CN110636889A

CN110636889A - Detection method and equipment

Info

Publication number: CN110636889A
Application number: CN201880032225.1A
Authority: CN
Inventors: 杨川; 乔夕; 邓耀明; 王剑
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-03-09
Filing date: 2018-03-09
Publication date: 2019-12-31
Also published as: WO2019169622A1

Abstract

A detection method and apparatus. The detection method comprises the following steps: periodically controlling an electromagnetic wave transmitting end (11) to transmit electromagnetic waves with a preset time length, and receiving the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end (11) by an electromagnetic wave receiving end (12), wherein the preset time length is determined according to the stay time length of a beating object on a beating surface (201); according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end (12), the hitting position (202) of the hit object on the hitting surface is determined. The problem of the maintenance degree of difficulty is big is solved, and hit the problem that the thing missed measure was detected of beating has been avoided.

Description

Detection method and equipment

Technical Field

The present application relates to the field of detection technologies, and in particular, to a detection method and device.

Background

In order to enrich life, games or entertainment activities for hitting striking surfaces are provided, for example, games in which a robot hits striking surfaces may be held, and the hitting position is generally determined in the process.

In the prior art, a pressure sensor is built in the striking surface side of an object to determine a striking position. Specifically, the striking surface may be divided into 3 × 3 nine-grid blocks, each block corresponds to one panel, and each panel is provided with a pressure sensor corresponding to the block. When a certain block is hit, the pressure sensor of the block can detect certain pressure, and the hitting position is determined through the pressure value detected by the pressure sensor.

However, in the prior art, the built-in pressure sensor has the problems of complex installation and great maintenance difficulty.

Disclosure of Invention

The application provides a detection method and equipment, which are used for solving the problems that a built-in pressure sensor in the prior art is complex to install and high in maintenance difficulty.

In a first aspect, an embodiment of the present application provides a detection method, including:

periodically controlling an electromagnetic wave transmitting end to transmit electromagnetic waves by a preset time length, and receiving the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end by an electromagnetic wave receiving end, wherein the preset time length is determined according to the stay time length of a beating object on a beating surface; and determining the striking position of the striking object on the striking surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.

In a second aspect, an embodiment of the present application provides a detection apparatus, including: the device comprises a processor, an electromagnetic wave transmitting end and an electromagnetic wave receiving end; the processor is respectively connected with the electromagnetic wave transmitting end and the electromagnetic wave receiving end;

the electromagnetic wave transmitting end is used for transmitting electromagnetic waves, and the electromagnetic wave receiving end is used for receiving the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end;

the processor is used for periodically controlling the electromagnetic wave transmitting end to transmit the electromagnetic wave and the electromagnetic wave receiving end to receive the electromagnetic wave transmitted by the corresponding electromagnetic wave transmitting end by a preset time length, wherein the preset time length is determined according to the stay time length of the beating object on the beating surface;

and the processor is also used for determining the hitting position of the hit object on the hitting surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.

According to the detection method and the detection equipment, the electromagnetic wave transmitting end is periodically controlled to transmit the electromagnetic waves for a preset time length, the electromagnetic wave receiving end receives the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end, and the hitting position of the hitting object on the hitting surface is determined according to the receiving strength of the electromagnetic waves received by the electromagnetic wave receiving end, so that the hitting position of the hitting object is determined by arranging the pressure sensor in the hitting surface side of the object, and the problems that the sensor is arranged in the hitting surface side, the installation load is large, and the maintenance difficulty is large are solved. In addition, the electromagnetic waves are used for detection, the detection density of the hitting position of the hit object can be controlled by setting the coverage range of the electromagnetic waves on the hitting surface, the detection dead angle on the hitting surface can be prevented, meanwhile, the preset time length is determined according to the stay time length of the hit object on the hitting surface, and the problem that the hit object is missed to be detected in the scene that the hit object leaves the hitting surface due to incomplete one-time complete scanning is solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic diagram of an application architecture of a detection method provided in the present application;

FIG. 2 is a flowchart of a first embodiment of a detection method provided in the present application;

FIG. 3 is a first schematic diagram of an embodiment of a detection method provided herein;

fig. 4 is a flowchart of a second embodiment of a detection method provided in the present application;

fig. 5 is a flowchart of a third embodiment of a detection method provided in the present application;

FIG. 6A is a second schematic diagram of an embodiment of a detection method provided herein;

FIG. 6B is a third schematic diagram of an embodiment of a detection method provided herein;

FIG. 6C is a fourth schematic diagram of an embodiment of a detection method provided herein;

fig. 6D is a fifth schematic diagram of an embodiment of a detection method provided in the present application;

FIG. 7A is a sixth schematic view of an embodiment of a detection method provided herein;

fig. 7B is a seventh schematic diagram of an embodiment of a detection method provided in the present application;

fig. 7C is a seventh schematic diagram of an embodiment of a detection method provided in the present application;

FIG. 8 is a first schematic structural diagram of an embodiment of a detection apparatus provided in the present application;

fig. 9 is a schematic structural diagram of a second exemplary embodiment of a detection apparatus provided in the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic diagram of an application architecture of the detection method provided in the present application. As shown in fig. 1, the application architecture of the method may include: a processor (not shown), a plurality of electromagnetic wave transmitting terminals 11 and a plurality of electromagnetic wave receiving terminals 12. Wherein, the processor is respectively connected with a plurality of electromagnetic wave transmitting terminals 11 and a plurality of electromagnetic wave receiving terminals 12. The processor can control the electromagnetic wave transmitting end 11 to transmit the electromagnetic wave and control the electromagnetic wave receiving end 12 corresponding to the electromagnetic wave transmitting end 11 to receive the electromagnetic wave. When the impact object strikes the striking surface, the receiving intensity of the electromagnetic waves received by one or more electromagnetic wave receiving ends 12 is affected, and the processor can determine the striking position of the impact object on the striking surface according to the receiving intensity of the electromagnetic waves received by the electromagnetic wave receiving ends 12. Alternatively, the electromagnetic wave may be infrared ray, laser, or the like.

Alternatively, the strike face may be used in connection with entertainment or competitions in which a thrower throws a stroke. Specifically, when the thrower throws the hitting object toward the hitting surface, if the thrown hitting object hits the detection range of the hitting surface, the processor may determine the hitting position of the hitting object on the hitting surface according to the reception intensity of the electromagnetic wave received by the electromagnetic wave receiving end. Wherein the thrower may be, for example, a racing robot and the stroke may be, for example, a projectile.

The embodiment of the application takes a thrower as a competition robot, the detection method is applied to a competition scene of the robot for illustration, and in the competition process of the robot, through detection of the hitting position on the hitting surface, the detection method can be used for detecting whether a shot thrown by the competition robot hits the hitting surface or not, so that the setting of competition rules is facilitated, and the competition interest is increased. The competition robot can be any movable object, such as a trolley, and the object with the striking surface can be a part of props used in the competition process of the competition robot and can also be a part of other competition robots. It is understood that the detection method in the embodiment of the present application may also be applied to other scenarios, and is not specifically limited herein.

It should be noted that the arrows in fig. 1 are only used for illustrating the electromagnetic waves between the electromagnetic wave transmitting end and the electromagnetic wave receiving end, and are not used for illustrating the coverage of the electromagnetic waves, and it can be understood that all the electromagnetic waves received by the electromagnetic wave receiving end should cover the detection range of the entire striking face.

In fig. 1, the electromagnetic wave transmitting end 11 and the electromagnetic wave receiving end 12 are both disposed around the striking surface as an example. It is understood that the electromagnetic wave transmitting end 11 and the electromagnetic wave receiving end 12 may alternatively be provided at other positions under the condition that the detection range in which the electromagnetic wave covers the face is satisfied. For example, when the center of the striking face has a gap, the electromagnetic wave transmitting end may be disposed at the center of the striking face, and the electromagnetic wave receiving end may be disposed around the striking face; alternatively, the electromagnetic wave transmitting end may be provided around the face, and the electromagnetic wave receiving end may be provided in the center of the face. Optionally, the electromagnetic wave transmitting end and/or the electromagnetic wave receiving end may be fixed on the striking surface, or may be fixed on another component directly or indirectly connected to the striking surface, which is not limited in this application.

