The maximum of Y-axis acceleration, Y in windowMINIt is the minima of Y-axis acceleration in the time window；
The acceleration change degree of the Z axis is according to formula Δ Z=(ZMAX-ZMIN) calculate acquisition；Wherein, ZMAXIt is the time The maximum of Z axis acceleration, Z in windowMINIt is the minima of Z axis acceleration in the time window；
The angular acceleration change degree of the X-axis is according to formula Δ ω X=(ω XMAX-ωXMIN) calculate acquisition；Wherein, ω XMAX It is the maximum of X-axis angular acceleration in the time window, ω XMINIt is the minima of X-axis angular acceleration in the time window；
The angular acceleration change degree of the Y-axis is according to formula Δ ω Y=(ω YMAX-ωYMIN) calculate acquisition；Wherein, ω YMAX It is the maximum of Y-axis angular acceleration in the time window, ω YMINIt is the minima of Y-axis angular acceleration in the time window；
The angular acceleration change degree of the Z axis is according to formula Δ ω Z=(ω ZMAX-ωZMIN) calculate acquisition；Wherein, ω ZMAX It is the maximum of Z axis angular acceleration in the time window, ω ZMINIt is the minima of Z axis angular acceleration in the time window.
6. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
In step e, by the maximum AI,MAXWhole sampled points in corresponding time window I are considered as the rum point moment.
7. according to claim 1 or 6 acquisition rum point space time information method, it is characterised in that：
In step e, the optimal rum point moment is that in the sampling window I is determined based on optimal practice in sports The sampled point corresponding moment.
8. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
In step e, a threshold value is configured, as maximum AI,MAXLess than the threshold value, then judge that the racket action is not present Rum point.
9. it is according to claim 1 obtain rum point space time information method, it is characterised in that：
Methods described is used to obtain the racket of table tennis, tennis or shuttlecock and the rum point temporal information of ball.
10. a kind of enforcement obtains the device of the method for rum point space time information as any one of claim 1 to 9；It is special Levy and be, described device includes：
Racket, with handle；
Data acquisition module, located at the handle, the data acquisition module includes data sampling sensor and information transfer mould Block；The data sampling sensor in racket course of action to gather racket three-dimensional acceleration data in three dimensions And three-dimensional angular acceleration data；
Server, is connected and is carried out data transmission with the data acquisition module by described information transport module；
The data acquisition module is made by the data sampling sensor continuous collecting initial data, and by the initial data It is sent to the server to be calculated to obtain the rum point space time information of the racket.
CN201710016180.6A 2017-01-10 2017-01-10 Method and device for obtaining impact point spatio-temporal information Pending CN106669114A (en)

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CN107694073A (en) * 2017-11-03 2018-02-16 杭州乾博科技有限公司 Racket judges whether that fair catch and ball move towards system and method after hitting table tennis
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CN107670253A (en) * 2017-11-03 2018-02-09 杭州乾博科技有限公司 Table tennis judges whether that legal ball and ball move towards system and method after hitting table
CN107694073A (en) * 2017-11-03 2018-02-16 杭州乾博科技有限公司 Racket judges whether that fair catch and ball move towards system and method after hitting table tennis
CN107875620A (en) * 2017-11-03 2018-04-06 杭州乾博科技有限公司 A kind of table tennis based on movement locus is received recognition methods of losing points
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