CN107930045A - A kind of table tennis ball positioning method and system based on infrared induction - Google Patents
A kind of table tennis ball positioning method and system based on infrared induction Download PDFInfo
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- CN107930045A CN107930045A CN201711071503.8A CN201711071503A CN107930045A CN 107930045 A CN107930045 A CN 107930045A CN 201711071503 A CN201711071503 A CN 201711071503A CN 107930045 A CN107930045 A CN 107930045A
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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
- 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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of table tennis ball positioning method and system based on infrared induction.Its system includes establishing locus Regional coordinate system module, the horizontal zone coordinate value module for obtaining infrared induction data module, calculating table tennis, the vertical coordinate value module for calculating table tennis.Establish the locus Regional coordinate system (v being made of the vertical coordinate h above the horizontal zone coordinate v and ping-pong table above ping-pong table, h), wherein horizontal zone coordinate v is the numbering for producing the infrared sensor for meeting table tennis voltage range, and the value of vertical coordinate h is the vertical range of the table tennis and infrared induction array of the difference t calculating that the moment is sent and received according to infrared ray.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
Technical field
The invention belongs to smart table tennis Motion Technology field, determines more particularly to a kind of table tennis based on infrared induction
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 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 infrared induction and
System.
Infrared induction positioning refers to the infrared inductor timing transmitting infrared ray of deployment, is covered when there is object into infrared ray
After lid scope, infrared inductor can receive the infrared ray of object reflection, finally realize the positioning to object.Base of the present invention
In the table tennis system of infrared induction positioning, as shown in Figure 1, deployment infrared inductor array above ping-pong table.
The present invention the table tennis alignment system based on infrared induction, including establish locus Regional coordinate system module,
Infrared induction data module is obtained, the horizontal zone coordinate value module of table tennis is calculated, calculates the vertical coordinate value mould of table tennis
Block.
Establish locus Regional coordinate system module：Infrared sensor quantity above ping-pong table is denoted as M, and M is just whole
Number, it is x that M infrared sensor, (such as from left to right), which numbers, in some sequencei, 1≤i≤M；Establish by horizontal zone coordinate
The Regional coordinate system for being used to represent table tennis real-time spatial position of v and vertical coordinate h compositions, is denoted as (v, h)；Horizontal zone is sat
The value for marking v is the numbering of some infrared sensor, and when M is sufficiently large, each horizontal space region can be approximated to be a position
Point；The value of vertical coordinate h is the vertical range of table tennis and infrared induction array.
Obtain infrared induction data module：Infrared sensing array sends and connects according to sampling time interval T set in advance
Infrared ray is received, voltage data is obtained and infrared ray sends and receives the difference at moment, the data sending obtained to service
Device；Server obtains the matrix U of one 1 × M of M voltage data composition of same sampling instant, corresponding with element in matrix U
The difference that infrared ray sends and receives the moment is denoted as ti, 1≤i≤M.
Calculate the horizontal zone coordinate value module of table tennis：The infrared ray of infrared sensing array transmitting is by thing of different sizes
Body can produce different voltage after blocking.Table tennis is set to block the voltage threshold X and Y of infrared ray generation in advance.When in matrix U
Have and only 1 voltage data between x and y when, then judge table tennis in infrared induction region, record the voltage data and exist
Row number in matrix U is m, the value for being horizontal zone coordinate v with the corresponding infrared sensor numbering of the voltage data, into calculating
The vertical coordinate value module of table tennis；Otherwise judge that table tennis not in infrared induction region, returns and obtains infrared induction data
Module.
Calculate the vertical coordinate value module of table tennis：Transfer the corresponding infrared ray of element that row number in matrix U is m send with
The difference of the time of reception, is denoted as t, calculates the distance h=(St)/2 of table tennis and infrared inductor array, wherein S is infrared
The spread speed of line；Return and obtain infrared induction data module.
The system block diagram of table tennis alignment system based on infrared induction is as shown in Figure 2.
The table tennis ball positioning method based on infrared induction of the present invention is according to the following steps：
Step 1, establish locus Regional coordinate system and arrange parameter.
