CN107899211A - A kind of table tennis ball positioning method and system based on relative distance difference - Google Patents

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

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Publication number
CN107899211A
CN107899211A CN201711071936.3A CN201711071936A CN107899211A CN 107899211 A CN107899211 A CN 107899211A CN 201711071936 A CN201711071936 A CN 201711071936A CN 107899211 A CN107899211 A CN 107899211A
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table tennis
coordinate value
relative distance
signal strength
game
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CN201711071936.3A
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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 CN201711071936.3A priority Critical patent/CN107899211A/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
    • A63B24/0021—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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • 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
    • A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch
    • 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
    • A63B2024/0053—Tracking a path or terminating locations for locating an object, e.g. a lost ball
    • 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
    • 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 relative distance difference.Its system includes establishing space coordinates module of playing a game, screening signal strength and calculates relative distance difference module, estimation table tennis triaxial coordinate value module, the spatial value module of playing a game for calculating table tennis.The wireless signal of table tennis transmission is received by multiple signal receiving devices, the relative distance two-by-two that each signal receiving device and table tennis are calculated by the difference of signal strength is poor, using the triaxial coordinate value of the hyperboloid approximation method estimation table tennis based on table tennis feature, ball table instruction coordinate value is calculated again, so as to form complete spatial value of playing a game.The present invention solves the problems, such as the real time position that the table tennis system based on Internet of Things cannot simply and effectively calculate the table tennis being kept in motion.

Description

A kind of table tennis ball positioning method and system based on relative distance difference
Technical field
The invention belongs to smart table tennis Motion Technology field, more particularly to a kind of table tennis based on relative distance difference Localization 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 calculate table tennis by filtering and tracking The shortcomings that position of pang ball, this method is computation complexity height.
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 the vibration signal produced, the intensity and generation time of more multiple vibration signals, so as to calculate hitting for table tennis Hit position and movement locus substantially, the shortcomings that program is cannot to position the skyborne position of table tennis.
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 cannot 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 relative distance difference And system.
Signal strength location technology refers to calculate signal launch point and signal receiving point by the signal strength received Distance so that the technology of positioning signal launch point.The present invention uses the table tennis system based on signal strength 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 relative distance difference of the present invention, including establish space coordinates module of playing a game, sieve Select signal strength and calculate relative distance difference module, estimation table tennis triaxial coordinate value module, the space of playing a game for calculating table tennis Coordinate value module.
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, N number of signal receiving device according to certain order (such as from left to right or from upper Order under) 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 table Show 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 Upward perpendicular to desktop, h represents ball table instruction coordinate value.
Screen signal strength and calculate relative distance difference module：The sender unit of deployment according to setting in advance in table tennis The sampling time interval T strength of transmitted signals put is the wireless signal of u；N number of signal receiving device receives wireless signal, detection letter Number intensity vi, 1≤i≤N, by signal strength viSend to server；It is strong that server obtains the signal that each signal receiving device is sent Spend vi, according to matrix sort method to signal strength viSequence, chooses the corresponding signal receiving device of 3 values of maximum as solid Fixed point, is represented with m, n, p respectively by the order of signal strength from big to small, and three signals are calculated by the method for making difference two-by-two The difference of intensity, is denoted as v respectivelymn、vnp、vpm, 3 fixing points are calculated to table tennis according to wireless signal transmission distance calculation formula Relative distance it is poor, be denoted as rmn、rnp、rpm。
Estimate table tennis triaxial coordinate value module：Signal strength is bigger, the signaling point receive signal when interference it is smaller, can It is higher by property.Respectively using the coordinate of 3 fixing points as focus, with relative distance difference r two-by-twomn、rnp、rpmMake for major axis unilateral double Curved surface, is denoted as curved surface m, curved surface n and curved surface p respectively；If 3 surface intersections, in a bit, which is table tennis X-y-z triaxial coordinate values, are denoted as (x, y, z)；If curved surface m and other surface intersections are into a curved surface, according to center of mass theorem 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 denoted as (x, y, z)；Otherwise judge This time 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 the ping-pong table coordinate value tag of numbering A, 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 for calculating table tennis, return to screening signal strength and calculate phase Adjust the distance difference module.