Note that fig. 1 illustrates an example in which the striking surface is a single plane. It will be understood that the striking face may also be composed of a plurality of planes of the same or different directions. The shape of the plane may be a regular shape such as a circle, a square, a rectangle, or an irregular shape, for example, and the present application does not limit the shape.

Fig. 2 is a flowchart of a first embodiment of a detection method provided in the present application. The method of the present embodiment may be executed by the processor described above, and is used to determine the striking position of the impact object on the striking face. As shown in fig. 2, the method of this embodiment may include:

step 201, periodically controlling an electromagnetic wave transmitting end to transmit an electromagnetic wave and an electromagnetic wave receiving end to receive the electromagnetic wave transmitted by the corresponding electromagnetic wave transmitting end with a preset time length, wherein the preset time length is determined according to the stay time length of a beating object on a beating surface.

In this step, the preset time for controlling the electromagnetic wave emitting end to periodically emit the electromagnetic wave is determined according to the stay time of the beating object on the beating surface. According to the embodiment of the application, the hitting position of the hit object on the hit surface is determined based on the principle that when the hit object hits the hit surface, the receiving intensity of electromagnetic waves received by one or more electromagnetic wave receiving ends is influenced, so that when the preset duration is longer than the stay duration of the hit object on the hit surface, a scene that one-time complete scanning is not completed and the hit object leaves the hit surface can occur, the problem that the receiving intensity of electromagnetic waves received by which electromagnetic wave receiving end is influenced is not determined, and the hit object is missed to be detected is caused, and when the preset duration is longer than the stay duration and is larger than the stay duration, the probability of missed detection of the hit object is higher. Wherein, controlling all the electromagnetic wave emitting ends in fig. 1 to emit electromagnetic waves at least once can be regarded as one complete scan.

Optionally, the preset time period may be less than or equal to the dwell time of the impact surface, and meanwhile, a complete scan may be completed within each preset time period, and the complete scan may be determined according to the detection rule. The length of stay of the stroke on the striking face may be related to many factors, such as the weight of the stroke, the throwing power of the throwing party (e.g., a robot), etc., and may not be a completely accurate value. Therefore, the relationship between the preset time length and the stay time length may be specifically as follows: the preset time period is less than or equal to the sum of the stay time period and the time period offset amount, which is an extremely small positive value, for example, a few tenths of microseconds.

The detection rule can be set before the emission of the electromagnetic wave emission end, and can also be adjusted in the emission process.

Optionally, periodically controlling the electromagnetic wave emitting end to emit the electromagnetic wave for a preset time period specifically may include: periodically controlling all the electromagnetic wave emitting ends 11 in the figure 1 to emit electromagnetic waves one by one with a preset time length; or, periodically controlling every at least two electromagnetic wave emitting ends of all the electromagnetic wave emitting ends 11 in fig. 1 to emit electromagnetic waves for a preset time; alternatively, the preset time period periodically controls all the electromagnetic wave emitting terminals 11 in fig. 1 to emit electromagnetic waves at the same time, and so on. It should be noted that, the embodiment of the present application is not limited to a specific manner of periodically controlling the electromagnetic wave emitting end to emit the electromagnetic wave with a preset time length.

As shown in fig. 3, assuming that a lattice region is used to represent a striking face, the electromagnetic wave transmitting end includes a1, a2, a3, a4, a5, a6 and a7, and the electromagnetic wave receiving end includes b1, b2, b3, b4, b5, b6 and b7, a1 corresponds to b1, a2 corresponds to b2, a3 corresponds to b3, a4 corresponds to b4, a5 corresponds to b5, a6 corresponds to b6, and a7 corresponds to b 7.

When all the electromagnetic wave emitting terminals 11 in fig. 1 are periodically controlled to emit electromagnetic waves one by one with a preset duration, step 201 may be, for example, periodically controlling with a preset duration as follows: firstly, a1 generates an electromagnetic wave, and b1 receives the electromagnetic wave generated by a1 during the generation of the electromagnetic wave by a 1; then, a1 stops transmitting electromagnetic waves, a2 generates electromagnetic waves, and b2 receives the electromagnetic waves generated by a2 in the process of generating the electromagnetic waves by a 2; then, a2 stops transmitting electromagnetic waves, a3 generates electromagnetic waves, and b3 receives the electromagnetic waves generated by a3 in the process of generating the electromagnetic waves by a 3; then, a3 stops transmitting electromagnetic waves, a4 generates electromagnetic waves, and b4 receives the electromagnetic waves generated by a4 in the process of generating the electromagnetic waves by a 4; then, a4 stops transmitting electromagnetic waves, a5 generates electromagnetic waves, and b5 receives the electromagnetic waves generated by a5 in the process of generating the electromagnetic waves by a 5; then, a5 stops transmitting electromagnetic waves, a6 generates electromagnetic waves, and b6 receives the electromagnetic waves generated by a6 in the process of generating the electromagnetic waves by a 6; then, a6 stops transmitting electromagnetic waves, a7 generates electromagnetic waves, and b7 receives the electromagnetic waves generated by a6 in the process of generating the electromagnetic waves by a 7; then, a7 stops emitting electromagnetic waves, a1 generates electromagnetic waves, … …, and the above steps are cycled.

When periodically controlling every two electromagnetic wave transmitting terminals of all the electromagnetic wave transmitting terminals 11 in fig. 1 to transmit electromagnetic waves with a preset time length, step 201 may be, for example, periodically controlling with the preset time length as follows: firstly, a1 and a2 generate electromagnetic waves simultaneously, and during the generation of the electromagnetic waves by a1 and a2, b1 receives the electromagnetic waves generated by a1, and b2 receives the electromagnetic waves generated by a 2; then, a1 and a2 stop transmitting electromagnetic waves, a3-a5 simultaneously generate electromagnetic waves, b3 receives the electromagnetic waves generated by a3, b4 receives the electromagnetic waves generated by a4 and b5 receives the electromagnetic waves generated by a5 in the process of generating the electromagnetic waves generated by a3-a 5; then, a3-a5 stops transmitting electromagnetic waves, a6 and a7 simultaneously generate electromagnetic waves, b6 receives the electromagnetic waves generated by a6 and b7 receives the electromagnetic waves generated by a7 in the process of generating the electromagnetic waves by a6 and a 7; then, a6 and a7 stop emitting electromagnetic waves, a1 and a2 simultaneously generate electromagnetic waves, … …, and the above steps are cycled.

Step 202, determining the striking position of the striking object on the striking surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.

In this step, since the receiving intensity of the electromagnetic wave received by the one or more electromagnetic wave receiving terminals is affected when the impact object impacts the striking surface, the impact position of the impact object on the striking surface can be determined according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving terminals. Alternatively, as shown in fig. 3, the corresponding electromagnetic wave emitting end and the corresponding electromagnetic wave receiving end may correspond to 12 blocks, which are numbered as 12 positions from top to bottom as 1, 2, 3, … …, and 12 in order from left to right, and it is assumed that when a hit object hits the striking surface, the receiving strength of the electromagnetic wave received by the electromagnetic wave receiving end b6 and the electromagnetic wave receiving end b2 is affected, so that the position where the hit object hits the number 7, that is, the hitting position of the hit object on the striking surface is 7, may be determined according to the receiving strength of the electromagnetic wave received by the electromagnetic wave receiving end. Alternatively, in practical applications, the striking position of the impact object may be determined according to the corresponding positions of the electromagnetic wave emitting end and the electromagnetic wave receiving end without distinguishing the striking face by using the blocks, such as the above blocks, for example, the intersection points of the connecting straight lines of a2 and b2, and a6 and b6 are calculated. Alternatively, the hitting position of the hitting object on the hitting surface may be determined by determining the hitting position of the hitting object in a preset coordinate system, which may be specifically referred to in the following fig. 5. It should be noted that the embodiment of the present application is not limited to a specific manner of determining the striking position of the striker on the striking surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.

