CN107694072A - A kind of table tennis ball positioning method and system based on absolute distance - Google Patents

A kind of table tennis ball positioning method and system based on absolute distance Download PDF

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Publication number
CN107694072A
CN107694072A CN201711071920.2A CN201711071920A CN107694072A CN 107694072 A CN107694072 A CN 107694072A CN 201711071920 A CN201711071920 A CN 201711071920A CN 107694072 A CN107694072 A CN 107694072A
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table tennis
coordinate value
signal
game
signal intensity
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严军荣
卢玉龙
陈彦琦
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Hangzhou Qian Bo Technology Co Ltd
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Hangzhou Qian Bo Technology Co Ltd
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Priority to CN201711071920.2A priority Critical patent/CN107694072A/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
    • 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
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B59/00—Bats, rackets, or the like, not covered by groups A63B49/00 - A63B57/00
    • A63B59/40—Rackets or the like with flat striking surfaces for hitting a ball in the air, e.g. for table tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
    • A63B60/46—Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
    • A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/16—Table tennis
    • 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
    • A63B2220/10—Positions
    • 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
    • A63B2220/89—Field sensors, e.g. radar systems
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry

Abstract

The invention discloses a kind of table tennis ball positioning method and system based on absolute distance.Its system includes establishing space coordinates module of playing a game, signal intensity screening and range finder module, estimation table tennis triaxial coordinate value module, the space coordinates module of playing a game for calculating table tennis.Multiple signal receiving devices receive the wireless signal that table tennis is sent, and obtain signal intensity, calculate the distance of each signal receiving device and table tennis, estimate table tennis triaxial coordinate value according to the 3 of peak signal fixing points, then calculate the spatial value of playing a game of table tennis.The present invention solves the problems, such as the real time position that the table tennis system based on Internet of Things can not simply and effectively calculate the table tennis being kept in motion.

Description

A kind of table tennis ball positioning method and system based on absolute distance
Technical field
The invention belongs to smart table tennis Motion Technology field, determines more particularly to a kind of table tennis based on absolute distance Position method and system.
Background technology
Mainly there are two classes to the scheme of table tennis positioning at present, one kind is computer vision analysis method, Yi Zhongshi Signal triggers determination methods.
Computer vision analysis method mainly gathers record during table tennis in real time by more high speed high-definition cameras Picture, data are formed after target identification and space orientation are carried out to each image in video recording, then table tennis is calculated by filtering and tracking The position of pang ball, it is computation complexity height the shortcomings that this method.
Signal triggering determination methods are to be obtained by the piezoelectric transducer installed in table tennis table and net because being rattled Ball impact and caused vibration signal, the intensity and generation time of more multiple vibration signals, so as to calculate hitting for table tennis Hit position and movement locus substantially, be that can not position the skyborne position of table tennis the shortcomings that the program.
The content of the invention
The technical problems to be solved by the invention are that the table tennis system based on Internet of Things can not be counted simply and effectively The problem of real time position for the table tennis being kept in motion, propose a kind of table tennis ball positioning method based on absolute distance and System.
Signal intensity location technology refers to calculate signal launch point and signal receiving point by the signal strength received Distance, so as to positioning signal launch point technology.The present invention uses the table tennis system based on signal intensity location technology System, its structure as shown in figure 1, on table tennis setting signal dispensing device, multiple signals are disposed on ping-pong table and receive dress Put.
The table tennis alignment system based on absolute distance of the present invention, including establish play a game space coordinates module, signal Intensity is screened and range finder module, estimation table tennis triaxial coordinate value module, the spatial value module of playing a game for calculating table tennis.
Foundation is played a game space coordinates module：Server obtains the information of each component in table tennis system, remembers signal Reception device number is N, and N is positive integer and N>3, signal receiving device according to certain order (such as from left to right or on to Under order) numbering be i, 1≤i≤N；The coordinate value for space coordinates of playing a game is expressed as (x, y, z, h), wherein, x, y, z represents The coordinate value for the x-y-z three-axis references established using ping-pong table center as origin, x-axis and y-axis composition horizontal plane, z-axis are hung down Directly upward in desktop, h represents ball table instruction coordinate value.