The system block diagram of table tennis alignment system based on relative distance difference is as shown in Figure 2.
The table tennis ball positioning method based on relative distance difference 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, N number of signal receiving device is i, 1≤i according to certain order (such as order from left to right or from top to bottom) numbering ≤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 original The coordinate value for the x-y-z three-axis references that point is established, x-axis and y-axis composition horizontal plane, z-axis is upward perpendicular to desktop, and h represents ball Table indicates coordinate value.Sampling time interval T is set.
Step 2, screening signal strength and calculating relative distance are poor.
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 strength vi, 1≤i≤N, by signal strength viSend to server；Clothes Be engaged in the signal strength v that each signal receiving device of device acquisition is senti, according to matrix sort method to signal strength viSequence, chooses most The big corresponding signal receiving device of 3 values uses m, n, p table respectively as fixing point by the order of signal strength from big to small Show, the method by making difference two-by-two calculates the difference of three signal strengths, is denoted as v respectivelymn、vnp、vpm, passed according to wireless signal The relative distance that defeated distance calculation formula calculates 3 fixing points to tablees tennis is poor, is denoted as rmn、rnp、rpm。
Step 3, estimation table tennis triaxial coordinate value.
Respectively using the coordinate of 3 fixing points as focus, with relative distance difference r two-by-twomn、rnp、rpmMake unilateral hyperbolic for major axis Face, is denoted as curved surface m, curved surface n and curved surface p respectively；If 3 surface intersections, in a bit, which is the x- of table tennis Y-z triaxial coordinate values, are denoted as (x, y, z)；If curved surface m and other surface intersections are into a curved surface, 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 denoted as (x, y, z)；Otherwise this is judged Secondary signal strength data is interfered, and current location is calculated without 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, according to the coordinate value feature calculation ball table of numbering A and numbering B ping-pong tables instruction coordinate value h；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 relative distance difference, as shown in Figure 3.
The method and system of the present invention this have the advantage that：
(1) signal strength location technology is used, table tennis positioning can be carried out in real time according to relative distance difference algorithm.
(2) table tennis ball position is calculated using three most strong signal strength values, can effectively excludes the signal being easily disturbed.
(3) using the data of peak signal point computation complexity is reduced as the benchmark of position estimation.
Brief description of the drawings
Fig. 1 is the structure diagram of the table tennis system based on signal strength location technology of the present invention；
Fig. 2 is the table tennis alignment system block diagram based on relative distance difference of the present invention；
Fig. 3 is the table tennis ball positioning method flow chart based on relative distance difference 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
Elaborate below to the preferred embodiment of the present invention.
The present invention is based on signal strength location technology.Signal strength location technology refer to by the signal strength received come Signal launch point and the distance of signal receiving point are calculated, so that 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, and detects signal Signal strength data, is then sent the real time position for server, server storage data, calculating table tennis by intensity.
The table tennis alignment system based on relative distance difference of the present invention, including establish space coordinates module of playing a game, sieve Select signal strength and calculate relative distance difference module, estimation table tennis triaxial coordinate value module, the space of playing a game for calculating table tennis Coordinate value module.
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, N number of signal receiving device according to certain order (such as from left to right or from upper Order under) 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 table Show 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 Upward perpendicular to desktop, h represents ball table instruction coordinate value.In the present embodiment, 6 signal receiving devices are deployed in table tennis respectively At platform corner and net both ends, i.e. N=6, is 1,2,3,4,5,6 according to serial number from left to right, by ping-pong table two It is A and B that side is numbered respectively, as shown in Figure 4；Foundation is played a game space coordinates, its coordinate value is expressed as (x, y, z, h), wherein (x, Y, z) represent the value of three-axis reference established using ping-pong table center as origin, the x-axis of three-axis reference is along table tennis Table narrow side to the right, y-axis be along ping-pong table central axes to the right, z-axis be perpendicular to ground upwardly；H represents ball table instruction coordinate value, 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 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.
