CN109847313A - A kind of fight ball training straight punch based on acceleration is kicked off recognition methods and system - Google Patents

A kind of fight ball training straight punch based on acceleration is kicked off recognition methods and system Download PDF

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Publication number
CN109847313A
CN109847313A CN201910267787.0A CN201910267787A CN109847313A CN 109847313 A CN109847313 A CN 109847313A CN 201910267787 A CN201910267787 A CN 201910267787A CN 109847313 A CN109847313 A CN 109847313A
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CN
China
Prior art keywords
acceleration
fight ball
straight punch
kicked
fight
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CN201910267787.0A
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Chinese (zh)
Inventor
严军荣
卢玉龙
江雅芬
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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 CN201910267787.0A priority Critical patent/CN109847313A/en
Publication of CN109847313A publication Critical patent/CN109847313A/en
Priority to CN201911363221.4A priority patent/CN111790128B/en
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Abstract

The fight ball training straight punch based on acceleration kicks off recognition methods and system that the invention discloses a kind of.Its method is comprising steps of whether the acceleration information of acquisition fight ball, identification are fought with before whether ball is effectively struck, judges whether it is straight punch batting, judging boxing in weak stationary state.Method and system of the invention solve and cannot identify the technical issues of straight punch is kicked off.

Description

A kind of fight ball training straight punch based on acceleration is kicked off recognition methods and system
Technical field
The invention belongs to intelligent fighting training field, in particular to a kind of fight ball training straight punch based on acceleration is kicked off Recognition methods and system.
Background technique
204972956 U of Authorization Notice No. CN is the utility model of one entitled " a kind of fight faculty training device ", Including fixator, elastic rope (elastic string) and impact object (fight ball), which is used for personal boxing.
Shot when using boxing training device is broadly divided into straight punch batting and folded leg of bending the knee is batted two kinds.
But current boxing training device can neither automatically record effective hitting number, can not effectively distinguish the dynamic of batting Make.In order to effectively record fight ball number of blows and shot, needs to judge whether it is straight punch and kick off.This patent proposes thus A kind of fight ball training straight punch based on acceleration is kicked off recognition methods and system.
Summary of the invention
The technical problem to be solved by the present invention is to cannot identify the problem of straight punch is kicked off, propose a kind of based on acceleration Fight ball training straight punch is kicked off recognition methods and system.
Straight punch batting refers to the movement of straight-arm punch impact fight ball, and fight ball is several by the pressure direction that straight punch strikes The direction of horizontal (upper and lower deviation angle very little).
The present invention relies on intelligent fighting training system as shown in Figure 1, including fixator (1), elastic string (2), fight ball (3), further include the inertial navigation sensors (31) in detection fight ball acceleration direction and size, inertial navigation sensors are detected Data carry out calculation process program and run program computer.The computer of the operation program refers to insertion fight ball In microprocessor remote server or using APP, webpage, wechat small routine terminal any one or multinomial combination.
Fight ball training straight punch based on acceleration of the invention is kicked off recognition methods, comprising the following steps:
The acceleration information of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection, acceleration are obtained Value anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number.
The inertial navigation sensors are made of gyroscope and accelerograph and are deployed in inside fight ball, fight for detecting The acceleration direction of batting and size.
Whether identification fight ball is effectively struck: being calculated fight ball according to the acceleration value of current time and last moment and is added Speed transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration threshold value set in advance is greater than A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not struck effectively, tie Beam.
The fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is power set in advance Weight coefficient.
The instantaneous acceleration threshold value A set in advance is greater than fight ball and collides institute's band by light touch or by external object The instantaneous acceleration changing value come.
Judge whether it is straight punch batting: vertical direction vectorIt indicates, calculates the folder in acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than straight punch set in advance with 90 ° of deviation value to hit Ball angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate.
The angle in the acceleration direction and vertical direction
Whether be in weak stationary state before judging boxing: the continuous N number of fight ball detected before transferring current time accelerates Angle value is denoted as array p [N], and wherein N value is arranged in advance；It is set in advance weak quiet to judge whether the value in array p [N] is both less than Only state acceleration rate threshold P is determined and is opened at this time for fight ball training straight punch if so, being in weak stationary state before determining boxing Ball；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
The weak stationary state refers to that fight ball remains static or faint swing state.
Prompt successfully straight punch kick off (optional): when fight with ball training straight punch kick off when, using voice, vibration or the side of display Formula prompt user's success straight punch is kicked off.