Signal intensity is screened and range finder module：The sender unit of deployment is according between the time set in advance in table tennis Every the wireless signal that T strength of transmitted signals is u；N number of signal receiving device receives wireless signal, detection signal intensity vi, 1≤i ≤ N, by signal intensity viSend to server；Server obtains the signal intensity v that each signal receiving device is senti, according to matrix Sort method is to signal intensity viSequence, it is strong by signal as fixing point to choose signal receiving device corresponding to 3 values of maximum The order of degree from big to small is represented with m, n, p respectively；3 fixing points are calculated to the distance of table tennis, are designated as rm、rn、rp。
Estimate table tennis triaxial coordinate value module：Signal intensity is bigger, and the interference during signaling point reception signal is smaller, can It is higher by property, thus estimate table tennis position should with signal intensity highest fixing point (i.e. fixing point m) for the centre of sphere sphere On the basis of.The point centered on the triaxial coordinate value of 3 fixing points, with each fixing point and the distance r of table tennism、rn、rpFor radius Make sphere, be designated as sphere m, sphere n and sphere p respectively, if 3 spheres intersect at a point, the point coordinates value is table tennis X-y-z triaxial coordinate values, are designated as (x, y, z)；If sphere m intersects a curved surface with other spheres, according to center of mass theorem meter The center-of-mass coordinate value of the curved surface is calculated, the triaxial coordinate value using center-of-mass coordinate value as table tennis, is designated as (x, y, z)；Otherwise this is judged Secondary signal strength data is interfered, and current location is calculated without this data.
Calculate the spatial value module of playing a game of table tennis：Transfer estimate table tennis x-y-z triaxial coordinates value (x, y, Z), it is A and B ping-pong table both sides to be numbered respectively, according to numbering A and the coordinate value feature calculation ball table of numbering B ping-pong tables Indicate coordinate value h；When (x, y, z) meets numbering A ping-pong table coordinate value tag, then ball table indicates coordinate value h=A, table tennis The spatial value of playing a game of pang ball is (x, y, z, A)；Otherwise ball table instruction coordinate value h=B, the spatial value of playing a game of table tennis For (x, y, z, B).After the spatial value module execution of playing a game of calculating table tennis terminates, the screening of return signal intensity and ranging mould Block.
The system block diagram of table tennis alignment system based on absolute distance is as shown in Figure 2.
The table tennis ball positioning method based on absolute distance of the present invention is according to the following steps：
Step 1, establish space coordinates of playing a game.
Server obtains the information of each component in table tennis system, and note signal receiving device number is N, and N is just whole Number and N>3, signal receiving device is i according to certain order (such as order from left to right or from top to bottom) numbering, 1≤i≤ N；The coordinate value for space coordinates of playing a game is expressed as (x, y, z, h), wherein, x, y, z is represented using ping-pong table center as origin The coordinate value of the x-y-z three-axis references of foundation, x-axis and y-axis composition horizontal plane, z-axis is upward perpendicular to desktop, and h represents ball table Indicate coordinate value.Sampling time interval T is set.
Step 2, signal intensity screening and ranging.
The sender unit of deployment is according to the wireless signal that sampling time interval T strength of transmitted signals is u in table tennis； N number of signal receiving device receives wireless signal, detection signal intensity vi, 1≤i≤N, by signal intensity viSend to server；Clothes Be engaged in the signal intensity v that each signal receiving device of device acquisition is senti, according to matrix sort method to signal intensity viSequence, choose most Signal receiving device uses m, n, p table respectively as fixing point by the order of signal intensity from big to small corresponding to 3 big values Show；3 fixing points are calculated to the distance of table tennis, are designated as rm、rn、rp。
Step 3, estimation table tennis triaxial coordinate value.
Signal intensity is bigger, and the interference during signaling point reception signal is smaller, and reliability is higher, therefore estimates table tennis Position should be by signal intensity highest fixing point (i.e. on the basis of fixing point m) is the sphere of the centre of sphere.Sat with three axles of 3 fixing points Point centered on scale value, with each fixing point and the distance r of table tennism、rn、rpMake sphere for radius, be designated as sphere m, sphere n respectively With sphere p, if 3 spheres intersect at a point, the point coordinates value is the x-y-z triaxial coordinate values of table tennis, be designated as (x, y, z)；If sphere m intersects a curved surface with other spheres, the center-of-mass coordinate value of the curved surface is calculated according to center of mass theorem, with matter Heart coordinate value is the triaxial coordinate value of table tennis, is designated as (x, y, z)；Otherwise judge that this signal strength data is interfered, no Current location is calculated with this data.