Screen signal strength and calculate relative distance difference module：The sender unit of deployment according to setting in advance in table tennis The sampling time interval T strength of transmitted signals put is the wireless signal of u；N number of signal receiving device receives wireless signal, detection letter Number intensity vi, 1≤i≤N, by signal strength viSend to server；It is strong that server obtains the signal that each signal receiving device is sent Spend vi, according to matrix sort method to signal strength viSequence, chooses the corresponding signal receiving device of 3 values of maximum as solid Fixed point, is represented with m, n, p respectively by the order of signal strength from big to small, and three signals are calculated by the method for making difference two-by-two The difference of intensity, is denoted as v respectivelymn、vnp、vpm, 3 fixing points are calculated to table tennis according to wireless signal transmission distance calculation formula The relative distance of ball is poor, is denoted as rmn、rnp、rpm.In the present embodiment, the signal inside table tennis is sent according to sampling time interval T The signal strength u=10dBm (dBm is signal power unit), working frequency 2.4GHz=for the wireless signal that device is sent 24000 megahertzs (MHz), N number of signal receiving device receive wireless signal, and detection signal strength 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 be 1, the numbering of fixing point n is 2, and the numbering of fixing point p is 3.It is strong that method by making difference two-by-two obtains three signals The difference of degree, is respectively v12=6dBm, v23=0dBm, v31=-6dBm.Wireless signal transmission distance calculation formula is：Los= 32.44+20lgd+20lgf, wherein Los represent transmit power and receive the difference of power, and d is transmission range, and f is working frequency； It is poor that the relative distance of 3 fixing points to tablees tennis is calculated according to formula, is respectively r12=-0.5 meter, r23=0 meter, r31=0.5 Rice.
Estimate table tennis triaxial coordinate value module：Signal strength is bigger, the signaling point receive signal when interference it is smaller, can It is higher by property.Respectively using the coordinate of 3 fixing points as focus, with relative distance difference r two-by-twomn、rnp、rpmMake for major axis unilateral double Curved surface, is denoted as curved surface m, curved surface n and curved surface p respectively；If 3 surface intersections, in a bit, which is table tennis X-y-z triaxial coordinate values, are denoted as (x, y, z)；If curved surface m and other surface intersections are into a curved surface, according to center of mass theorem 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 denoted as (x, y, z)；Otherwise judge This time signal strength data is interfered, and current location is calculated without this data.In the present embodiment, the x-y-z of 3 fixing points Triaxial coordinate value is respectively (x1,y1,z1)=(- 0.7625, -1.37,0), (x2,y2,z2)=(0.7625, -1.37,0), (x3, y3,z3)=(- 0.7625,0,0), respectively with, two-by-two for focus, respective relative distance difference is made unilateral for major axis in 3 coordinate values Hyperboloid, is denoted as curved surface 1, curved surface 2 and curved surface 3 respectively, and curved surface 1 is crossed to form a curved surface area with curved surface 2 and curved surface 3, presses 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), and three axis of table tennis are sat Scale value (x, y, z)=(- 0.42, -1.25,0.34).
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 the ping-pong table coordinate value tag of numbering A, 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 for calculating table tennis, return to screening signal strength and calculate phase Adjust the distance difference module.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 the table tennis triaxial coordinate (x, y, z) that estimates=(- 0.42, -1.25, 0.34), wherein y<0, then ball table instruction coordinate value h=A, table tennis play a game spatial value for (- 0.42, -1.25,0.34, A).Return to screening signal strength and calculate relative distance difference module.
The table tennis ball positioning method based on relative distance difference 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, N number of signal receiving device is i, 1≤i according to certain order (such as order from left to right or from top to bottom) numbering ≤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 original The coordinate value for the x-y-z three-axis references that point is established, x-axis and y-axis composition horizontal plane, z-axis is upward perpendicular to desktop, and h represents ball Table indicates coordinate value.Sampling time interval T is set.In the present embodiment, 6 signal receiving devices are deployed in table tennis table four respectively At angle and net both ends, i.e. N=6, is 1,2,3,4,5,6 according to serial number from left to right, by ping-pong table both sides point Bian Hao not be A and B, as shown in Figure 4；Foundation is played a game space coordinates, its coordinate value is expressed as (x, y, z, h), wherein (x, y, z) Represent the value of three-axis reference established using ping-pong table center as origin, the x-axis of three-axis reference is narrow along ping-pong table Side to the right, y-axis be along ping-pong table central axes to the right, z-axis be perpendicular to ground upwardly；H represents ball table instruction coordinate value, h etc. In 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.When sampling is set Between be spaced T=1 microseconds (μ s).