Fight ball training straight punch based on acceleration of the invention is kicked off identifying system, comprising:
Inertial navigation sensors；
Computer；
And
One or more programs, wherein one or more of programs are stored in the memory of the computer, and And be configured to be executed by the processor of the computer, described program includes:
The acceleration information module of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection is obtained, is added Velocity amplitude anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number.
The inertial navigation sensors are made of gyroscope and accelerograph and are deployed in inside fight ball, fight for detecting The acceleration direction of batting and size.
Whether identification fight ball is effectively struck module: being calculated and is fought with according to the acceleration value of current time and last moment Ball acceleration transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration set in advance is greater than Threshold value A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not hit effectively It beats, terminates.
The fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is power set in advance Weight coefficient.
The instantaneous acceleration threshold value A set in advance is greater than fight ball and collides institute's band by light touch or by external object The instantaneous acceleration changing value come.
Judge whether it is straight punch batting module: vertical direction vectorIt indicates, calculates acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than with 90 ° of deviation value set in advance straight It fists the goal angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate.
The angle in the acceleration direction and vertical direction
Whether weak stationary state module is in front of judging boxing: transferring the continuous N number of fight ball detected before current time Acceleration value is denoted as array p [N], and wherein N value is arranged in advance；Judge whether the value in array p [N] is both less than set in advance Weak stationary state acceleration rate threshold P is determined straight for fight ball training at this time if so, being in weak stationary state before determining boxing Fist is kicked off；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
The weak stationary state refers to that fight ball remains static or faint swing state.
Prompt successfully straight punch kick off module (optional module): when fight with ball training straight punch kick off when, using voice, vibrate or The mode of display prompts user's success straight punch to kick off.
Present invention has the advantage that
(1) whether instantaneous acceleration variable quantity when being struck according to fight ball is greater than threshold value, can simply and accurately sentence It is disconnected whether to carry out effective hitting, exclude the stress interference of non-impact；
It (2), can be simply and accurately according to fight ball acceleration direction and vertical direction angle and 90 degree of deviation value Judge whether to straight punch batting；
(3) whether be approximately equal to 0 according to fight ball acceleration value, can simple and accurate judgement fight ball whether be in weak Stationary state kicks off to provide foundation for identification straight punch.
Detailed description of the invention
Fig. 1 is the intelligent fighting training schematic device that the present invention relies on；
Fig. 2 is that the fight ball training straight punch based on acceleration of the embodiment of the present invention one is kicked off recognition methods flow chart；
Fig. 3 is that the fight ball training straight punch based on acceleration of the embodiment of the present invention two is kicked off recognition methods flow chart；
Fig. 4 is that the fight ball training straight punch based on acceleration of the embodiment of the present invention three is kicked off identifying system structural representation Figure；
Fig. 5 is that the fight ball training straight punch based on acceleration of the embodiment of the present invention four is kicked off identifying system structural representation Figure.
Specific embodiment
It elaborates below to the preferred embodiment of the present invention.
The present invention relies on intelligent fighting training system as shown in Figure 1, including fixator (1), elastic string (2), fight ball (3), further include the inertial navigation sensors (31) in detection fight ball acceleration magnitude and direction, inertial navigation sensors are detected Data carry out calculation process program and run program server.The computer of the operation program refers to insertion fight ball In microprocessor remote server or using APP, webpage, wechat small routine terminal any one or multinomial combination.
Embodiment one, a kind of fight ball training straight punch based on acceleration are kicked off recognition methods.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off recognition methods, as follows:
The acceleration information of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection, acceleration are obtained Value anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number.
The inertial navigation sensors are made of gyroscope and accelerograph and are deployed in inside fight ball, fight for detecting The acceleration direction of batting and size.In the present embodiment, sampling time interval set in advance is 0.5 second, is obtained in fight ball The acceleration information for the inertial navigation sensors timing detection that portion is equipped with, the acceleration value a that current sample time obtainsn=160 Rice/square the second.The coordinate system of gyroscope is that x-axis and y-axis constitute horizontal plane herein, and z-axis indicates acceleration side vertically upward, with this To vector value
Whether identification fight ball is effectively struck: being calculated fight ball according to the acceleration value of current time and last moment and is added Speed transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration threshold value set in advance is greater than A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not struck effectively, tie Beam.
The fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is power set in advance Weight coefficient.
The instantaneous acceleration threshold value A set in advance is greater than fight ball and collides institute's band by light touch or by external object The instantaneous acceleration changing value come.In the present embodiment, instantaneous acceleration brought by touching or colliding is deactivated according to fight ball Instantaneous acceleration threshold value A=100 meter/square second, current time a are setn=160, last moment an-1=0, power set in advance Weight coefficient k1=k2=1, then calculate fight ball acceleration transient change amount Δ an=k1·an-k2·an-1=160 > A determines to work as Preceding moment fight ball is effectively struck.
Judge whether it is straight punch batting: vertical direction vectorIt indicates, calculates the folder in acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than straight punch set in advance with 90 ° of deviation value to hit Ball angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate.
The angle in the acceleration direction and vertical directionIn the present embodiment, vertically Direction is expressed as vectorCalculate the angle in acceleration direction and vertical direction Straight punch batting set in advance angle Degree deviates threshold valueThe angle in this brief acceleration direction and vertical directionDeviation value with 90 ° isThen determine to bat at this time for straight punch.
Whether be in weak stationary state before judging boxing: the continuous N number of fight ball detected before transferring current time accelerates Angle value is denoted as array p [N], and wherein N value is arranged in advance；It is set in advance weak quiet to judge whether the value in array p [N] is both less than Only state acceleration rate threshold P is determined and is opened at this time for fight ball training straight punch if so, being in weak stationary state before determining boxing Ball；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
The weak stationary state refers to that fight ball remains static or faint swing state.In the present embodiment, set in advance N=5 is set, the continuous N number of fight ball acceleration value detected before current time is transferred, is denoted as array p [N]=[0 0.01 0.04 0 0], the weak stationary state acceleration rate threshold P=0.05 meter/square second set in advance, the value in array p [N] is both less than at this time P is in weak stationary state before determining boxing, determines and kicks off at this time for fight ball training straight punch.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off recognition methods flow chart, as shown in Figure 2.
Embodiment two, a kind of fight ball training straight punch based on acceleration are kicked off recognition methods.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off recognition methods, as follows:
The acceleration information of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection, acceleration are obtained Value anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number.
The inertial navigation sensors are made of gyroscope and accelerograph and are deployed in inside fight ball, fight for detecting The acceleration direction of batting and size.In the present embodiment, sampling time interval set in advance is 0.5 second, is obtained in fight ball The acceleration information for the inertial navigation sensors timing detection that portion is equipped with, the acceleration value a that current sample time obtainsn=160 Rice/square the second.The coordinate system of gyroscope is that x-axis and y-axis constitute horizontal plane herein, and z-axis indicates acceleration side vertically upward, with this To vector value
Whether identification fight ball is effectively struck: being calculated fight ball according to the acceleration value of current time and last moment and is added Speed transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration threshold value set in advance is greater than A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not struck effectively, tie Beam.
The fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is power set in advance Weight coefficient.
The instantaneous acceleration threshold value A set in advance is greater than fight ball and collides institute's band by light touch or by external object The instantaneous acceleration changing value come.In the present embodiment, instantaneous acceleration brought by touching or colliding is deactivated according to fight ball Instantaneous acceleration threshold value A=100 meter/square second, current time a are setn=160, last moment an-1=0, power set in advance Weight coefficient k1=k2=1, then calculate fight ball acceleration transient change amount Δ an=k1·an-k2·an-1=160 > A determines to work as Preceding moment fight ball is effectively struck.
Judge whether it is straight punch batting: vertical direction vectorIt indicates, calculates the folder in acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than straight punch set in advance with 90 ° of deviation value to hit Ball angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate.
The angle in the acceleration direction and vertical directionIn the present embodiment, vertically Direction is expressed as vectorCalculate the angle in acceleration direction and vertical direction Straight punch batting set in advance angle Degree deviates threshold valueThe angle in this brief acceleration direction and vertical directionDeviation value with 90 ° isThen determine to bat at this time for straight punch.