Step 4, the spatial value of playing a game for calculating table tennis.
Transfer the table tennis x-y-z triaxial coordinates value (x, y, z) estimated, ping-pong table both sides are numbered respectively be A and B, coordinate value h is indicated according to the coordinate value feature calculation ball table of numbering A and numbering B ping-pong tables；When (x, y, z) meets numbering A Ping-pong table coordinate value tag when, then ball table instruction coordinate value h=A, table tennis play a game spatial value for (x, y, z, A)；Otherwise ball table instruction coordinate value h=B, the spatial value of playing a game of table tennis is (x, y, z, B).Return to step 2.
Table tennis ball positioning method flow chart based on absolute distance, as shown in Figure 3.
The method and system of the present invention this have the advantage that：
(1) signal intensity location technology is used, table tennis positioning can be carried out in real time.
(2) table tennis ball position is calculated using three most strong signal strength values, can effectively excludes the signal being easily disturbed.
(3) computation complexity is reduced as the benchmark of position estimation using the data of peak signal point.
Brief description of the drawings
Fig. 1 is the structural representation of the table tennis system based on signal intensity location technology of the present invention；
Fig. 2 is the table tennis alignment system block diagram based on absolute distance of the present invention；
Fig. 3 is the table tennis ball positioning method flow chart based on absolute distance of the present invention；
Fig. 4 is that the table tennis of the embodiment of the present invention is played a game space coordinates schematic diagram；
Embodiment
The preferred embodiment of the present invention is elaborated below.
The present invention is based on signal intensity location technology.Signal intensity location technology refer to by the signal strength received come Signal launch point and the distance of signal receiving point are calculated, so as to the technology of positioning signal launch point.The present invention uses and is based on signal The table tennis system of intensity location technology, its structure as shown in figure 1, on table tennis setting signal dispensing device, table tennis Multiple signal receiving devices are disposed on pang ball table.Each signal receiving device receives the wireless signal that table tennis is sent, detection signal Intensity, then signal strength data is sent to the real time position for server, server storage data, calculating table tennis.
The table tennis alignment system based on absolute distance of the present invention, including establish play a game space coordinates module, signal Intensity is screened and range finder module, estimation table tennis triaxial coordinate value module, the spatial value module of playing a game for calculating table tennis.
Foundation is played a game space coordinates module：Server obtains the information of each component in table tennis system, remembers signal Reception device number is N, and N is positive integer and N>3, signal receiving device according to certain order (such as from left to right or on to Under order) numbering be i, 1≤i≤N；The coordinate value for space coordinates of playing a game is expressed as (x, y, z, h), wherein, x, y, z represents The coordinate value for the x-y-z three-axis references established using ping-pong table center as origin, x-axis and y-axis composition horizontal plane, z-axis are hung down Directly upward in desktop, h represents ball table instruction coordinate value.In the present embodiment, 6 signal receiving devices are deployed in table tennis table respectively At corner and net both ends, i.e. N=6, it is 1,2,3,4,5,6 according to serial number from left to right, by ping-pong table both sides Numbering is A and B respectively, as shown in Figure 4；Foundation is played a game space coordinates, and its coordinate value is expressed as (x, y, z, h), wherein (x, y, Z) value of three-axis reference established using ping-pong table center as origin is represented, the x-axis of three-axis reference is along ping-pong table Narrow side to the right, y-axis be along ping-pong table axis to the right, z-axis be perpendicular to ground upwardly；H represents ball table instruction coordinate value, h Equal to A or B.6 signal receiving devices are represented with 6 black round dots, according to table tennis table size：2740 × 1525 millimeters (mm), calculate 6 signal receiving devices triaxial coordinate value be respectively (- 0.7625, -1.37,0), (0.7625, -1.37, 0), (- 0.7625,0,0), (0.7625,0,0), (- 0.7625,1.37,0), (0.7625,1.37,0), unit is rice.
