CN107454970A - A kind of System and method for of movement locus collection and analysis based on ball game - Google Patents
A kind of System and method for of movement locus collection and analysis based on ball game Download PDFInfo
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- CN107454970A CN107454970A CN201680011563.8A CN201680011563A CN107454970A CN 107454970 A CN107454970 A CN 107454970A CN 201680011563 A CN201680011563 A CN 201680011563A CN 107454970 A CN107454970 A CN 107454970A
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- analysis
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- ball game
- movement locus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
Abstract
A kind of System and method for of movement locus collection and analysis based on ball game, data acquisition, data analysis and data result and the output of track of interest information including ball game track, the data acquisition is carried out with data analysis using integrated module, is directly exported by the display device carried in collection, analytical equipment after data analysis or is sent to exterior terminal equipment by network.The method of the collection of the movement locus based on ball game and analysis of the present invention, due to having used local data analysis processor without the concern for the capacity of data storage and the bandwidth problem of transmission data, gathered data can be analyzed with gapless, reach the complete analysis of action, solves the restricted problem of communication bandwidth and memory capacity, sensor sample speed can be played to greatest extent, reach maximum sampling precision；System architecture is enormously simplify simultaneously, have compressed system cost, and improve Consumer's Experience simultaneously.
Description
Technical field
The present invention relates to ball game track monitoring technical field, more particularly to a kind of movement locus based on ball game
Collection and the System and method for of analysis.
Background technology
As sensor technology, the development of computer technology and people are to game, the demand sharp increase of physical culture, action
Identification has very big demand.
Existing motion recognition system, all it is by acquisition module, communication module and computing module composition.Acquisition module at present
The sensor relevant with motion and orientation such as acceleration transducer, gyroscope, magnetometer, collection are mainly included by sensor
And initial analysis data, data are then transferred to host computer equipment by communication module includes mobile phone, tablet personal computer etc.
Mobile device or computer carry out final motion analysis.Due to action recognition algorithm be based on sensing data one
Secondary or even multiple integration and spatial alternation restructuring, so under the premise of identical noise, sample rate is higher, and final action recognition rate is got over
Height, track reduction degree are higher.And for the very high ball game of some responsivenesses, such as clap shuttlecock in type games,
Table tennis, baseball, softball, cricket with throwing motion, and football etc., because action changes very fast, not high enough sampling
Rate can cause critical data point to lack, and the reduction problem of the not single simply accuracy of identification brought, serious meeting causes action recognition
Mistake, the data of collection are made to become a pile invalid data.It is numerous to participate in the number of sensors of gathered data, the original number collected
Data bulk is huge, do not interfere it is dynamic on the premise of, the means that initial data is sent to bottom-ranked unit by communication module are mainly nothing
Line transmits, and huge data volume can bring huge pressure to the bandwidth and power consumption of wireless telecommunications, or even beyond wireless channel
Ability to bear, even with the preliminary identification and screening of data, the huge collection capacity needed in face of the motion analysis of high speed,
The transmission of initial data is still a bottleneck, can largely effect on identification range and user experience.
The content of the invention
The present invention is to avoid the weak point present in above-mentioned prior art, there is provided a kind of motion rail based on ball game
Mark gathers and the method for analysis.Using the method given by the present invention, can solve the restricted problem for communicating bandwidth and memory capacity,
Sensor sample speed can be played to greatest extent, reach maximum sampling precision.Can entirely it be transported with gapless trace analysis
Dynamic process, does not lose tiny exercise data.It can be worked independently not against upper equipment, greatly simplify system architecture, have compressed and be
System cost, and Consumer's Experience is improved simultaneously.
The technical proposal of the invention is realized in this way：
A kind of movement locus collection and analysis system based on ball game, system include Data acquisition and issuance integration
Module, communication module and man-machine interface display module, the Data acquisition and issuance integrated module are connected by communication module
Man-machine interface display module is connect, the Data acquisition and issuance integrated module is built-in with nonvolatile storage, collection sensor
And local data analysis processor, the collection sensor are electrically connected with local data analysis processor.