Whether be in weak stationary state before judging boxing: the continuous N number of fight ball detected before transferring current time accelerates Angle value is denoted as array p [N], and wherein N value is arranged in advance；It is set in advance weak quiet to judge whether the value in array p [N] is both less than Only state acceleration rate threshold P is determined and is opened at this time for fight ball training straight punch if so, being in weak stationary state before determining boxing Ball；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
The weak stationary state refers to that fight ball remains static or faint swing state.In the present embodiment, set in advance N=5 is set, the continuous N number of fight ball acceleration value detected before current time is transferred, is denoted as array p [N]=[0 0.01 0.04 0 0], the weak stationary state acceleration rate threshold P=0.05 meter/square second set in advance, the value in array p [N] is both less than at this time P is in weak stationary state before determining boxing, determines and kicks off at this time for fight ball training straight punch.
Prompt successfully straight punch kick off: when fight with ball training straight punch kick off when, prompted by the way of voice, vibration or display User's success straight punch is kicked off.In the present embodiment, current time batting is to kick off, and prompts to kick off by the way of vibrational feedback, institute The device of vibrational feedback is stated using existing vibrational feedback unit, is deployed in series of skills and tricks in boxing.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off recognition methods flow chart, as shown in Figure 3.
Embodiment three, a kind of fight ball training straight punch based on acceleration are kicked off identifying system.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off identifying system, comprising:
Inertial navigation sensors；
Computer；
And
One or more programs, wherein one or more of programs are stored in the memory of the computer, and And be configured to be executed by the processor of the computer, described program includes:
The acceleration information module of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection is obtained, is added Velocity amplitude anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number.
The inertial navigation sensors are made of gyroscope and accelerograph and are deployed in inside fight ball, fight for detecting The acceleration direction of batting and size.In the present embodiment, sampling time interval set in advance is 0.5 second, is obtained in fight ball The acceleration information for the inertial navigation sensors timing detection that portion is equipped with, the acceleration value a that current sample time obtainsn=160 Rice/square the second.The coordinate system of gyroscope is that x-axis and y-axis constitute horizontal plane herein, and z-axis indicates acceleration side vertically upward, with this To vector value
Whether identification fight ball is effectively struck module: being calculated and is fought with according to the acceleration value of current time and last moment Ball acceleration transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration set in advance is greater than Threshold value A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not hit effectively It beats, terminates.
The fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is power set in advance Weight coefficient.
The instantaneous acceleration threshold value A set in advance is greater than fight ball and collides institute's band by light touch or by external object The instantaneous acceleration changing value come.In the present embodiment, instantaneous acceleration brought by touching or colliding is deactivated according to fight ball Instantaneous acceleration threshold value A=100 meter/square second, current time a are setn=160, last moment an-1=0, power set in advance Weight coefficient k1=k2=1, then calculate fight ball acceleration transient change amount Δ an=k1·an-k2·an-1=160 > A determines to work as Preceding moment fight ball is effectively struck.
Judge whether it is straight punch batting module: vertical direction vectorIt indicates, calculates acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than with 90 ° of deviation value set in advance straight It fists the goal angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate.
The angle in the acceleration direction and vertical directionIn the present embodiment, vertically Direction is expressed as vectorCalculate the angle in acceleration direction and vertical direction Straight punch batting set in advance angle Degree deviates threshold valueThe angle in this brief acceleration direction and vertical directionDeviation value with 90 ° isThen determine to bat at this time for straight punch.
Whether weak stationary state module is in front of judging boxing: transferring the continuous N number of fight ball detected before current time Acceleration value is denoted as array p [N], and wherein N value is arranged in advance；Judge whether the value in array p [N] is both less than set in advance Weak stationary state acceleration rate threshold P is determined straight for fight ball training at this time if so, being in weak stationary state before determining boxing Fist is kicked off；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
The weak stationary state refers to that fight ball remains static or faint swing state.In the present embodiment, set in advance N=5 is set, the continuous N number of fight ball acceleration value detected before current time is transferred, is denoted as array p [N]=[0 0.01 0.04 0 0], the weak stationary state acceleration rate threshold P=0.05 meter/square second set in advance, the value in array p [N] is both less than at this time P is in weak stationary state before determining boxing, determines and kicks off at this time for fight ball training straight punch.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off identifying system structural schematic diagram, as shown in Figure 4.
Example IV, a kind of fight ball training straight punch based on acceleration are kicked off identifying system.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off identifying system, comprising:
Inertial navigation sensors；
Computer；
And
One or more programs, wherein one or more of programs are stored in the memory of the computer, and And be configured to be executed by the processor of the computer, described program includes:
The acceleration information module of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection is obtained, is added Velocity amplitude anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number.