Infrared sensor quantity above ping-pong table is denoted as M, and M is positive integer, M infrared sensor in some sequence
(such as from left to right) numbering is xi, 1≤i≤M；Establish and be used to represent ping by what horizontal zone coordinate v and vertical coordinate h were formed
The Regional coordinate system of pang ball real-time spatial position, is denoted as (v, h)；The value of horizontal zone coordinate v is the volume of some infrared sensor
Number, when M is sufficiently large, each horizontal space region can be approximated to be a location point；The value of vertical coordinate h for table tennis with it is red
The vertical range of outer induction arrays.Sampling time interval T, sampling time interval T is set to be less than table tennis impact bead table twice
Average time interval (is counted according to historical data and obtained).Table tennis is set to block the voltage threshold X and Y of infrared ray generation.
Step 2, obtain infrared induction data.
Infrared sensing array sends and receives infrared ray according to sampling time interval T, obtains voltage data and infrared ray
The difference at moment is sent and received, the data sending obtained to server；Server obtains M electricity of same sampling instant
Data are pressed to form the matrix U of a 1 × M, the difference that infrared ray corresponding with element in matrix U sends and receives the moment is denoted as
ti, 1≤i≤M.
Step 3, the horizontal zone coordinate value for calculating table tennis.
When have in matrix U and only 1 voltage data between x and y when, then judge table tennis in infrared induction region
Interior, it is m to record row number of the voltage data in matrix U, is horizontal zone with the corresponding infrared sensor numbering of the voltage data
The value of domain coordinate v, enters step 4；Otherwise judge that table tennis does not enter into infrared induction region, return to step 2.
Step 4, the vertical coordinate value for calculating table tennis.
It is that the corresponding infrared ray of element of m sends and receives the difference at moment to transfer row number in matrix U, is denoted as t, calculates table tennis
The distance h=(St)/2 of pang ball and infrared inductor array, wherein S is the spread speed of infrared ray；Return to step 2.
Table tennis ball positioning method flow chart based on infrared induction, as shown in Figure 3.
The method and system of the present invention this have the advantage that：
(1) propose the horizontal zone coordinate represented by infrared sensor numbering, simply and effectively realize the level of table tennis
Position positions.
(2) infrared induction location technology is applied, can easily calculate the table tennis being kept in motion horizontal and vertical
Nogata to position.
Brief description of the drawings
Fig. 1 is the structure diagram of the table tennis system based on the positioning of infrared induction table tennis of the present invention；
Fig. 2 is the table tennis alignment system block diagram based on infrared induction of the present invention；
Fig. 3 is the table tennis ball positioning method flow chart based on infrared induction of the present invention；
Fig. 4 is the table-tennis system infrared sensor numbering schematic diagram of the embodiment of the present invention；
Embodiment
Elaborate below to the preferred embodiment of the present invention.
Infrared induction positioning refers to the infrared inductor timing transmitting infrared ray of deployment, is covered when there is object into infrared ray
After lid scope, infrared inductor can receive the infrared ray of object reflection, finally realize the positioning to object.Base of the present invention
In the table tennis system of infrared induction positioning, as shown in Figure 1, deployment infrared inductor array above ping-pong table, infrared
Inductor array launches and receiving infrared-ray, obtains voltage data and the difference at moment, then sends data to server,
Server storage data, calculate the position of table tennis.
In the present embodiment, infrared inductor array is deployed in the position directly above in ping-pong table face, is higher by table tennis desktop 3
Meter, equally distributed 24 infrared inductors are included in infrared inductor array, cover the horizontal zone above ping-pong table, such as
Shown in Fig. 4.
The present invention the table tennis alignment system based on infrared induction, including establish locus Regional coordinate system module,
Infrared induction data module is obtained, the horizontal zone coordinate value module of table tennis is calculated, calculates the vertical coordinate value mould of table tennis
Block.
Establish locus Regional coordinate system module：Infrared sensor quantity above ping-pong table is denoted as M, and M is just whole
Number, it is x that M infrared sensor, (such as from left to right), which numbers, in some sequencei, 1≤i≤M；Establish by horizontal zone coordinate
The Regional coordinate system for being used to represent table tennis real-time spatial position of v and vertical coordinate h compositions, is denoted as (v, h)；Horizontal zone is sat
The value for marking v is the numbering of some infrared sensor, and when M is sufficiently large, each horizontal space region can be approximated to be a position
Point；The value of vertical coordinate h is the vertical range of table tennis and infrared induction array.In the present embodiment, infrared array sensor bag
Containing 24 infrared sensors, i.e. M=24, is numbered according to order from left to right with capitalization English letter, as shown in figure 4, establishing
Locus Regional coordinate system, is denoted as (v, h)；The value of horizontal zone coordinate v is the numbering of some infrared sensor；Vertical coordinate
The value of h is the vertical range of table tennis and infrared induction array.