Present invention additionally comprises a kind of method of movement locus collection based on ball game and analysis, including ball game rail
Data acquisition, data analysis and data result and track of interest the information output of mark, the data acquisition are adopted with data analysis
Carried out with gathering and analyzing integrated module, by gathering and analyzing the display carried on integrated module after data analysis
Equipment directly exports or is sent to exterior terminal equipment by communication module.
Preferably, the data acquisition includes：What selection was applicable gathers sensor, selects appropriate sampling rate, data
Collection carry local data disposal ability, by its own processing capabilities progress multiaxis data fusion, from required collection sensor,
Then by itself multiaxis blending algorithm, obtain separating the linear acceleration that gravity influences.
Preferably, the collection sensor includes：Acceleration transducer, gyroscope, magnetic field sensor and audio frequency sensing
One or more in device.
Preferably, the data analysis includes：The local data analysis processor that collection and analysis integrated module include
The data that collection sensor collects can be monitored always, and current kinetic type is judged according to surface data result, it is acute according to motion
Strong degree flexibly sets the sample rate of motion sensor.
Preferably, data result and the output of track of interest information include：By gathering and analyzing integrated module data point
Analysis obtain analysis result, directly exported by gathering and analyzing the display device carried on integrated module, selectively point
Analysis result is stored in the nonvolatile storage carried on collection and analysis integrated module, according to predetermined setting condition to dividing
Analysis result is filtered, and the situation for meeting trigger condition is exported by acousto-optic, vibrational feedback, reminds user's particular event in time,
Selectively the data of storage, upper equipment is sent to by communication module.
Preferably, upper equipment can be connected in real time as needed, real-time results are checked or be shown with display.
Preferably, the upper equipment includes mobile phone, tablet personal computer, PC, special-purpose terminal.
Compared with prior art, the invention has the advantages that：
The collection of the movement locus based on ball game of the present invention and the System and method for of analysis, due to having used local number
, can be with gapless to gathered data according to analysis processor without the concern for the capacity of data storage and the bandwidth problem of transmission data
Analyzed, reach the complete analysis of action, the restricted problem for solving communication bandwidth and memory capacity, can be sent out to greatest extent
Sensor sample speed is waved, reaches maximum sampling precision；System architecture is enormously simplify simultaneously, have compressed system cost,
And Consumer's Experience is improved simultaneously.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the system structure diagram of movement locus collection and analysis of the present invention based on ball game.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in figure 1, it is a kind of based on ball game movement locus collection and analysis system, system include data acquisition and
Analysis integrated module, communication module and man-machine interface display module, the Data acquisition and issuance integrated module pass through
Communication module connect man-machine interface display module, the Data acquisition and issuance integrated module be built-in with nonvolatile storage,
Sensor and local data analysis processor are gathered, the collection sensor is electrically connected with local data analysis processor.
Invention additionally discloses a kind of method of movement locus collection based on ball game and analysis, including data acquisition point
Integrated module, communication module, human-computer interface module are analysed, this method includes data acquisition, the data analysis of ball game track
And data result and the output of track of interest information, the data acquisition is with data analysis using collection and analysis integrated module
Carry out, by gathering and analyzing the display device carried on integrated module directly output or by logical after data analysis
News module is sent to exterior terminal equipment, according to different motions using suitable sample rate, to reach highest performance work(
Consumption balance, it is not necessary to consider storage and communication bandwidth.