Signal intensity is screened and range finder module：The sender unit of deployment is according between the time set in advance in table tennis Every the wireless signal that T strength of transmitted signals is u；N number of signal receiving device receives wireless signal, detection signal intensity vi, 1≤i ≤ N, by signal intensity viSend to server；Server obtains the signal intensity v that each signal receiving device is senti, according to matrix Sort method is to signal intensity viSequence, it is strong by signal as fixing point to choose signal receiving device corresponding to 3 values of maximum The order of degree from big to small is represented with m, n, p respectively；3 fixing points are calculated according to transmission of wireless signals distance calculation formula to arrive The distance of table tennis, is designated as rm、rn、rp.In the present embodiment, data sampling time interval T=1 microseconds (μ s) are set, in table tennis The signal intensity u=10dBm (dBm is signal power unit) for the wireless signal that the sender unit in portion is sent, working frequency For 2.4GHz=24000 megahertzs (MHz), N number of signal receiving device receives wireless signal, and detection signal intensity data is respectively v1=-44dBm, v2=-50dBm, v3=-50dBm, v4=-51.6dBm, v5=-53.5dBm, v6=-54.6dBm, v1>v2= v3>v4>v5>v6, so choosing v1、v2、v3Corresponding signal receiving device is as fixing point, and it is respectively 1,2 and 3 that it, which is numbered, i.e., Fixing point m numbering is 1, and fixing point n numbering is 2, and fixing point p numbering is 3.Transmission of wireless signals distance calculation formula For：Los=32.44+20lgd+20lgf, wherein Los represent the difference of transmit power and receiving power, and d is transmission range, and f is work Working frequency；3 fixing points are calculated to the distance r of table tennis according to formulai, respectively r1=0.5 meter, r2=1 meter, r3=1 Rice.
Estimate table tennis triaxial coordinate value module：Signal intensity is bigger, and the interference during signaling point reception signal is smaller, can It is higher by property, thus estimate table tennis position should with signal intensity highest fixing point (i.e. fixing point m) for the centre of sphere sphere On the basis of.The point centered on the triaxial coordinate value of 3 fixing points, with each fixing point and the distance r of table tennism、rn、rpFor radius Make sphere, be designated as sphere m, sphere n and sphere p respectively, if 3 spheres intersect at a point, the point coordinates value is table tennis X-y-z triaxial coordinate values, are designated as (x, y, z)；If sphere m intersects a curved surface with other spheres, according to center of mass theorem meter The center-of-mass coordinate value of the curved surface is calculated, the triaxial coordinate value using center-of-mass coordinate value as table tennis, is designated as (x, y, z)；Otherwise this is judged Secondary signal strength data is interfered, and current location is calculated without this data.In the present embodiment, three axles of 3 fixing points are sat Scale value is (x1,y1,z1)=(- 0.7625, -1.37,0), (x2,y2,z2)=(0.7625, -1.37,0), (x3,y3,z3)=(- 0.7625,0,0) in, being with triaxial coordinate value (- 0.7625, -1.37,0), (0.7625, -1.37,0), (- 0.7625,0,0) Heart point, ball, respectively sphere 1, sphere 2 and sphere 3 are made with 0.5,1,1 radius, sphere 1 intersects one with sphere 2 and sphere 3 Individual curved surface area, the center-of-mass coordinate value that the curved surface area is calculated according to existing center of mass theorem is (- 0.42, -1.25,0.34), Triaxial coordinate value (x, y, z)=(- the 0.42, -1.25,0.34) of table tennis.
Calculate the spatial value module of playing a game of table tennis：Transfer estimate table tennis x-y-z triaxial coordinates value (x, y, Z), it is A and B ping-pong table both sides to be numbered respectively, according to numbering A and the coordinate value feature calculation ball table of numbering B ping-pong tables Indicate coordinate value h；When (x, y, z) meets numbering A ping-pong table coordinate value tag, then ball table indicates coordinate value h=A, table tennis The spatial value of playing a game of pang ball is (x, y, z, A)；Otherwise ball table instruction coordinate value h=B, the spatial value of playing a game of table tennis For (x, y, z, B).After the spatial value module execution of playing a game of calculating table tennis terminates, the screening of return signal intensity and ranging mould Block.In the present embodiment, when the y values in three-axis reference are less than 0, i.e. y<When 0, then ball table indicates coordinate value h=A；Otherwise ball Table instruction coordinate value h=B；Transfer table tennis triaxial coordinate (x, y, z)=(- 0.42, -1.25,0.34) estimated, wherein y< 0, then ball table instruction coordinate value h=A, table tennis spatial value of playing a game is (- 0.42, -1.25,0.34, A).Return signal is strong Degree screening and range finder module.