Obtain infrared induction data module：Infrared sensing array sends and connects according to sampling time interval T set in advance
Infrared ray is received, voltage data is obtained and infrared ray sends and receives the difference at moment, the data sending obtained to service
Device；Server obtains the matrix U of one 1 × M of M voltage data composition of same sampling instant, corresponding with element in matrix U
The difference that infrared ray sends and receives the moment is denoted as ti, 1≤i≤M.In the present embodiment, the sampling time interval T=1 of setting is micro-
Second, infrared generation circuit in infrared sensor launches infrared ray according to sampling time interval T, the infrared spy in infrared sensor
Slowdown monitoring circuit receives its corresponding infrared external reflection light, obtains voltage data and infrared ray sends and receives the difference at moment, institute
Data sending is obtained to server；The voltage data that server obtains forms the matrix U of 1 × M, and element number 24 is corresponding
The difference that infrared ray sends and receives the moment is denoted as ti, 1≤i≤24.
Calculate the horizontal zone coordinate value module of table tennis：The infrared ray of infrared sensing array transmitting is by thing of different sizes
Body can produce different voltage after blocking.Table tennis is set to block voltage data range threshold X~Y of infrared ray generation in advance.
When have in matrix U and only 1 voltage data between x and y when, then judge table tennis in infrared induction region, record should
Row number of the voltage data in matrix U is m, is horizontal zone coordinate v with the corresponding infrared sensor numbering of the voltage data
Value, into the vertical coordinate value module for calculating table tennis；Otherwise judge that not in infrared induction region, it is red to return to acquisition for table tennis
Outer sensing data module.In the present embodiment, table tennis is set to block X=1 millivolts of the voltage threshold of infrared-ray generation, Y=3 millis
Lie prostrate (mV), the voltage data that server obtains at this time forms matrix U, wherein not being 0 magnitude of voltage comprising two, is respectively
0.05mV and 2.3mV, has and only magnitude of voltage 2.3mV meets 1mV<2.3mV<3mV, then judge that table tennis enters infrared induction area
Domain, the corresponding infrared sensor numbering of 2.3mV magnitudes of voltage is F, then locus coordinate v=F, into the vertical of calculating table tennis
Coordinate value module.
Calculate the vertical coordinate value module of table tennis：Transfer the corresponding infrared ray of element that row number in matrix U is m send with
The difference of the time of reception, is denoted as t, calculates the distance h=(St)/2 of table tennis and infrared inductor array, wherein S is infrared
The spread speed of line；Return and obtain infrared induction data module.In the present embodiment, the infrared sensor of numbering F is corresponding infrared
Line sends and receives difference t=1.6 × 10 at moment-8S (second), calculates the vertical range h of table tennis and infrared inductor array
=(St)/2=2.4 meters, i.e. vertical coordinate value h=2.4 meters, wherein S=3 × 108Metre per second (m/s) (m/s).It is infrared to return to acquisition
Sensed data module.
The table tennis ball positioning method based on infrared induction of the present invention is according to the following steps：
Step 1, establish locus Regional coordinate system and arrange parameter.
Infrared sensor quantity above ping-pong table is denoted as M, and M is positive integer, M infrared sensor in some sequence
(such as from left to right) numbering is xi, 1≤i≤M；Establish and be used to represent ping by what horizontal zone coordinate v and vertical coordinate h were formed
The Regional coordinate system of pang ball real-time spatial position, is denoted as (v, h)；The value of horizontal zone coordinate v is the volume of some infrared sensor
Number, when M is sufficiently large, each horizontal space region can be approximated to be a location point；The value of vertical coordinate h for table tennis with it is red
The vertical range of outer induction arrays.Sampling time interval T, sampling time interval T is set to be less than table tennis impact bead table twice
Average time interval (is counted according to historical data and obtained).Table tennis is set to block the voltage threshold X and Y of infrared ray generation.This
In embodiment, infrared array sensor includes 24 infrared sensors, i.e. M=24, according to the capitalization English of order from left to right
Literary alpha code, as shown in figure 4, establishing locus Regional coordinate system, is denoted as (v, h)；The value of horizontal zone coordinate v is some
The numbering of infrared sensor；The value of vertical coordinate h is the vertical range of table tennis and infrared induction array；Between the setting sampling time
Every T=1 microseconds；It is 1 millivolt and 3 millivolts (mV) to set table tennis to block the voltage threshold of infrared-ray generation, i.e. X=1mV, Y
=3mV.