In the embodiment, the electromagnetic wave transmitting end is periodically controlled to transmit the electromagnetic wave for a preset time length, the electromagnetic wave receiving end receives the electromagnetic wave transmitted by the corresponding electromagnetic wave transmitting end, and the hitting position of the hit object on the hitting surface is determined according to the receiving strength of the electromagnetic wave received by the electromagnetic wave receiving end, so that the problem that the installation of the built-in sensor on the hitting surface side is complex and the maintenance difficulty is high when the hitting position of the hit object is determined by the built-in pressure sensor on the hitting surface side of the object is solved, and particularly in a use scene of a competition robot, the impact force of a projectile hitting the hitting surface is high, and the pressure sensor is easily damaged. In addition, the electromagnetic waves are used for detection, the detection density of the hitting position of the hit object can be controlled by setting the coverage range of the electromagnetic waves on the hitting surface, the detection dead angle on the hitting surface can be prevented, meanwhile, the preset time length is determined according to the stay time length of the hit object on the hitting surface, and the problem that the hit object is missed to be detected in the scene that the hit object leaves the hitting surface due to incomplete one-time complete scanning is solved.

Fig. 4 is a flowchart of a second detection method embodiment provided in the present application. The method of this embodiment mainly describes an alternative implementation manner of step 201 on the basis of the embodiment of the method shown in fig. 2. As shown in fig. 4, the method of this embodiment may include:

step 401, periodically controlling a plurality of grouped electromagnetic wave transmitting ends to transmit electromagnetic waves according to a preset rule by using a preset time length, and receiving the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting ends by using an electromagnetic wave receiving end, wherein the preset time length is determined according to the stay time length of the beating object on the beating surface.

In this step, all the electromagnetic wave transmitting terminals 11 in fig. 1 may be divided into a plurality of groups. Optionally, periodically controlling the plurality of grouped electromagnetic wave transmitting terminals to transmit the electromagnetic wave according to the preset rule with the preset time length specifically may include: periodically controlling a plurality of grouped electromagnetic wave transmitting ends to transmit electromagnetic waves group by group with a preset time length; or, the electromagnetic wave transmitting ends of a plurality of groups can be periodically controlled to transmit electromagnetic waves every at least two groups with preset time; or periodically controlling a plurality of grouped electromagnetic wave transmitting ends to transmit electromagnetic waves group by group according to the sequence of first correspondingly grouping in the first direction and then correspondingly grouping in the second direction for a preset time; or periodically controlling the electromagnetic wave transmitting ends correspondingly grouped in different directions to transmit electromagnetic waves in parallel for a preset time length, and controlling the electromagnetic wave transmitting ends correspondingly grouped in the same direction to transmit the electromagnetic waves group by group; or, periodically controlling a plurality of grouped electromagnetic wave emitting ends to emit electromagnetic waves in parallel for a preset time length, and controlling the same grouped electromagnetic wave emitting ends to emit electromagnetic waves in sequence; and so on. It should be noted that the embodiment of the present application is not limited to a specific manner of periodically controlling the electromagnetic wave transmitting end of the plurality of packets to transmit the electromagnetic wave according to the preset rule with the preset time length.

It should be noted that the first direction correspondence group may be a group divided for electromagnetic wave emitting ends arranged in the first direction and/or a direction parallel to the first direction, and the second direction correspondence group may be a group divided for electromagnetic wave emitting ends arranged in the second direction and/or a direction parallel to the second direction. The scanning time in the first direction may be the same as or different from the scanning time of the second packet, which is not limited in this application. The scanning time in the first direction may be a time for controlling the electromagnetic wave emitting ends correspondingly grouped in the first direction to all emit at least one electromagnetic wave, and the scanning time in the second direction may be a time for controlling the electromagnetic wave emitting ends correspondingly grouped in the second direction to all emit at least one electromagnetic wave, but the scanning in the first direction and the scanning in the second direction are completed according to a preset rule within a preset time period.

As shown in fig. 3, in example 1-example 3 described below, an example is given in which a1 and a2 are divided into group 1, a3 is divided into group 2, a4 and a5 are divided into group 3, and a6 and a7 are divided into group 4.

Example 1

When the electromagnetic wave transmitting terminals of multiple groups are periodically controlled to transmit electromagnetic waves group by group with a preset time length, step 401 may be, for example, periodically controlled with the preset time length as follows: firstly, a1 and a2 generate electromagnetic waves simultaneously, and during the generation of the electromagnetic waves by a1 and a2, b1 receives the electromagnetic waves generated by a1, and b2 receives the electromagnetic waves generated by a 2; then, a1 and a2 stop emitting electromagnetic waves, a6 and a7 simultaneously generate electromagnetic waves, b6 receives the electromagnetic waves generated by a6 and b7 receives the electromagnetic waves generated by a7 during the generation of the electromagnetic waves by a6 and a 7; then, a6 and a7 stop transmitting electromagnetic waves, a3 transmits electromagnetic waves, and b3 receives the electromagnetic waves transmitted by a3 while a3 transmits electromagnetic waves; then, a3 stops transmitting electromagnetic waves, a4 and a5 generate electromagnetic waves simultaneously, b4 receives the electromagnetic waves generated by a4 and b5 receives the electromagnetic waves generated by a5 during the generation of the electromagnetic waves by a4 and a 5; then, a4 and a5 stop emitting electromagnetic waves, a1 and a2 simultaneously generate electromagnetic waves, … …, and the above steps are cycled.

Example 2

When the electromagnetic wave transmitting ends of the plurality of groups are periodically controlled to transmit the electromagnetic waves group by group in the sequence of first grouping in the first direction and then grouping in the second direction, for example, step 401 may be periodically controlled to perform the following control in the preset time period: firstly, a1 and a2 generate electromagnetic waves simultaneously, and during the generation of the electromagnetic waves by a1 and a2, b1 receives the electromagnetic waves generated by a1, and b2 receives the electromagnetic waves generated by a 2; then, a1 and a2 stop transmitting electromagnetic waves, a3 transmits electromagnetic waves, and b3 receives the electromagnetic waves transmitted by a3 while a3 transmits electromagnetic waves; then, a3 stops transmitting electromagnetic waves, a4 and a5 generate electromagnetic waves simultaneously, b4 receives the electromagnetic waves generated by a4 and b5 receives the electromagnetic waves generated by a5 during the generation of the electromagnetic waves by a4 and a 5; then, a4 and a5 stop emitting electromagnetic waves, a6 and a7 simultaneously generate electromagnetic waves, b6 receives the electromagnetic waves generated by a6 and b7 receives the electromagnetic waves generated by a7 during the generation of the electromagnetic waves by a6 and a 7; then, a6 and a7 stop emitting electromagnetic waves, a1 and a2 simultaneously generate electromagnetic waves, … …, and the above steps are cycled.

Example 3

When the electromagnetic wave transmitting ends of a plurality of groups are periodically controlled to transmit electromagnetic waves in parallel with a preset time length and the electromagnetic wave transmitting ends of the same group are controlled to sequentially transmit electromagnetic waves, step 401 may be, for example, periodically performing the following control with the preset time length: firstly, a1, a3, a4 and a6 simultaneously emit electromagnetic waves, and in the process of generating the electromagnetic waves by a1, a3, a4 and a6, b1 receives the electromagnetic wave by a1, b3 receives the electromagnetic wave by a3, b4 receives the electromagnetic wave by a4 and b6 receives the electromagnetic wave by a 6; then, a1, a3, a4 and a6 stop transmitting electromagnetic waves, a2, a5 and a7 simultaneously transmit electromagnetic waves, in the process of generating the electromagnetic waves by a2, a5 and a7, b2 receives the electromagnetic waves transmitted by a2, b5 receives the electromagnetic waves transmitted by a5 and b7 receives the electromagnetic waves transmitted by a 7; then, a2, a5 and a7 stop emitting electromagnetic waves, a1, a3, a4 and a6 simultaneously emit electromagnetic waves, … …, and the above steps are circulated.

It should be noted that the number of the electromagnetic wave transmitting ends in the same group may be the same or different, and the present application is not limited thereto.

It should be noted that, in examples 1 and 2, the electromagnetic wave transmitting terminals in the same group transmit electromagnetic waves in parallel, and in example 3, the electromagnetic wave transmitting terminals in different groups transmit electromagnetic waves in parallel. Here, the electromagnetic wave is transmitted in parallel by the plurality of electromagnetic wave transmitting terminals, and the efficiency of scanning can be improved as compared with the case where the plurality of electromagnetic wave transmitting terminals transmit the electromagnetic waves one by one.