Step 2, screening signal strength and calculating relative distance are poor.
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 strength vi, 1≤i≤N, by signal strength viSend to server；Clothes Be engaged in the signal strength v that each signal receiving device of device acquisition is senti, according to matrix sort method to signal strength viSequence, chooses most The big corresponding signal receiving device of 3 values uses m, n, p table respectively as fixing point by the order of signal strength from big to small Show, the method by making difference two-by-two calculates the difference of three signal strengths, is denoted as v respectivelymn、vnp、vpm, passed according to wireless signal The relative distance that defeated distance calculation formula calculates 3 fixing points to tablees tennis is poor, is denoted as rmn、rnp、rpm.In the present embodiment, table tennis (dBm is the signal strength u=10dBm for the wireless signal that signal inside pang ball is sent according to sampling time interval T dispensing devices Signal power unit), working frequency is 2.4GHz=24000 megahertzs (MHz), and N number of signal receiving device receives wireless signal, It is respectively v to detect signal strength data1=-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 solid Fixed point, it is respectively 1,2 and 3 that it, which is numbered, i.e. the numbering of fixing point m is 1, and the numbering of fixing point n is 2, and the numbering of fixing point p is 3. The difference of three signal strengths is obtained by the method for making difference two-by-two, is respectively v12=6dBm, v23=0dBm, v31=-6dBm.Nothing Line signal transmission distance calculation formula is：Los=32.44+20lgd+20lgf, wherein Los represent transmit power with receiving power Difference, d is transmission range, and f is working frequency；It is poor that the relative distance of 3 fixing points to tablees tennis is calculated according to formula, respectively For r12=-0.5 meter, r23=0 meter, r31=0.5 meter.
Step 3, estimation table tennis triaxial coordinate value.
Respectively using the coordinate of 3 fixing points as focus, with relative distance difference r two-by-twomn、rnp、rpmMake unilateral hyperbolic for major axis Face, is denoted as curved surface m, curved surface n and curved surface p respectively；If 3 surface intersections, in a bit, which is the x- of table tennis Y-z triaxial coordinate values, are denoted as (x, y, z)；If curved surface m and other surface intersections are into a curved surface, 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 denoted 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, the x-y-z tri- of 3 fixing points Axial coordinate value is respectively (x1,y1,z1)=(- 0.7625, -1.37,0), (x2,y2,z2)=(0.7625, -1.37,0), (x3,y3, z3)=(- 0.7625,0,0), respectively with, two-by-two for focus, respective relative distance difference is made unilateral double for major axis in 3 coordinate values Curved surface, is denoted as curved surface 1, curved surface 2 and curved surface 3 respectively, and curved surface 1 is crossed to form a curved surface area with curved surface 2 and curved surface 3, according to The center-of-mass coordinate value that existing center of mass theorem calculates the curved surface area is (- 0.42, -1.25,0.34), the triaxial coordinate of table tennis It is worth (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, according to the coordinate value feature calculation ball table of numbering A and numbering B ping-pong tables instruction coordinate value h；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 table tennis alignment system based on relative distance difference, it is characterised in that including establishing space coordinates mould of playing a game Block, screening signal strength and calculating relative distance difference module, estimation table tennis triaxial coordinate value module, calculate playing a game for table tennis Spatial value module.