The data acquisition includes：What selection was applicable gathers sensor, selects appropriate sampling rate, and data acquisition carries
Local data disposal ability, multiaxis data fusion is carried out by its own processing capabilities, from required sensor, then passes through itself
Multiaxis blending algorithm, obtain separating the linear acceleration that gravity influences, accurate data source is provided for action recognition.It is wherein more
Axle data fusion process is as follows：
1) 3 axle accelerations and 3 axle gyro datas are merged using Kalman filtering
Initially set up the state equation and measurement equation of system.Because inclination angle and inclination angle angular speed have derivative relation, it is
System, which tilts real angle φ, can be used for doing a state vector.Within the system, to estimate gyroscope using accelerometer normal
It is worth deviation b, corresponding state equation and observational equation is obtained using this deviation as state vector:
In formula, ω gyro are the gyroscope Output speed comprising droop, and φ acce are accelerometer after processing
Obtained angle value, ω g are gyroscope measurement noise, and ω a are accelerometer measures noise, and b is gyroscopic drift error, ω g
Separate with ω a, it is assumed herein that the two is the white noise for meeting normal distribution, it is system communication cycle to make Ts, obtain from
The state equation and measurement equation for the system of dissipating:
Meanwhile the actual angle at k moment is estimated, it must just be obtained according to the angle value at k-1 moment further according to prediction
The angle value at k moment, the variance of the Gaussian noise at k moment is obtained, Kalman filter carries out recursive operation on basis herein
Until estimating optimal angle value herein, it should be understood that road systematic procedure noise covariance battle array Q and the covariance square of measurement error
Battle array R, is corrected to Kalman filter.The form of Q and R matrixes is as follows:
In formula, q_acce and q_gyro are the covariance of accelerometer and gyroscope measurement respectively, and its numerical value represents karr
For graceful wave filter to the trusting degree of its sensing data, value is smaller, shows that trusting degree is higher.The value of gyroscope within the system
More close to exact value, therefore q_gyro value is taken to be less than q_acce value current states:
In formula,
X (k | k-1) is using the result of k predictions, and X (k-1 | k-1) is the optimal result at k-1 moment.
Then there is the covariance corresponding to X (k | k-1) to be:
In formula,
P (k-1 | k-1) is covariance corresponding to X (k-1 | k-1), and AT represents A transposed matrix, and Q is the association of systematic procedure
Variance.Formula (1), (2) update to the state of system.
Then state k optimization estimated value X (k | k):
Wherein H=[10], K are kalman gain (KalmanGain):
Now, we have been obtained for estimated value X optimal under k-state (k | k), but in order that Kalman filter is constantly run
Go down until finding optimal angle value, we will also update X under k-state (k | k) covariance：
Wherein, I is unit battle array, is then had for the system,
When system enters k+1 states, P (k | k) is exactly the P (k-1 | k-1) of formula (2).(3), (4), (5) formula are karr
After graceful filter status renewal equation has calculated time update equation and measurement updaue equation, repeating the last time again calculates
The Posterior estimator arrived, as the prior estimate calculated next time, so, go round and begin again, circulate repeatedly computing and go down until looking for
To optimal result.
After the fusion of 6 axles, due to having obtained more accurate transient posture, this can be accurately calculated on this basis
The weight component that each axle is subject under posture, difference is to remove the linear acceleration that gravity influences between original acceleration.
2) combine geomagnetic sensor and carry out secondary direction fusion
Various magnetic conduction substances, other magnetic field sources can form a unique synthesis magnetic together in magnetic field of the earth, earth's surface building
, its direction is not necessarily the direction of original earth magnetism, but the relative earth is a fixed vector.3 axle geomagnetic sensors can
So that this vector measurement is come out, due to geomagnetic sensor and other 6 axle sensor coordinate systems be set as in circuit design it is identical,
So ground magnetic vector for fusion after show that posture provides an absolute direction reference vector, so as to complete the fusion of 9 axles.
The collection sensor includes：One in acceleration transducer, gyroscope, magnetic field sensor and acoustic frequency sensor
Kind is a variety of, present invention further introduces acoustic frequency sensor, from audio frequency dimensional analysis motion feature.Acoustic frequency sensor is high at a high speed
Accurate sensor, careful motion feature more more accurate than motion sensor can be obtained.The present invention is used using audio sensor
To judge to collide the collision moment of racket and ball, up to tens of KHz sample rate, ensure that the collision accident of Millisecond will not be by
Lose.On the other hand, the high-speed, high precision sampling of acoustic frequency sensor is had benefited from, various features during collision can be by differentiated note
Record is got off, including：Ball and the position of collision clapped, collision severe degree, racket self attributes feature etc..