The table tennis ball positioning method based on absolute distance of the present invention is according to the following steps：
Step 1, establish space coordinates of playing a game.
Server obtains the information of each component in table tennis system, and note signal receiving device number is N, and N is just whole Number and N>3, signal receiving device is i according to certain order (such as order from left to right or from top to bottom) numbering, 1≤i≤ N；The coordinate value for space coordinates of playing a game is expressed as (x, y, z, h), wherein, x, y, z is represented using ping-pong table center as origin The coordinate value of the x-y-z three-axis references of foundation, x-axis and y-axis composition horizontal plane, z-axis is upward perpendicular to desktop, and h represents ball table Indicate coordinate value.Sampling time interval T is set.In the present embodiment, 6 signal receiving devices are deployed in table tennis table corner respectively And at net both ends, be i.e. N=6, it be 1,2,3,4,5,6 according to serial number from left to right, ping-pong table both sides is distinguished Numbering is A and B, as shown in Figure 4；Foundation is played a game space coordinates, and its coordinate value is expressed as (x, y, z, h), wherein (x, y, z) table Show the value for the three-axis reference established using ping-pong table center as origin, the x-axis of three-axis reference is along the narrow side of ping-pong table To the right, y-axis be along ping-pong table axis to the right, z-axis be perpendicular to ground upwardly；H represents ball table instruction coordinate value, and h is equal to A Or B.6 signal receiving devices are represented with 6 black round dots, according to table tennis table size：2740 × 1525 millimeters (mm), calculate Go out 6 signal receiving devices triaxial coordinate value be respectively (- 0.7625, -1.37,0), (0.7625, -1.37,0), (- 0.7625,0,0), (0.7625,0,0), (- 0.7625,1.37,0), (0.7625,1.37,0), unit is rice.Data are set to adopt Sample time interval T=1 microseconds (μ s).
Step 2, signal intensity screening and ranging.
The sender unit of deployment is according to the wireless signal that sampling time interval T strength of transmitted signals is u in table tennis； N number of signal receiving device receives wireless signal, detection signal intensity vi, 1≤i≤N, by signal intensity viSend to server；Clothes Be engaged in the signal intensity v that each signal receiving device of device acquisition is senti, according to matrix sort method to signal intensity viSequence, choose most Signal receiving device uses m, n, p table respectively as fixing point by the order of signal intensity from big to small corresponding to 3 big values Show；3 fixing points are calculated to the distance of table tennis according to transmission of wireless signals distance calculation formula, are designated as rm、rn、rp.This reality Apply in example, the signal intensity u=for the wireless signal that the signal inside table tennis is sent according to sampling time interval T dispensing devices 10dBm (dBm is signal power unit), working frequency is 2.4GHz=24000 megahertzs (MHz), and N number of signal receiving device connects Wireless signal is received, detection signal intensity data is respectively v1=-44dBm, v2=-50dBm, v3=-50dBm, v4=- 51.6dBm、v5=-53.5dBm, v6=-54.6dBm, v1>v2=v3>v4>v5>v6, so choosing v1、v2、v3Corresponding signal connects For receiving apparatus as fixing point, it is respectively 1,2 and 3 that it, which is numbered, i.e. the numbering of fixing point m is 1, and fixing point n numbering is 2, fixed Point p numbering is 3.Transmission of wireless signals distance calculation formula is：Los=32.44+20lgd+20lgf, wherein Los represent hair The difference of power and receiving power is sent, d is transmission range, and f is working frequency；3 fixing points are calculated to table tennis according to formula Distance ri, respectively r1=0.5 meter, r2=1 meter, r3=1 meter.
Step 3, estimation table tennis triaxial coordinate value.