2. the table tennis alignment system according to claim 1 based on relative distance difference, it establishes space coordinates of playing a game Module is characterized in that：Server obtains the information of each component in table tennis system, and note signal receiving device number is N, N It 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. the table tennis alignment system according to claim 1 based on relative distance difference, it screens signal strength and calculating Relative distance difference module is characterized in that：The sender unit of deployment is according to sampling time interval set in advance in table tennis T strength of transmitted signals is the wireless signal of u；N number of signal receiving device receives wireless signal, detection signal strength vi, 1≤i≤ N, by signal strength viSend to server；Server obtains the signal strength v that each signal receiving device is senti, to signal strength viSequence, chooses the corresponding signal receiving device of 3 values of maximum as fixing point, by signal strength order from big to small point Do not represented with m, n, p, the method by making difference two-by-two calculates the difference of three signal strengths, is denoted as v respectivelymn、vnp、vpm, calculate The relative distance of 3 fixing points to tablees tennis is poor, is denoted as rmn、rnp、rpm。
4. the table tennis alignment system according to claim 1 based on relative distance difference, it estimates table tennis triaxial coordinate Value module is characterized in that：Respectively using the coordinate of 3 fixing points as focus, with relative distance difference r two-by-twomn、rnp、rpmFor major axis Make unilateral hyperboloid, be denoted as curved surface m, curved surface n and curved surface p respectively；If 3 surface intersections, in a bit, which is The x-y-z triaxial coordinate values of table tennis, are denoted as (x, y, z)；If curved surface m, into a curved surface, is calculated with other surface intersections The center-of-mass coordinate value of the curved surface, the triaxial coordinate value using center-of-mass coordinate value as table tennis, is denoted as (x, y, z)；Otherwise judge this time Signal strength data is interfered, and current location is calculated without this data.
5. the table tennis alignment system according to claim 1 based on relative distance difference, it calculates the sky of playing a game of table tennis Between coordinate value module be characterized in that：The table tennis x-y-z triaxial coordinates value (x, y, z) estimated is transferred, by ping-pong table two It is A and B that side is numbered 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 seat of playing a game of table tennis Scale value is (x, y, z, B)；Return to screening signal strength and calculate relative distance difference module.
A kind of 6. table tennis ball positioning method based on relative distance difference, it is characterised in that including：
Step 1, establish space coordinates of playing a game；
Step 2, screening signal strength and calculating relative distance are poor；
Step 3, estimation table tennis triaxial coordinate value；
Step 4, the spatial value of playing a game for calculating table tennis.
7. the table tennis ball positioning method according to claim 6 based on relative distance difference, its step 1 are characterized in that：Clothes Business 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, letter Number 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 table Show 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 Upward perpendicular to desktop, h represents ball table instruction coordinate value；Sampling time interval T is set.
8. the table tennis ball positioning method according to claim 6 based on relative distance difference, its step 2 are characterized in that：Ping The sender unit of deployment is according to the wireless signal that sampling time interval T strength of transmitted signals set in advance is u in pang ball； N number of signal receiving device receives wireless signal, detection signal strength vi, 1≤i≤N, by signal strength viSend to server；Clothes Be engaged in the signal strength v that each signal receiving device of device acquisition is senti, to signal strength viSequence, 3 values for choosing maximum are corresponding Signal receiving device is represented, by making difference two-by-two with m, n, p respectively as fixing point by the order of signal strength from big to small Method calculates the difference of three signal strengths, is denoted as v respectivelymn、vnp、vpm, 3 fixing points are calculated to the relative distance of table tennis Difference, is denoted as rmn、rnp、rpm。
9. the table tennis ball positioning method according to claim 6 based on relative distance difference, its step 3 are characterized in that：Point Not using the coordinate of 3 fixing points as focus, with relative distance difference r two-by-twomn、rnp、rpmMake unilateral hyperboloid for major axis, remember respectively For curved surface m, curved surface n and curved surface p；In a bit, if which sits 3 surface intersections for tri- axis of x-y-z of table tennis Scale value, is denoted as (x, y, z)；If curved surface m and other surface intersections into a curved surface, calculate the center-of-mass coordinate value of the curved surface, Triaxial coordinate value using center-of-mass coordinate value as table tennis, is denoted as (x, y, z)；Otherwise judge that this signal strength data is done Disturb, current location is calculated without this data.
10. the table tennis ball positioning method according to claim 6 based on relative distance difference, its step 4 are characterized in that：Adjust The table tennis x-y-z triaxial coordinates value (x, y, z) estimated is taken, it is A and B that ping-pong table both sides are numbered respectively；As (x, y, z) When meeting the coordinate value tag of numbering 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.
CN201711071936.3A 2017-11-03 2017-11-03 A kind of table tennis ball positioning method and system based on relative distance difference Withdrawn CN107899211A (en)

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