Step 2, obtain infrared induction data.
Infrared sensing array sends and receives infrared ray according to sampling time interval T, obtains voltage data and infrared ray
The difference at moment is sent and received, the data sending obtained to server；Server obtains M electricity of same sampling instant
Data are pressed to form the matrix U of a 1 × M, the difference that infrared ray corresponding with element in matrix U sends and receives the moment is denoted as
ti, 1≤i≤M.In the present embodiment, the infrared generation circuit in infrared sensor launches infrared ray according to sampling time interval T,
Infrared detection circuit in infrared sensor receives its corresponding infrared external reflection light, obtain voltage data and infrared ray send with
The difference of the time of reception, obtained data sending to server；The voltage data that server obtains forms the matrix U of 1 × M,
Element number is 24, and the difference that corresponding infrared ray sends and receives the moment is denoted as ti, 1≤i≤24.
Step 3, the horizontal zone coordinate value for calculating table tennis.
When have in matrix U and only 1 voltage data between x and y when, then judge table tennis in infrared induction region
Interior, it is m to record row number of the voltage data in matrix U, is horizontal zone with the corresponding infrared sensor numbering of the voltage data
The value of domain coordinate v, enters step 4；Otherwise judge that table tennis does not enter into infrared induction region, return to step 2.The present embodiment
In, server obtain voltage data form matrix U, wherein comprising two be 0 magnitude of voltage, be respectively 0.05mV and
2.3mV, has and only magnitude of voltage 2.3mV meets 1mV<2.3mV<3mV, then judge that table tennis enters infrared induction region, 2.3mV
The corresponding infrared sensor numbering of magnitude of voltage is F, then locus coordinate v=F, enters step 4.
Step 4, the vertical coordinate value for calculating table tennis.
It is that the corresponding infrared ray of element of m sends and receives the difference at moment to transfer row number in matrix U, is denoted as t, calculates table tennis
The distance h=(St)/2 of pang ball and infrared inductor array, wherein S is the spread speed of infrared ray；Return to step 2.This reality
Apply in example, the corresponding infrared ray of infrared sensor of numbering F sends and receives difference t=1.6 × 10 at moment-8S (second), calculates
Vertical range h=(St)/2=2.4 meters, i.e. vertical coordinate value h=2.4 meters, wherein S of table tennis and infrared inductor array
=3 × 108Metre per second (m/s) (m/s).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 infrared induction, it is characterised in that including establishing locus Regional coordinate system mould
Block, the horizontal zone coordinate value module for obtaining infrared induction data module, calculating table tennis, the vertical coordinate value for calculating table tennis
Module.
2. the table tennis alignment system according to claim 1 based on infrared induction, it establishes locus area coordinate
It is that module is characterized in that：Infrared sensor quantity above ping-pong table is denoted as M, and M is positive integer, and infrared sensor numbering is
xi, 1≤i≤M；Establish the area for being used to represent table tennis real-time spatial position being made of horizontal zone coordinate v and vertical coordinate h
Domain coordinate system, is denoted as (v, h), wherein the value of horizontal zone coordinate v be some infrared sensor numbering, the value of vertical coordinate h
For the vertical range of table tennis and infrared induction array.
3. the table tennis alignment system according to claim 1 based on infrared induction, it obtains infrared induction data module
It is characterized in that：Infrared sensing array sends and receives infrared ray according to sampling time interval T set in advance, obtains voltage number
According to this and infrared ray sends and receives the difference at moment, the data sending obtained to server；Server obtains same adopt
The M voltage data at sample moment forms the matrix U of a 1 × M, when infrared ray corresponding with element in matrix U sends and receives
The difference at quarter is denoted as ti, 1≤i≤M.