The data analysis includes：The local data analysis processor that collection and analysis integrated module include can supervise always
The data that collection sensor collects are surveyed, current kinetic type is judged according to surface data result, according to the spirit of motion intense degree
The sample rate living that motion sensor is set.Local data analysis processor can monitor the data that sensor collects always, can
To judge current kinetic type according to surface data result, the sampling speed of motion sensor is flexibly set according to motion intense degree
Degree, guarantee reaches the reduction of power consumption on the premise of not losing data, while ensures sampling precision and power consumption control.By to algorithm
Height optimization, original simplify using the algorithm relied on PC or other high speed processors was transplanted to embedded system, makes to adopt
Set analysis integration becomes possible to.When the collision accident or predetermined some sensors such as a for detecting acoustic frequency sensor,
Acceleration transducer detect continue to exceed threshold values b, angular speed continues to exceed threshold values；C, gravity detection or blending algorithm come out
Posture occur to exceed change threshold values d, predetermined certain posture or combination of actions, system enters high-speed sampling pattern, to answer
Pay Larger Dynamic motion analysis identification.
The data collected from sensor group include original acceleration, angular speed, absolute force, pass through with reference to initial data
Multiaxis merges to obtain attitude parameter, weight parameter, agravic linear acceleration parameter, azimuth relative to the earth, by respectively such as
Lower analysis method obtains type of action and feature：
1st, after by attitude parameter, weight parameter, agravic linear acceleration parameter, azimuthal instantaneous value and integration
The intermediate change amounts such as speed, displacement, attitudes vibration amount, the direction of motion, direction of motion trend, variation tendency by Characteristic Contrast,
Quantitative appraisal；
2nd, identified by the fuzzy algorithmic approach of above-mentioned initial parameter and intermediate change amount；
3rd, above-mentioned initial parameter and the similarity distinguished number of intermediate change amount are passed through；
4th, the contrast of above-mentioned initial parameter and intermediate change amount and adaptive learning result is passed through.
Data result and track of interest the information output includes：Analysis knot is obtained by integrated module data analysis
Fruit, directly exported by the display device carried in collection, analytical equipment, analysis result is selectively stored in collection point
In the nonvolatile storage carried in analysis, equipment, analysis result is filtered according to predetermined setting condition, meets triggering bar
The situation of part is exported by acousto-optic, vibrational feedback, is reminded user's particular event in time, selectively the data of storage, is passed through
Communication module is sent to upper equipment.Upper equipment can be connected in real time as needed, real-time results are checked or be shown
With display, analysis result is filtered according to the condition of predetermined setting, the situation for meeting trigger condition passes through acousto-optic, vibrations
Feedback device exports, and reminds user's particular event in time.It can be sent to selectively the data of storage by communication module
Upper equipment is for example：Mobile phone, tablet personal computer, PC, special-purpose terminal, for continuing to be sent to Cloud Server backstage progress big data point
Analysis.Communication modes include being not limited to：Wifi, bluetooth, NFC, proprietary protocol various frequency range wireless communication modes and USB,
The wired connections such as USART, 485, CAN.The upper equipment includes mobile phone, tablet personal computer, PC, special-purpose terminal.
The method and step of the comprehensive present invention understands that movement locus collection and analysis of the invention based on ball game are
System and method, due to having used local data analysis processor without the concern for the capacity of data storage and the bandwidth of transmission data
Problem, gathered data can be analyzed with gapless, reach the complete analysis of action, solve communication bandwidth and memory capacity
Restricted problem, sensor sample speed can be played to greatest extent, reach maximum sampling precision；It enormously simplify simultaneously
System architecture, system cost is have compressed, and improve Consumer's Experience simultaneously.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (8)
1. it is a kind of based on ball game movement locus collection and analysis system, it is characterised in that system include data acquisition and
Analysis integrated module, communication module and man-machine interface display module, the Data acquisition and issuance integrated module pass through
Communication module connect man-machine interface display module, the Data acquisition and issuance integrated module be built-in with nonvolatile storage,
Sensor and local data analysis processor are gathered, the collection sensor is electrically connected with local data analysis processor.