Optionally, since the electromagnetic waves generally have a scattering property, in order to avoid the problem that the determined striking position is inaccurate when the electromagnetic wave receiving end receives the electromagnetic waves emitted by the electromagnetic wave emitting ends other than the corresponding electromagnetic wave emitting end, the electromagnetic wave emitting ends may be grouped according to the scattering property of the electromagnetic waves. Specifically, the electromagnetic wave transmitting ends limited by the scattering characteristics may be divided into different groups, and the electromagnetic wave transmitting ends not limited by the scattering characteristics may be divided into the same group, at this time, the control manners of examples 1 and 2 may be adopted; alternatively, the electromagnetic wave emitting ends limited by the scattering property may be divided into the same group, and the electromagnetic wave emitting ends not limited by the scattering property may be divided into different groups, and the control manner in example 3 may be adopted.

It should be noted that, in the present embodiment, the preset time length is a relevant description determined according to the staying time length of the hit object on the hitting surface, and reference may be made to the embodiment shown in fig. 2, which is not described herein again.

Step 402, determining the striking position of the striking object on the striking surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.

It should be noted that step 402 is similar to step 202, and is not described herein again.

In the embodiment, the electromagnetic wave transmitting ends of a plurality of groups are periodically controlled to transmit the electromagnetic waves according to the preset rule in the preset time length, and the hitting position of the hitting object on the hitting surface is determined according to the receiving strength of the electromagnetic waves received by the electromagnetic wave receiving end, so that the flexible control of the electromagnetic wave transmitting ends to transmit the electromagnetic waves is realized.

Fig. 5 is a flowchart of a third detection method embodiment provided in the present application. The method of this embodiment mainly describes an alternative implementation manner of step 202 on the basis of the embodiment of the method shown in fig. 2. As shown in fig. 5, the method of this embodiment may include:

step 501, periodically controlling an electromagnetic wave transmitting end to transmit electromagnetic waves and an electromagnetic wave receiving end to receive the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end by using a preset time length, wherein the preset time length is determined according to the stay time length of a beating object on a beating surface.

It should be noted that, for specific description of step 501, refer to step 201 and step 401, which are not described herein again.

Step 502, determining the striking coordinate of the striking object in a preset coordinate system according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end, wherein the preset coordinate system is set according to the striking surface.

In this step, optionally, when the striking surface is composed of one or more planes in the same direction, the predetermined coordinate system may be, for example, a planar rectangular coordinate system or a planar polar coordinate system. When the striking surface is composed of a plurality of planes in different directions, the predetermined coordinate system can be a spatial rectangular coordinate system. Taking the striking face as a rectangular plane as an example, on the basis of fig. 3, the relationship between the predetermined coordinate system and the striking face may be as shown in fig. 6A or fig. 6B.

It should be noted that, in fig. 6A and fig. 6B, it is taken as an example that there is a corresponding electromagnetic wave emitting end in each coordinate axis, i.e. X axis and Y axis, in the preset coordinate system, wherein one electromagnetic wave emitting end may correspond to one electromagnetic wave receiving end, for example, a1 corresponds to B1. Optionally, only a part of coordinate axes in the preset coordinate system may have corresponding electromagnetic wave emitting ends. For example, as shown in fig. 6C and 6D, only the X-axis in the preset coordinate system has corresponding electromagnetic wave emitting ends, wherein one electromagnetic wave emitting end may correspond to a plurality of electromagnetic wave receiving ends, for example, a5 corresponds to b5 and b 7.

It should be noted that the positions of one or more electromagnetic wave emitting ends and their corresponding electromagnetic wave receiving ends can be interchanged, so as to be seen from fig. 6A to 6D, the electromagnetic wave emitting ends corresponding to the same coordinate axis in the preset coordinate system can be arranged along the direction of the coordinate axis and/or arranged along the parallel direction of the coordinate axis.

As shown in fig. 6A to 6D, each electromagnetic wave receiving end has corresponding coordinates in the preset coordinate system, and when a hit object hits the hitting surface, the receiving intensity of electromagnetic waves received by one or more electromagnetic wave receiving ends (hereinafter referred to as target electromagnetic wave receiving ends) is affected, so that the hit coordinates of the hit object in the preset coordinate system can be determined according to the coordinates of the target electromagnetic wave receiving ends in the preset coordinate system.

Optionally, when the electromagnetic wave is not shielded by the impact object, the level signal of the electromagnetic wave received by the electromagnetic wave receiving end may be H, and when the electromagnetic wave is completely shielded by the impact object, the level signal of the electromagnetic wave received by the electromagnetic wave receiving end may be L, where L and H are both numerical values, and L is smaller than H.

The relationship between the level of the level signal of the electromagnetic wave received by the electromagnetic wave receiving end and the receiving intensity of the electromagnetic wave receiving end may be: the larger the shielding degree of the electromagnetic wave is, the lower the level signal of the electromagnetic wave received by the electromagnetic wave receiving end is, and the smaller the receiving intensity of the electromagnetic wave receiving end is; the smaller the shielding degree of the electromagnetic wave is, the higher the level signal of the electromagnetic wave received by the electromagnetic wave receiving end is, and the greater the receiving intensity of the electromagnetic wave receiving end is. It can be seen that, at this time, the reception intensity of the electromagnetic wave is inversely related to the shielding degree of the electromagnetic wave.

Optionally, when the electromagnetic wave is not shielded by the impact object, the level signal of the electromagnetic wave received by the electromagnetic wave receiving end may be L, and when the electromagnetic wave is completely shielded by the impact object, the level signal of the electromagnetic wave received by the electromagnetic wave receiving end may be H, where L and H are both numerical values, and L is smaller than H.

The relationship between the level of the electromagnetic wave received by the electromagnetic wave receiving end and the receiving intensity of the electromagnetic wave receiving end may be: the smaller the shielding degree of the electromagnetic wave is, the lower the level signal of the electromagnetic wave received by the electromagnetic wave receiving end is, and the smaller the receiving intensity of the electromagnetic wave receiving end is; the larger the shielding degree of the electromagnetic wave is, the higher the level signal of the electromagnetic wave received by the electromagnetic wave receiving end is, and the larger the receiving intensity of the electromagnetic wave receiving end is. It can be seen that, at this time, the reception intensity of the electromagnetic wave is positively correlated with the shielding degree of the electromagnetic wave.

Optionally, when the receiving intensity of the electromagnetic wave is negatively correlated with the shielding degree of the electromagnetic wave, the impact coordinate of the impact object in the preset coordinate system may be determined according to the coordinate of the electromagnetic wave receiving end with small receiving intensity in the preset coordinate system. Accordingly, the present invention can be implemented in the following one or two ways.

Optionally, when the receiving intensity of the electromagnetic wave is positively correlated with the shielding degree of the electromagnetic wave, the impact coordinate of the impact object in the preset coordinate system may be determined according to the coordinate of the electromagnetic wave receiving end with the high receiving intensity in the preset coordinate system. Accordingly, the present invention can be implemented in the following third or fourth modes.

Alternatively, as shown in fig. 6A to 6D, the preset coordinate axes may include all coordinate axes or a part of coordinate axes in the preset coordinate system. Hereinafter, the first to fourth modes will be specifically described by taking a predetermined coordinate system as a rectangular plane coordinate system, and the predetermined coordinate axis includes an X axis and a Y axis.

In the first mode and the second mode, it is assumed that, based on fig. 6B, the hitting position of the impact object on the striking surface is as shown in fig. 7A, where a solid circle represents the impact object, the electromagnetic wave receiving end receives an electromagnetic wave with an intensity of 255 when the electromagnetic wave is not blocked, and after one complete scan, the electromagnetic wave receiving intensity of B1 is 255, the electromagnetic wave receiving intensity of B2 is 10, the electromagnetic wave receiving intensity of B3 is 255, the electromagnetic wave receiving intensity of B4 is 255, the electromagnetic wave receiving intensity of B5 is 255, the electromagnetic wave receiving intensity of B6 is 80, and the electromagnetic wave receiving intensity of B7 is 100.

In a first mode

Determining a target electromagnetic wave receiving end with the minimum receiving intensity in the electromagnetic wave receiving ends corresponding to the preset coordinate axis in the preset coordinate system; and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.