Signal intensity is bigger, and the interference during signaling point reception signal is smaller, and reliability is higher, therefore estimates table tennis Position should be by signal intensity highest fixing point (i.e. on the basis of fixing point m) is the sphere of the centre of sphere.Sat with three axles of 3 fixing points Point centered on scale value, with each fixing point and the distance r of table tennism、rn、rpMake sphere for radius, be designated as sphere m, sphere n respectively With sphere p, if 3 spheres intersect at a point, the point coordinates value is the x-y-z triaxial coordinate values of table tennis, be designated as (x, y, z)；If sphere m intersects a curved surface with other spheres, the center-of-mass coordinate value of the curved surface is calculated according to center of mass theorem, with matter Heart coordinate value is the triaxial coordinate value of table tennis, is designated as (x, y, z)；Otherwise judge that this signal strength data is interfered, no Current location is calculated with this data.In the present embodiment, the triaxial coordinate value of 3 fixing points is (x1,y1,z1)=(- 0.7625, -1.37,0), (x2,y2,z2)=(0.7625, -1.37,0), (x3,y3,z3)=(- 0.7625,0,0), sat with three axles Point centered on scale value (- 0.7625, -1.37,0), (0.7625, -1.37,0), (- 0.7625,0,0), with 0.5,1,1 radius Make ball, respectively sphere 1, sphere 2 and sphere 3, sphere 1 intersects a curved surface area with sphere 2 and sphere 3, according to existing Center of mass theorem to calculate the center-of-mass coordinate value of the curved surface area be (- 0.42, -1.25,0.34), the triaxial coordinate value of table tennis (x, y, z)=(- 0.42, -1.25,0.34).
Step 4, the spatial value of playing a game for calculating table tennis.
Transfer the table tennis x-y-z triaxial coordinates value (x, y, z) estimated, ping-pong table both sides are numbered respectively be A and B, coordinate value h is indicated according to the coordinate value feature calculation ball table of numbering A and numbering B ping-pong tables；When (x, y, z) meets numbering A Ping-pong table coordinate value tag when, then ball table instruction coordinate value h=A, table tennis play a game spatial value for (x, y, z, A)；Otherwise ball table instruction coordinate value h=B, the spatial value of playing a game of table tennis is (x, y, z, B).Return to step 2.This implementation In example, when the y values in three-axis reference are less than 0, i.e. y<When 0, then ball table indicates coordinate value h=A；Otherwise ball table instruction coordinate Value h=B；Transfer table tennis triaxial coordinate (x, y, z)=(- 0.42, -1.25,0.34) estimated, wherein y<0, then ball table refer to Show coordinate value h=A, table tennis spatial value of playing a game is (- 0.42, -1.25,0.34, A).Return to step 2.
Certainly, those of ordinary skill in the art is it should be appreciated that above example is intended merely to illustrate this hair Bright, and limitation of the invention is not intended as, as long as within the scope of the invention, change, modification to above example are all Protection scope of the present invention will be fallen into.

Claims (10)

  1. A kind of 1. table tennis alignment system based on absolute distance, it is characterised in that including establish play a game space coordinates module, Signal intensity is screened and range finder module, estimation table tennis triaxial coordinate value module, the spatial value mould of playing a game for calculating table tennis Block.
  2. 2. the table tennis alignment system according to claim 1 based on absolute distance, it establishes space coordinates mould of playing a game Block is characterised by：Server obtains the information of each component in table tennis system, and note signal receiving device number is N, and N is Positive integer and N>3, signal receiving device numbering is i, 1≤i≤N；The coordinate value for space coordinates of playing a game be expressed as (x, y, z, H), wherein, x, y, z represents the coordinate value for the x-y-z three-axis references established using ping-pong table center as origin, x-axis and y-axis Horizontal plane is formed, z-axis is upward perpendicular to desktop, and h represents ball table instruction coordinate value.
  3. 3. the table tennis alignment system according to claim 1 based on absolute distance, the screening of its signal intensity and ranging mould Block is characterised by：The sender unit of deployment is strong according to the sampling time interval T transmission signals set in advance in table tennis Spend the wireless signal for u；N number of signal receiving device receives wireless signal, detection signal intensity vi, 1≤i≤N, by signal intensity viSend to server；Server obtains the signal intensity v that each signal receiving device is senti, to signal intensity viSequence, choose Signal receiving device uses m, n, p table respectively as fixing point by the order of signal intensity from big to small corresponding to 3 maximum values Show；3 fixing points are calculated to the distance of table tennis, are designated as rm、rn、rp。
  4. 4. the table tennis alignment system according to claim 1 based on absolute distance, it estimates table tennis triaxial coordinate value Module is characterised by：The point centered on the coordinate of 3 fixing points, with each fixing point and the distance r of table tennism、rn、rpFor half Sphere is made in footpath, is designated as sphere m, sphere n and sphere p respectively, if 3 spheres intersect at a point, the point coordinates value is table tennis X-y-z triaxial coordinate values, be designated as (x, y, z)；If sphere m intersects a curved surface with other spheres, the curved surface is calculated Center-of-mass coordinate value, the triaxial coordinate value using center-of-mass coordinate value as table tennis, is designated as (x, y, z)；Otherwise this signal intensity is judged Data are interfered, and current location is calculated without this data.