The inertial navigation sensors are made of gyroscope and accelerograph and are deployed in inside fight ball, fight for detecting The acceleration direction of batting and size.In the present embodiment, sampling time interval set in advance is 0.5 second, is obtained in fight ball The acceleration information for the inertial navigation sensors timing detection that portion is equipped with, the acceleration value a that current sample time obtainsn=160 Rice/square the second.The coordinate system of gyroscope is that x-axis and y-axis constitute horizontal plane herein, and z-axis indicates acceleration side vertically upward, with this To vector value
Whether identification fight ball is effectively struck module: being calculated and is fought with according to the acceleration value of current time and last moment Ball acceleration transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration set in advance is greater than Threshold value A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not hit effectively It beats, terminates.
The fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is power set in advance Weight coefficient.
The instantaneous acceleration threshold value A set in advance is greater than fight ball and collides institute's band by light touch or by external object The instantaneous acceleration changing value come.In the present embodiment, instantaneous acceleration brought by touching or colliding is deactivated according to fight ball Instantaneous acceleration threshold value A=100 meter/square second, current time a are setn=160, last moment an-1=0, power set in advance Weight coefficient k1=k2=1, then calculate fight ball acceleration transient change amount Δ an=k1·an-k2·an-1=160 > A determines to work as Preceding moment fight ball is effectively struck.
Judge whether it is straight punch batting module: vertical direction vectorIt indicates, calculates acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than with 90 ° of deviation value set in advance straight It fists the goal angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate.
The angle in the acceleration direction and vertical directionIn the present embodiment, vertically Direction is expressed as vectorCalculate the angle in acceleration direction and vertical direction Straight punch batting set in advance angle Degree deviates threshold valueThe angle in this brief acceleration direction and vertical directionDeviation value with 90 ° isThen determine to bat at this time for straight punch.
Whether weak stationary state module is in front of judging boxing: transferring the continuous N number of fight ball detected before current time Acceleration value is denoted as array p [N], and wherein N value is arranged in advance；Judge whether the value in array p [N] is both less than set in advance Weak stationary state acceleration rate threshold P is determined straight for fight ball training at this time if so, being in weak stationary state before determining boxing Fist is kicked off；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
The weak stationary state refers to that fight ball remains static or faint swing state.In the present embodiment, set in advance N=5 is set, the continuous N number of fight ball acceleration value detected before current time is transferred, is denoted as array p [N]=[0 0.01 0.04 0 0], the weak stationary state acceleration rate threshold P=0.05 meter/square second set in advance, the value in array p [N] is both less than at this time P is in weak stationary state before determining boxing, determines and kicks off at this time for fight ball training straight punch.
Prompt successfully straight punch kick off module: when fighting with ball training straight punch and kicking off, by the way of voice, vibration or display Prompt user's success straight punch is kicked off.In the present embodiment, current time batting prompts to kick off by the way of vibrational feedback to kick off And start counting, the device of the vibrational feedback uses existing vibrational feedback unit, is deployed in series of skills and tricks in boxing.
The fight ball training straight punch based on acceleration of the present embodiment is kicked off identifying system structural schematic diagram, as shown in Figure 5.
Certainly, those of ordinary skill in the art is it should be appreciated that above embodiments are intended merely to illustrate this hair It is bright, and be not intended as limitation of the invention, as long as within the scope of the invention, all to the variations of above embodiments, modification Protection scope of the present invention will be fallen into.

Claims (10)

  1. The recognition methods 1. a kind of fight ball training straight punch based on acceleration is kicked off, it is characterised in that the following steps are included:
    The acceleration information of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection, acceleration value a are obtainedn It indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number；
    Whether identification fight ball is effectively struck: calculating fight ball acceleration according to the acceleration value of current time and last moment Transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration threshold value A set in advance is greater than, if It is then to determine that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not struck effectively, terminate；
    Judge whether it is straight punch batting: vertical direction vectorIt indicates, calculates the angle in acceleration direction and vertical directionJudge the angle of acceleration direction and vertical directionWhether the deviation value with 90 ° is less than straight punch batting set in advance Angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate；
    Whether weak stationary state is in front of judging boxing: transferring the continuous N number of fight ball acceleration value detected before current time, It is denoted as array p [N], wherein N value is arranged in advance；Judge whether the value in array p [N] is both less than weak stationary state set in advance Acceleration rate threshold P is determined and is kicked off at this time for fight ball training straight punch if so, being in weak stationary state before determining boxing；Otherwise It is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
  2. The recognition methods 2. the fight ball training straight punch according to claim 1 based on acceleration is kicked off, which is characterized in that also Comprising steps of prompt successfully straight punch kick off, when fight with ball training straight punch kick off when, mentioned by the way of voice, vibration or display Show that user's success straight punch is kicked off.