For example, in fig. 7A, the target electromagnetic wave receiving end with the minimum receiving intensity among the electromagnetic wave receiving ends corresponding to the X axis is b6, the target electromagnetic wave receiving end with the minimum receiving intensity among the electromagnetic wave receiving ends corresponding to the Y axis is b2, and the impact coordinate of the impact object in the preset coordinate system is (L)_b6，L_b2) Wherein L is_b6Denotes the first coordinate, L, of b6 in a predetermined coordinate system_b2Representing the first coordinate of b2 in the preset coordinate system.

As shown in fig. 7A, when a struck object strikes the striking surface, in addition to the reception intensity of the target electromagnetic wave receiving end, the reception intensity of the adjacent electromagnetic wave receiving end to the target electromagnetic wave receiving end may be affected. Therefore, in order to improve the accuracy of determining the striking position, further, the striking coordinate of the striking object in the preset coordinate system can be determined according to the receiving intensity of the adjacent electromagnetic wave receiving end. The first mode can also comprise: determining the coordinate weight of the adjacent electromagnetic wave receiving end in a second coordinate of a preset coordinate system according to the preset receiving intensity and the receiving intensity of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end; determining the beating coordinate of a beating object in a preset coordinate system according to the first coordinate of a target electromagnetic wave receiving end in the preset coordinate system, wherein the method comprises the following steps: and determining the beating coordinate of the beating object in a preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight. In fig. 7A, the adjacent electromagnetic wave receiving ends of b2 are b1 and b3, and the adjacent electromagnetic wave receiving ends of b6 are b5 and b 7. For example, the second coordinate L of b1 in the preset coordinate system may be determined according to the preset reception intensity and the reception intensities of the adjacent electromagnetic wave receiving ends b1 and b3 of b2_b1Has a coordinate weight of W_b1And b3 second coordinate L in preset coordinate system_b3Coordinate weight W of_b3And determining a second coordinate L of b5 in the predetermined coordinate system according to the predetermined reception intensity and the reception intensities of the adjacent electromagnetic wave receiving ends b5 and b7 of b6_b5Coordinate weight W of_b5And b7 second coordinate L in preset coordinate system_b7Coordinate weight W of_b7Further, can be according to L_b1、L_b2、L_b3、L_b5、L_b6、L_b7、W_b1、W_b3、W_b5And W_b7E.g. W_b1Greater than W_b3、W_b5Greater than W_b7Then determine L_b2Need to go to L_b1Offset, L_b6Need to go to L_b5Offset, then can be based on L_b1And L_b2Weighted value of, L_b5And L_b6The weighted value of the weight determines the impact coordinate of the impact object in a preset coordinate system.

It can be understood that, in the embodiment of the present application, when the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end includes a plurality of adjacent electromagnetic wave receiving ends, the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end may be all adjacent electromagnetic wave receiving ends around, or one or more of all adjacent electromagnetic wave receiving ends, for example, the adjacent electromagnetic wave receiving end is determined according to a deviation position of the first coordinate in the preset coordinate system, which is not specifically limited herein.

In the first and third embodiments, when the preset coordinate axes include an X axis and a Y axis, the hitting coordinate of the hit object in the X axis of the preset coordinate system is determined according to the first coordinate of the target electromagnetic wave receiving end corresponding to the X axis, the second coordinate of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end corresponding to the X axis, and the coordinate weight of the second coordinate, and the hitting coordinate of the hit object in the Y axis of the preset coordinate system is determined according to the first coordinate of the target electromagnetic wave receiving end corresponding to the Y axis, the second coordinate of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end corresponding to the Y axis, and the coordinate weight of the second coordinate, so as to determine the hitting coordinate of the hit object in the Y axis of the preset coordinate system.

Optionally, based on the principle that the smaller the receiving intensity is, the larger the coordinate weight is, and the larger the receiving intensity is, the smaller the coordinate weight is, the coordinate weight of the second coordinate of the adjacent electromagnetic wave receiving end in the preset coordinate system may be determined according to the preset receiving intensity and the receiving intensity of the adjacent electromagnetic wave receiving end. Optionally, the preset receiving intensity may be the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end when the electromagnetic wave is not blocked. For example, when the preset reception intensity is 255, the second coordinate L of b1 in the preset coordinate system_b1B3 second coordinate L in the predetermined coordinate system_b3And a second coordinate L of b5 in the predetermined coordinate system_b5Can be equal to 0 (i.e. 255-255), and the second coordinate L of b7 in the predetermined coordinate system_b7May be equal to (255-100))/255。

In the first and third modes, when the preset coordinate axis includes an X axis and a Y axis, determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate, the second coordinate, and the coordinate weight may specifically include: according to the receiving intensity of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end corresponding to the X axis, determining the second preset receiving intensity of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end corresponding to the X axis in the preset coordinate system and the receiving intensity of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end, and determining the coordinate weight of the adjacent electromagnetic wave receiving end in the second coordinate of the preset coordinate system.

Determining the impact coordinate of the impact object in a preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight, for example, the following may be determined: the coordinate of the beating object on the preset coordinate axis is equal to the first coordinate + (second coordinate-first coordinate) × coordinate weight; or the coordinate of the beating object on the preset coordinate axis is equal to the first coordinate + (second coordinate-first coordinate)/| second coordinate-first coordinate |. second coordinate |; and so on. The embodiment of the present application does not limit the specific manner of determining the impact coordinate of the impact object in the preset coordinate system according to the first coordinate, the second coordinate, and the coordinate weight.

Mode two

Determining a target electromagnetic wave receiving end of which the receiving intensity is smaller than a first preset threshold value in electromagnetic wave receiving ends corresponding to a preset coordinate axis in a preset coordinate system; and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.

For example, in fig. 7A, assuming a first preset threshold 100, a target electromagnetic wave receiving end with a receiving intensity smaller than the first preset threshold among the electromagnetic wave receiving ends corresponding to the X axis is b6, a target electromagnetic wave receiving end with a receiving intensity smaller than the first preset threshold among the electromagnetic wave receiving ends corresponding to the Y axis is b2, and a striking coordinate of the striking object in a preset coordinate system is (L)_b6，L_b2)。

Optionally, the number of the target electromagnetic wave receiving ends with the receiving intensity smaller than the first preset threshold among the electromagnetic wave receiving ends corresponding to the preset coordinate axis may be one or more. For example, as shown in fig. 7A, assuming a first preset threshold 200, the target electromagnetic wave receiving ends with the receiving intensity smaller than the first preset threshold among the electromagnetic wave receiving ends corresponding to the X axis are b6 and b 7. Therefore, the number of the first coordinates corresponding to the preset coordinate axis may be plural.

Optionally, determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, including: performing weighted calculation on the first coordinate; and determining the beating coordinates of the beating object in a preset coordinate system according to the calculation result.

In the second and fourth embodiments, when the preset coordinate axes include an X axis and a Y axis, the first coordinate is weighted; determining the impact coordinate of the impact object in the preset coordinate system according to the calculation result, which may specifically include: the method comprises the steps of carrying out weighting calculation on respective first coordinates of target electromagnetic wave receiving ends corresponding to an X axis to obtain a calculation result corresponding to the X axis, carrying out weighting calculation on respective first coordinates of target electromagnetic wave receiving ends corresponding to a Y axis to obtain a calculation result corresponding to the Y axis, and determining the beating coordinates of a beating object in a preset coordinate system according to the calculation results corresponding to the X axis and the Y axis.

Optionally, the number of the target electromagnetic wave receiving ends corresponding to the preset coordinate axis and the coordinate weight of the first coordinate may be agreed in advance. For example, when the same preset coordinate axis corresponds to 2 first coordinates, the coordinate weights of the 2 first coordinates are 0.5, respectively. For another example, when the same preset coordinate axis corresponds to 3 first coordinates, the coordinate weights corresponding to the 3 first coordinates in the order from small to large are 0.2, 0.3, and 0.5, respectively. For example, when the target electromagnetic wave receiving ends with the receiving intensity smaller than the first preset threshold value among the electromagnetic wave receiving ends corresponding to the X axis are b6 and b7, the coordinates (L) can be obtained by performing weighted calculation on the first coordinates corresponding to the X axis_b6+L_b7)/2. It should be noted that, in the embodiment of the present application, the first coordinate is not subjected to weighted calculation; and determining the specific mode of the beating coordinate of the beating object in the preset coordinate system according to the calculation result.