4. the table tennis alignment system according to claim 1 based on infrared induction, it calculates the horizontal zone of table tennis
Coordinate value module is characterized in that：When having in matrix U and only 1 voltage data is between voltage threshold X and Y set in advance
When, then table tennis is judged in infrared induction region, and it is m to record row number of the voltage data in matrix U, with the voltage data
The value that corresponding infrared sensor numbering is horizontal zone coordinate v, into the vertical coordinate value module for calculating table tennis；Otherwise sentence
Table tennis is determined not in infrared induction region, is returned and is obtained infrared induction data module.
5. the table tennis alignment system according to claim 1 based on infrared induction, it calculates the vertical coordinate of table tennis
Value module is characterized in that：It is that the corresponding infrared ray of element of m sends and receives the difference at moment to transfer row number in matrix U, note
For t, the distance h=(St)/2 of table tennis and infrared inductor array is calculated, wherein S is the spread speed of infrared ray；Return
Obtain infrared induction data module.
A kind of 6. table tennis ball positioning method based on infrared induction, it is characterised in that including：
Step 1, establish locus Regional coordinate system and arrange parameter；
Step 2, obtain infrared induction data；
Step 3, the horizontal zone coordinate value for calculating table tennis；
Step 4, the vertical coordinate value for calculating table tennis.
7. the table tennis ball positioning method according to claim 6 based on infrared induction, its step 1 are characterized in that：Table tennis
Infrared sensor quantity above ball table is denoted as M, and M is positive integer, and infrared sensor numbering is xi, 1≤i≤M；Establish by level
The Regional coordinate system for being used to represent table tennis real-time spatial position of area coordinate v and vertical coordinate h compositions, is denoted as (v, h)；Water
The value of flat area coordinate v is the numbering of some infrared sensor；The value of vertical coordinate h is hung down for table tennis and infrared induction array
Straight distance；Sampling time interval T is set；Table tennis is set to block the voltage data thresholds X and Y of infrared ray generation.
8. the table tennis ball positioning method according to claim 6 based on infrared induction, its step 2 are characterized in that：It is infrared
Sensor array sends and receives infrared ray according to sampling time interval T, when acquisition voltage data and infrared ray send and receive
The difference at quarter, the data sending obtained to server；The M voltage data that server obtains same sampling instant forms one
The matrix U of a 1 × M, the difference that infrared ray corresponding with element in matrix U sends and receives the moment are denoted as ti, 1≤i≤M.
9. the table tennis ball positioning method according to claim 6 based on infrared induction, its step 3 are characterized in that：Work as square
Battle array U in have and only 1 voltage data between x and y when, then judge table tennis in infrared induction region, record the voltage
Row number of the data in matrix U is m, the value for being horizontal zone coordinate v with the corresponding infrared sensor numbering of the voltage data, into
Enter step 4；Otherwise judge that table tennis does not enter into infrared induction region, return to step 2.
10. the table tennis ball positioning method according to claim 6 based on infrared induction, its step 4 are characterized in that：Transfer
Row number is that the corresponding infrared ray of element of m sends and receives the difference at moment in matrix U, is denoted as t, calculates table tennis and infrared sense
It is the spread speed of infrared ray to answer the distance h=(St)/2 of device array, wherein S；Return to step 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711071503.8A CN107930045A (en) | 2017-11-03 | 2017-11-03 | A kind of table tennis ball positioning method and system based on infrared induction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711071503.8A CN107930045A (en) | 2017-11-03 | 2017-11-03 | A kind of table tennis ball positioning method and system based on infrared induction |
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Family
ID=61933243
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| CN110801607A (en) * | 2019-11-13 | 2020-02-18 | 蚌埠学院 | Intelligent table tennis table system and score judgment method thereof |
| CN112121392A (en) * | 2020-09-10 | 2020-12-25 | 上海庞勃特科技有限公司 | Ping-pong skill and tactics analysis method and analysis device |
| US20210003454A1 (en) * | 2019-07-01 | 2021-01-07 | Snap-On Incorporated | Method and system for calibrating imaging system |
| US11709099B2 (en) | 2019-07-01 | 2023-07-25 | Snap-On Incorporated | Method and system for calibrating imaging system |
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| US7520827B1 (en) * | 2008-06-04 | 2009-04-21 | Charles Michael Esposito | Electronic table tennis |
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Application publication date: 20180420 |