  5. 5. the table tennis alignment system according to claim 1 based on absolute distance, it calculates the space of playing a game of table tennis Coordinate value module is characterised by：The table tennis x-y-z triaxial coordinates value (x, y, z) estimated is transferred, by ping-pong table both sides Numbering is A and B respectively；When (x, y, z) meets the coordinate value tag of numbering A ping-pong tables, then ball table indicates coordinate value h=A, The spatial value of playing a game of table tennis is (x, y, z, A)；Otherwise ball table instruction coordinate value h=B, the space coordinates of playing a game of table tennis It is worth for (x, y, z, B)；Return signal intensity is screened and range finder module.
  6. A kind of 6. table tennis ball positioning method based on absolute distance, it is characterised in that including：
    Step 1, establish space coordinates of playing a game；
    Step 2, signal intensity screening and ranging；
    Step 3, estimation table tennis triaxial coordinate value；
    Step 4, the spatial value of playing a game for calculating table tennis.
  7. 7. the table tennis ball positioning method according to claim 6 based on absolute distance, its step 1 are characterised by：Service Device obtains the information of each component in table tennis system, and note signal receiving device number is N, and N is positive integer and N>3, signal Reception device numbering is i, 1≤i≤N；The coordinate value for space coordinates of playing a game is expressed as (x, y, z, h), wherein, x, y, z represents The coordinate value for the x-y-z three-axis references established using ping-pong table center as origin, x-axis and y-axis composition horizontal plane, z-axis are hung down Directly upward in desktop, h represents ball table instruction coordinate value；Sampling time interval T is set.
  8. 8. the table tennis ball positioning method according to claim 6 based on absolute distance, its step 2 are characterised by：Table tennis The sender unit of deployment is according to the wireless signal that sampling time interval T strength of transmitted signals is u in ball；N number of signal receives Device receives wireless signal, detection signal intensity vi, 1≤i≤N, by signal intensity viSend to server；Server obtains each The signal intensity v that signal receiving device is senti, to signal intensity viSequence, choose signal corresponding to 3 values of maximum and receive dress Put as fixing point, represented respectively with m, n, p by the order of signal intensity from big to small；3 fixing points are calculated to table tennis Distance, it is designated as rm、rn、rp。
  9. 9. the table tennis ball positioning method according to claim 6 based on absolute distance, its step 3 are characterised by：With 3 Point centered on the coordinate of fixing point, with each fixing point and the distance r of table tennism、rn、rpMake sphere for radius, be designated as sphere respectively M, sphere n and sphere p, if 3 spheres intersect at a point, the point coordinates value is the x-y-z triaxial coordinate values of table tennis, is designated as (x,y,z)；If sphere m intersects a curved surface with other spheres, the center-of-mass coordinate value of the curved surface is calculated, with center-of-mass coordinate value For the triaxial coordinate value of table tennis, it is designated as (x, y, z)；Otherwise judge that this signal strength data is interfered, without this number According to calculating current location.
  10. 10. the table tennis ball positioning method according to claim 6 based on absolute distance, its step 4 are characterised by：Transfer The table tennis x-y-z triaxial coordinates value (x, y, z) estimated, it is A and B that ping-pong table both sides are numbered respectively；When (x, y, z) is accorded with During the coordinate value tag of the number of compiling in collaboration with A ping-pong tables, then ball table instruction coordinate value h=A, the spatial value of playing a game of table tennis are (x,y,z,A)；Otherwise ball table instruction coordinate value h=B, the spatial value of playing a game of table tennis is (x, y, z, B)；Return to step 2.
CN201711071920.2A 2017-11-03 2017-11-03 A kind of table tennis ball positioning method and system based on absolute distance Pending CN107694072A (en)

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Application publication date: 20180216