Or, optionally, determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, including: determining the coordinate weight of the first coordinate according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end; and determining the beating coordinates of the beating object in a preset coordinate system according to the first coordinates and the coordinate weight.

In the second and fourth modes, when the preset coordinate axis includes an X axis and a Y axis, the coordinate weight of the first coordinate is determined according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end; determining the impact coordinate of the impact object in a preset coordinate system according to the first coordinate and the coordinate weight, which may specifically include: determining the coordinate weight of a first coordinate of a target electromagnetic wave receiving end corresponding to the X axis according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end corresponding to the X axis, and determining the coordinate of the beating object on the X axis of a preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end corresponding to the X axis and the coordinate weight; and determining the coordinate weight of the first coordinate of the target electromagnetic wave receiving end corresponding to the Y axis according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end corresponding to the Y axis, and determining the coordinate of the beating object on the Y axis of the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end corresponding to the Y axis and the coordinate weight. And the coordinates of the beating object on the X axis and the Y axis of the preset coordinate system form the beating coordinates of the beating object in the preset coordinate system.

Optionally, the coordinate weight of the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system may be determined according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end based on a principle that the smaller the receiving intensity is, the larger the coordinate weight is, and the larger the receiving intensity is, the smaller the coordinate weight is. For example, when the target electromagnetic wave receiving ends with the receiving intensity smaller than the first preset threshold value among the electromagnetic wave receiving ends corresponding to the X axis are b6 and b7, and the preset receiving intensity is 255, the coordinate weight of the first coordinate of b6 in the preset coordinate system may be equal to (255-80)/(255-80+ 255-. It should be noted that, in the embodiment of the present application, a specific manner of determining the coordinate weight of the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end is not limited.

Optionally, determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate and the coordinate weight includes: and determining the impact coordinate of the impact object in a preset coordinate system by adopting a weighted average (or weighted summation) mode according to the first coordinate and the coordinate weight.

In the following third and fourth modes, it is assumed that, based on fig. 6B, the striking position of the impact surface of the impact object is as shown in fig. 7A, where the solid circles indicate the impact object, the intensity of the electromagnetic wave received by the electromagnetic wave receiving end when the electromagnetic wave is not blocked is 0, and after one complete scan, the reception intensity of the electromagnetic wave received by B1 is 0, the reception intensity of the electromagnetic wave received by B2 is 240, the reception intensity of the electromagnetic wave received by B3 is 0, the reception intensity of the electromagnetic wave received by B4 is 0, the reception intensity of the electromagnetic wave received by B5 is 0, the reception intensity of the electromagnetic wave received by B6 is 170, and the reception intensity of the electromagnetic wave received by B7 is 150.

Mode III

Determining a target electromagnetic wave receiving end with the maximum receiving intensity in the electromagnetic wave receiving ends corresponding to the preset coordinate axis in the preset coordinate system; and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.

For example, in fig. 7A, the target electromagnetic wave receiving end with the highest reception intensity among the electromagnetic wave receiving ends corresponding to the X axis is b6, the target electromagnetic wave receiving end with the highest reception intensity among the electromagnetic wave receiving ends corresponding to the Y axis is b2, and the impact coordinate of the impact object in the preset coordinate system is (L)_b6，L_b2)。

Similar to the first mode, the third mode may further include: and determining the coordinate weight of the adjacent electromagnetic wave receiving end in the second coordinate of the preset coordinate system according to the preset receiving intensity and the receiving intensity of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end. Determining the beating coordinate of a beating object in a preset coordinate system according to the first coordinate of a target electromagnetic wave receiving end in the preset coordinate system, wherein the method comprises the following steps: and determining the beating coordinate of the beating object in a preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight.

Optionally, based on the principle that the larger the receiving intensity is, the larger the coordinate weight is, and the smaller the receiving intensity is, the smaller the coordinate weight is, the coordinate weight of the second coordinate of the adjacent electromagnetic wave receiving end in the preset coordinate system may be determined according to the preset receiving intensity and the receiving intensity of the adjacent electromagnetic wave receiving end. Optionally, the preset receiving intensity may be the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end when the electromagnetic wave is not blocked. For example, when the preset reception intensity is 0, the first coordinate L of b1 in the preset coordinate system_b1B3 first coordinate L in the predetermined coordinate system_b3And the first coordinate L of b5 in the predetermined coordinate system_b5Can be equal to 0 (i.e., 255-_b7May be equal to 150/255. It should be noted that, in the embodiment of the present application, a specific manner of determining the coordinate weight of the second coordinate of the adjacent electromagnetic wave receiving end in the preset coordinate system according to the preset receiving intensity and the receiving intensity of the adjacent electromagnetic receiving end is not limited.

It should be noted that, in the third method, reference may be made to the first method for determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight, which is not described herein again.

Mode IV

Determining a target electromagnetic wave receiving end of which the receiving intensity is greater than a second preset threshold value in the electromagnetic wave receiving ends corresponding to the preset coordinate axes in the preset coordinate system; and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.

For example, in fig. 7A, assuming the first preset threshold 150, the target electromagnetic wave receiving end with the receiving intensity greater than the second preset threshold among the electromagnetic wave receiving ends corresponding to the X axis is b6, the target electromagnetic wave receiving end with the receiving intensity greater than the second preset threshold among the electromagnetic wave receiving ends corresponding to the Y axis is b2, and the striking coordinate of the striking object in the preset coordinate system is (L)_b6，L_b2)。

Optionally, the number of the target electromagnetic wave receiving ends with the receiving intensity greater than the second preset threshold among the electromagnetic wave receiving ends corresponding to the preset coordinate axis may be one or more. For example, as shown in fig. 7A, assuming a second preset threshold 100, the target electromagnetic wave receiving ends with the receiving intensity greater than the second preset threshold among the electromagnetic wave receiving ends corresponding to the X axis are b6 and b 7. Therefore, the number of the first coordinates corresponding to the preset coordinate axis may be plural.

Similarly to the second mode, determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, includes: performing weighted calculation on the first coordinate; and determining the beating coordinates of the beating object in a preset coordinate system according to the calculation result. For related contents, reference may be made to the second embodiment, which is not described herein again.

Or, similarly to the second mode, determining the impact coordinate of the impact object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, including: determining the coordinate weight of the first coordinate according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end; and determining the beating coordinates of the beating object in a preset coordinate system according to the first coordinates and the coordinate weight.

Optionally, the coordinate weight of the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system may be determined according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end on the basis of a principle that the larger the receiving intensity is, the larger the coordinate weight is, and the smaller the receiving intensity is, the smaller the coordinate weight is. For example, when the target electromagnetic wave receiving ends with the receiving intensity greater than the second preset threshold value in the electromagnetic wave receiving ends corresponding to the X axis are b6 and b7, and the preset receiving intensity is 255, the coordinate weight of the first coordinate of b6 in the preset coordinate system may be equal to (255-.

It should be noted that, in the fourth mode, reference may be made to the first mode for determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate and the coordinate weight, which is not described herein again.

It should be noted that, in the second embodiment, the preset thresholds corresponding to different preset coordinate axes are the same and are all the first preset thresholds, and in the third embodiment, the preset thresholds corresponding to different preset coordinate axes are the same and are all the second preset thresholds. Optionally, the preset thresholds corresponding to different preset coordinate axes may also be different.

For a scene with preset coordinate axes including part of coordinate axes of a preset coordinate system, taking the preset coordinate system as a plane rectangular coordinate system, and the preset coordinate axes including an X axis, determining the striking coordinates of a striking object in the preset coordinate system based on the first mode as an example, as follows:

assuming that on the basis of fig. 6C, the striking position of the striking object on the striking surface is as shown in fig. 7B, where a solid circle represents the striking object, a4-a7 may emit electromagnetic waves in the vertical direction, or in a direction forming an angle with the vertical direction, and when an electromagnetic wave is emitted in the vertical direction after one complete scan, B6 is the target electromagnetic wave receiving end with the minimum receiving intensity, and when an electromagnetic wave is emitted in a direction forming an angle with the vertical direction, B7 is the target electromagnetic wave receiving end with the minimum receiving intensity. Therefore, as shown in fig. 7B, the impact coordinate of the impact in the preset coordinate system is (L)_b6，(L_b7-L_b6)L₀/(L_b7-L_b5) Wherein L) is_b5Denotes the first coordinate, L, of b5 in a predetermined coordinate system_b6Denotes the first coordinate, L, of b6 in a predetermined coordinate system_b7Denotes the first coordinate, L, of b7 in a predetermined coordinate system₀Indicating the coordinates of the upper edge of the face on the Y-axis.