2. it is a kind of based on ball game movement locus collection and analysis method, including ball game track data acquisition,
Data analysis and data result and the output of track of interest information, it is characterised in that the data acquisition uses with data analysis
Collection and analysis integrated module are carried out, and are set after data analysis by gathering and analyzing the display carried on integrated module
It is standby directly to export or exterior terminal equipment is sent to by communication module.
3. the method for the movement locus collection based on ball game and analysis as claimed in claim 2, it is characterised in that described
Data acquisition includes：What selection was applicable gathers sensor, selects appropriate sampling rate, and data acquisition is with local data processing
Ability, multiaxis data fusion is carried out by its own processing capabilities, from required collection sensor, is then merged by itself multiaxis
Algorithm, obtain separating the linear acceleration that gravity influences.
4. the method for the movement locus collection based on ball game and analysis as claimed in claim 3, it is characterised in that described
Collection sensor includes：One or more in acceleration transducer, gyroscope, magnetic field sensor and acoustic frequency sensor.
5. the method for the movement locus collection based on ball game and analysis as claimed in claim 2, it is characterised in that described
Data analysis includes：The local data analysis processor that collection and analysis integrated module include can monitor collection sensor always
The data collected, current kinetic type is judged according to surface data result, flexibly set motion to pass according to motion intense degree
The sample rate of sensor.
6. the method for the movement locus collection based on ball game and analysis as claimed in claim 2, it is characterised in that data
As a result include with the output of track of interest information：Analysis result is obtained by gathering and analyzing integrated module data analysis, is passed through
The display device carried in collection and analysis integrated module is directly exported, and analysis result is selectively stored in collection and divided
In the nonvolatile storage carried on analysis integrated module, analysis result is filtered according to predetermined setting condition, met
The situation of trigger condition is exported by acousto-optic, vibrational feedback, user's particular event is reminded in time, selectively the number of storage
According to being sent to upper equipment by communication module.
7. the method for the movement locus collection based on ball game and analysis as claimed in claim 6, it is characterised in that according to
Need that upper equipment can be connected in real time, check real-time results or be shown with display.
8. the method for the movement locus collection based on ball game and analysis as claimed in claim 7, it is characterised in that described
Upper equipment includes mobile phone, tablet personal computer, PC, special-purpose terminal.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/080191 WO2017185222A1 (en) | 2016-04-26 | 2016-04-26 | System and method for motion trajectory collection and analysis based on ball games |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107454970A true CN107454970A (en) | 2017-12-08 |
Family
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| CN201680011563.8A Pending CN107454970A (en) | 2016-04-26 | 2016-04-26 | A kind of System and method for of movement locus collection and analysis based on ball game |
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| CN (1) | CN107454970A (en) |
| WO (1) | WO2017185222A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110440799A (en) * | 2019-09-19 | 2019-11-12 | 哈尔滨工程大学 | A kind of attitude angle measurement emerging system and method based on gyroscope and accelerometer |
| CN111767932A (en) * | 2019-04-02 | 2020-10-13 | 北京深蓝长盛科技有限公司 | Action determination method and device, computer device and computer-readable storage medium |
| CN112957688A (en) * | 2021-01-27 | 2021-06-15 | 牛鹤璇 | Intelligent physical exercise data measuring method and equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112929332A (en) * | 2021-01-19 | 2021-06-08 | 北京睿芯高通量科技有限公司 | Multi-axis object motion detection system and detection method |
| CN114796986B (en) * | 2022-06-08 | 2024-03-08 | 深圳市汇泰科电子有限公司 | Method for identifying movement information of kettle bell |
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| WO2017185222A1 (en) | 2017-11-02 |
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