  3. The recognition methods 3. the fight ball training straight punch according to claim 1 based on acceleration is kicked off, which is characterized in that institute It states inertial navigation sensors to be made of and be deployed in inside fight ball gyroscope and accelerograph, for detecting the acceleration of fight ball Spend direction and size.
  4. The recognition methods 4. the fight ball training straight punch according to claim 1 based on acceleration is kicked off, which is characterized in that institute State fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is weight coefficient set in advance；Institute It states instantaneous acceleration threshold value A set in advance and instantaneously adds by light touch or brought by external object collision greater than fight ball Velocity variations value.
  5. The recognition methods 5. the fight ball training straight punch according to claim 1 based on acceleration is kicked off, which is characterized in that institute State the angle of acceleration direction and vertical directionThe weak stationary state refers at fight ball In stationary state or faint swing state.
  6. The identifying system 6. a kind of fight ball training straight punch based on acceleration is kicked off, characterized by comprising:
    Inertial navigation sensors；
    Computer；
    And
    One or more programs, wherein one or more of programs are stored in the memory of the computer, and by It is configured to be executed by the processor of the computer, described program includes:
    The acceleration information module of acquisition fight ball: the acceleration information of inertial navigation sensors timing detection, acceleration are obtained Value anIt indicates, acceleration direction vectorIt indicates, wherein n indicates sampling instant number；
    Whether identification fight ball is effectively struck module: being calculated fight ball according to the acceleration value of current time and last moment and is added Speed transient change amount Δ an, judge acceleration transient change amount Δ anWhether instantaneous acceleration threshold value set in advance is greater than A, if so, determining that current time fight ball is effectively struck；Otherwise determine that current time fight ball is not struck effectively, tie Beam；
    Judge whether it is straight punch batting module: vertical direction vectorIt indicates, calculates the folder in acceleration direction and vertical direction AngleJudge the angle of acceleration direction and vertical directionWhether it is less than straight punch set in advance with 90 ° of deviation value to hit Ball angle deviating threshold valueIf so, determining to bat at this time for straight punch, otherwise determines it is not straight punch batting at this time, terminate；
    Whether be in weak stationary state module before judging boxing: the continuous N number of fight ball detected before transferring current time accelerates Angle value is denoted as array p [N], and wherein N value is arranged in advance；It is set in advance weak quiet to judge whether the value in array p [N] is both less than Only state acceleration rate threshold P is determined and is opened at this time for fight ball training straight punch if so, being in weak stationary state before determining boxing Ball；Otherwise it is not at weak stationary state before determining boxing, determination is not that straight punch is kicked off at this time, is terminated.
  7. The identifying system 7. the fight ball training straight punch according to claim 6 based on acceleration is kicked off, which is characterized in that also Including prompt successfully straight punch kick off module: when fighting with ball training straight punch and kicking off, prompted by the way of voice, vibration or display User's success straight punch is kicked off.
  8. The identifying system 8. the fight ball training straight punch according to claim 6 based on acceleration is kicked off, which is characterized in that institute It states inertial navigation sensors to be made of and be deployed in inside fight ball gyroscope and accelerograph, for detecting the acceleration of fight ball Spend direction and size.
  9. The identifying system 9. the fight ball training straight punch according to claim 6 based on acceleration is kicked off, which is characterized in that institute State fight ball acceleration transient change amount Δ an=k1·an-k2·an-1, wherein k1And k2It is weight coefficient set in advance；Institute It states instantaneous acceleration threshold value A set in advance and instantaneously adds by light touch or brought by external object collision greater than fight ball Velocity variations value.
  10. The identifying system 10. the fight ball training straight punch according to claim 6 based on acceleration is kicked off, which is characterized in that The angle in the acceleration direction and vertical directionThe weak stationary state refers to fight ball It remains static or faint swing state.
CN201910267787.0A 2019-04-03 2019-04-03 A kind of fight ball training straight punch based on acceleration is kicked off recognition methods and system Withdrawn CN109847313A (en)

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Application publication date: 20190607