It should be noted that the positional relationship between the striking surface and the predetermined coordinate system in fig. 6A-7B is only an example, and it can be understood that the coordinate range of the striking surface in the predetermined coordinate system is only required.

And step 503, determining the striking position of the striking object on the striking surface according to the striking coordinates.

In this step, the striking coordinate is a position where the striking object strikes the striking surface and is a coordinate in the preset coordinate system, so that the striking position of the striking object on the striking surface can be determined according to the striking coordinate. Optionally, there may be a corresponding relationship between different striking coordinates and striking positions, and the striking position may be determined according to the striking coordinate determined in step 502 and the corresponding relationship; alternatively, there may be a conversion relationship between the impact coordinate and the impact position, and the impact position may be determined by performing an operation using the conversion relationship according to the impact coordinate determined in step 502.

In the embodiment, the hitting coordinate of the hit object in the preset coordinate system is determined according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end, and the hitting position of the hit object on the hitting surface is determined according to the hitting coordinate, so that the hitting position based on the preset coordinate system is determined, and the application range of the detection method is widened.

In the above embodiment, optionally, when the impact object includes a plurality of objects, the electromagnetic wave emitting end is periodically controlled to emit the electromagnetic wave for a preset time period, including: periodically controlling the electromagnetic wave transmitting ends to transmit electromagnetic waves with a preset time length, and controlling at least one of the electromagnetic wave transmitting ends to transmit electromagnetic waves in a direction forming an included angle with the initial transmitting direction. It should be noted that, for the same electromagnetic wave emitting end, in the process of controlling the electromagnetic wave emitting end within the preset time period, it is assumed that the electromagnetic wave emitting end has two emitting directions A, B forming an included angle, and the emitting direction a is prior to the emitting direction B for emitting the electromagnetic wave, so the emitting direction a is the initial emitting direction of the electromagnetic wave emitting end.

Optionally, all the electromagnetic wave emitting ends in fig. 1 may be controlled to emit electromagnetic waves in a direction forming an angle with the initial emission direction, or some of the electromagnetic wave emitting ends in all the electromagnetic wave emitting ends in fig. 1 may also be controlled to emit electromagnetic waves in a direction forming an angle with the initial emission direction, which is not limited in this application.

Optionally, controlling at least one of the electromagnetic wave emitting ends to emit an electromagnetic wave in a direction forming an angle with the initial emitting direction includes: determining reference beating positions of a plurality of beating objects according to the receiving intensity of the electromagnetic wave receiving end aiming at the initial transmitting direction; determining at least one target electromagnetic wave transmitting end in the electromagnetic wave transmitting ends according to the reference striking position; and controlling at least one target electromagnetic wave transmitting end to transmit electromagnetic waves in a direction forming an included angle with the initial transmitting direction.

It should be noted that an included angle between the initial emission direction of the electromagnetic wave emission end and the emission direction other than the initial emission direction may be preset, or may also be determined according to a reference striking position, which is not limited in this application.

It is assumed that the striking position of the driver on the face is shown in fig. 7C on the basis of fig. 6B, in which the solid circle represents the driver. Specifically, the emission direction in which ai (i is equal to 1, 2, … …, 7) emits the electromagnetic wave to bi may be the initial emission direction of ai. As shown in FIG. 7C, it can be obtained from the above-mentioned related description that 4 reference striking positions, respectively position coordinates (L), can be determined according to the receiving intensity of the electromagnetic wave transmitting end with respect to the initial electromagnetic wave transmitting direction_b5，L_b2)、(L_b6，L_b2)、(L_b5，L_b3)、(L_b6，L_b3) Corresponding impact position, wherein the position coordinate (L)_b5，L_b2) And (L)_b6，L_b3) The corresponding impact position is a pseudo position, a position coordinate (L)_b6，L_b2) And (L)_b5， L_b3) The corresponding striking position is the true position. Further, it can be determined that the a4 transmits electromagnetic waves to the b6 according to the 4 reference striking positions. Further, due to the position coordinates (L)_b5，L_b2) And (L)_b6，L_b3) The corresponding striking position is a pseudo position, so that the position coordinate (L) can be determined according to the receiving intensity of b6 receiving the electromagnetic wave transmitted by a4_b5，L_b2) And (L)_b6，L_b3) The corresponding impact position is a pseudo position, a position coordinate (L)_b6，L_b2) And (L)_b5，L_b3) The corresponding striking position is the true position. It should be noted that, for a specific way of determining the reference striking position, reference may be made to the related description in the foregoing embodiments, and details are not described herein.

It can be understood that it is not only beneficial to control the same electromagnetic wave emitting end to emit electromagnetic waves in different emitting directions within a preset time periodIt is also advantageous to avoid missing detection when multiple striking positions are present in the same coordinate axis direction in order to distinguish between true and false striking positions, for example, in fig. 7B, it is assumed that multiple striking positions are present in the emission direction of a6 to B6, i.e., having the same L_b6Then, the above-mentioned missing detection problem can be solved by scanning rules such as scanning the directions a5 to b7 after the emission directions a5 to b5, scanning the directions a4 to b6 after the emission directions a4 to b4, and the like.

In the above embodiment, optionally, in order to avoid the problem that the electromagnetic wave receiving strength of the electromagnetic wave receiving end is affected when the striker rebounds on the striking face, so as to cause false detection of the striker, the heights and/or installation heights of the electromagnetic wave emitting end and the electromagnetic wave receiving end may be less than or equal to the height of the striker.

It should be noted that, in the above embodiments, the arrows in fig. 3 and fig. 6A to fig. 7B are only used for illustrating the electromagnetic waves between the electromagnetic wave transmitting end and the electromagnetic wave receiving end, and are not used for indicating the coverage of the electromagnetic waves, and it should be understood that all the electromagnetic waves received by the electromagnetic wave receiving end should cover the detection range of the entire striking face.

It should be noted that, in the above embodiment, in order to ensure the accuracy of determination of the striking position, the cross-sectional area of the struck object may be matched with the detection accuracy. The detection accuracy may be represented by squares in the grid region of fig. 7A, and the cross-sectional area of the impact may match the detection accuracy, and specifically, the cross-sectional area of the impact may be smaller than or equal to the area of one square.

Fig. 8 is a first schematic structural diagram of an embodiment of a detection apparatus provided in the present application. As shown in fig. 8, the detection device of the present embodiment may include: a processor 801, an electromagnetic wave transmitting terminal 802 and an electromagnetic wave receiving terminal 803; the processor 801 is connected to the electromagnetic wave transmitting terminal 802 and the electromagnetic wave receiving terminal 803, respectively.

The electromagnetic wave transmitting end 802 is configured to transmit an electromagnetic wave, and the electromagnetic wave receiving end 803 is configured to receive an electromagnetic wave transmitted by the corresponding electromagnetic wave transmitting end 802;

the processor 801 is configured to periodically control the electromagnetic wave emitting end 802 to emit an electromagnetic wave for a preset time length, and the electromagnetic wave receiving end 803 receives an electromagnetic wave emitted by the corresponding electromagnetic wave emitting end 802, where the preset time length is determined according to a staying time length of a hit object on a hitting surface;

the processor 801 is further configured to determine a hitting position of the hit object on the hitting surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end 803.

Optionally, the electromagnetic wave transmitting end is divided into a plurality of groups;

the processor 801 is configured to periodically control the electromagnetic wave emitting end 802 to emit the electromagnetic wave for a preset time period, and specifically includes:

the electromagnetic wave transmitting terminals 802 of the plurality of packets are periodically controlled to transmit electromagnetic waves according to a preset rule with a preset time length.

Optionally, the processor 801 is configured to periodically control the electromagnetic wave emitting ends of the multiple groups to emit the electromagnetic wave according to a preset rule with a preset time duration, and specifically includes:

periodically controlling the electromagnetic wave emitting ends 802 of different groups to emit electromagnetic waves in parallel with a preset time length, and controlling the electromagnetic wave emitting ends 802 of the same group to emit electromagnetic waves in sequence.

Optionally, the grouping of the electromagnetic wave transmitting ends is determined according to the scattering characteristics of the electromagnetic waves.

Optionally, the processor 801 is configured to determine a hitting position of the hit object on the hitting surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end 803, and specifically includes:

determining the striking coordinate of the striking object in a preset coordinate system according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end 803, wherein the preset coordinate system is set according to the striking surface;

and determining the hitting position of the hit object on the hitting surface according to the hitting coordinate.

Optionally, when the receiving intensity of the electromagnetic wave is negatively correlated with the shielding degree of the electromagnetic wave, the processor 801 is configured to determine the impact coordinate of the impact object in the preset coordinate system according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end 803, and specifically includes:

determining a target electromagnetic wave receiving end with the minimum receiving intensity in the electromagnetic wave receiving ends 803 corresponding to the preset coordinate axis in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.

Optionally, when the receiving intensity of the electromagnetic wave is positively correlated with the shielding degree of the electromagnetic wave, the processor 801 is configured to determine the striking coordinate of the striking object in the preset coordinate system according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end 803, and specifically includes:

determining a target electromagnetic wave receiving end with the maximum receiving intensity in the electromagnetic wave receiving ends 803 corresponding to a preset coordinate axis in a preset coordinate system;

Optionally, the processor 801 is further configured to:

determining the coordinate weight of a second coordinate according to the second coordinate of an adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end in a preset coordinate system and the receiving intensity of the adjacent electromagnetic wave receiving end and the preset receiving intensity;

the processor 801 is configured to determine the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, and specifically includes:

and determining the beating coordinate of the beating object in a preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight.

determining a target electromagnetic wave receiving end of which the receiving intensity is smaller than a first preset threshold value in electromagnetic wave receiving ends corresponding to a preset coordinate axis in a preset coordinate system;

determining a target electromagnetic wave receiving end of which the receiving intensity is greater than a second preset threshold value in the electromagnetic wave receiving ends corresponding to the preset coordinate axes in the preset coordinate system;

Optionally, the processor 801 is configured to determine the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, and specifically includes:

performing weighted calculation on the first coordinate;

and determining the beating coordinates of the beating object in a preset coordinate system according to the calculation result.

determining the coordinate weight of the first coordinate according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end;

and determining the beating coordinates of the beating object in a preset coordinate system according to the first coordinates and the coordinate weight.

Optionally, when the preset receiving intensity is that the electromagnetic wave is not blocked, the electromagnetic wave receiving end receives the receiving intensity of the electromagnetic wave.

Optionally, when the impact object includes a plurality of objects, the processor 801 is configured to periodically control the electromagnetic wave emitting end 802 to emit the electromagnetic wave for a preset time period, and specifically includes:

the electromagnetic wave emitting ends 802 are periodically controlled to emit electromagnetic waves for a preset time length, and at least one of the electromagnetic wave emitting ends 802 is controlled to emit electromagnetic waves in a direction forming an included angle with the initial emitting direction.

Optionally, the processor 801 is configured to control at least one of the electromagnetic wave emitting ends 802 to emit an electromagnetic wave in a direction forming an angle with the initial emission direction, and specifically includes:

determining reference striking positions of a plurality of striking objects according to the receiving intensity of the electromagnetic wave receiving end 803 for the initial emitting direction;

determining at least one target electromagnetic wave transmitting end in the electromagnetic wave transmitting ends according to the reference striking position;

and controlling at least one target electromagnetic wave transmitting end to transmit electromagnetic waves in a direction forming an included angle with the initial transmitting direction.

Optionally, the electromagnetic wave emitting ends corresponding to the same coordinate axis in the preset coordinate system are arranged along the direction of the coordinate axis, and/or are arranged along the parallel direction of the coordinate axis.

Optionally, the heights and/or installation heights of the electromagnetic wave emitting end 802 and the electromagnetic wave receiving end 803 are less than or equal to the height of the impact.

Optionally, the electromagnetic wave is infrared or laser.

As shown in fig. 9, optionally, the apparatus of this embodiment may further include: a transmitting side gate circuit 804, a receiving side gate circuit 805, a transmitting side driver circuit 806, and a receiving side driver circuit 807. The transmitting end gating circuit 804 is respectively connected with the processor 801 and the transmitting end driving circuit 806, and the transmitting end driving circuit 806 is further connected with the electromagnetic wave transmitting end 802; the receiving end gating circuit 805 is respectively connected with the processor 801 and the receiving end driving circuit 807, and the receiving end driving circuit 807 is also connected with the electromagnetic wave receiving end 803; the processor 11 controls the transmitting end driving circuit 806 through the transmitting end gating circuit 804 to drive the electromagnetic wave transmitting end 802 to transmit the electromagnetic wave, and the processor 11 controls the receiving end driving circuit 807 through the receiving end gating circuit 805 to drive the electromagnetic wave receiving end 803 to receive the electromagnetic wave.

Optionally, the apparatus of this embodiment may further include: and a filter circuit 808, respectively connected to the electromagnetic wave receiving end 803 and the processor 801, for filtering the signal output by the electromagnetic wave receiving end 803. Wherein the signal is indicative of the received strength.

Further optionally, the apparatus of this embodiment may further include: the amplifier 809 is connected to the filter circuit 808 and the processor 801, and amplifies the signal output by the filter circuit 808.

Optionally, the processor 801 may implement an Analog Digital (AD) acquisition function, or the apparatus of this embodiment may further include: AD collection module 810. The AD collecting module 810 is connected to the processor 801 and the electromagnetic wave receiving end 803, respectively, and is configured to collect the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end 803, and send the collected receiving intensity to the processor 801.

The detection apparatus provided in this embodiment may be used to implement the technical solution of the foregoing method embodiment, and the implementation principle and technical effect of the detection apparatus are similar to those of the method embodiment, and are not described herein again. Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A method of detection, comprising:

periodically controlling an electromagnetic wave transmitting end to transmit electromagnetic waves by a preset time length, and receiving the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end by an electromagnetic wave receiving end, wherein the preset time length is determined according to the stay time length of a beating object on a beating surface;

and determining the striking position of the striking object on the striking surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.
The method according to claim 1, wherein the electromagnetic wave transmitting end is divided into a plurality of groups;

the periodically controlling the electromagnetic wave transmitting end to transmit the electromagnetic wave with the preset time length comprises:

and periodically controlling the grouped electromagnetic wave transmitting terminals to transmit electromagnetic waves according to a preset rule with a preset time length.
The method according to claim 2, wherein the periodically controlling the plurality of grouped electromagnetic wave emitting terminals to emit the electromagnetic wave according to a preset rule with a preset time period comprises:

periodically controlling the electromagnetic wave transmitting ends of different groups to transmit electromagnetic waves in parallel with a preset time length, and controlling the electromagnetic wave transmitting ends of the same group to sequentially transmit the electromagnetic waves.
The method according to claim 2 or 3, wherein the grouping of the electromagnetic wave transmitting ends is determined according to the scattering characteristics of the electromagnetic waves.
The method according to any one of claims 1 to 4, wherein the determining the striking position of the striker on the striking face according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end comprises:

determining a beating coordinate of the beating object in a preset coordinate system according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end, wherein the preset coordinate system is set according to the beating surface;

and determining the striking position of the striking object on the striking surface according to the striking coordinate.
The method according to claim 5, wherein when the intensity of the received electromagnetic wave is negatively correlated with the degree of shielding of the electromagnetic wave, the determining the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end comprises:

determining a target electromagnetic wave receiving end with the minimum receiving intensity in the electromagnetic wave receiving ends corresponding to the preset coordinate axis in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The method according to claim 5, wherein when the intensity of the received electromagnetic wave is positively correlated with the degree of shielding of the electromagnetic wave, the determining the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end comprises:

determining a target electromagnetic wave receiving end with the maximum receiving intensity in the electromagnetic wave receiving ends corresponding to the preset coordinate axis in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The method according to claim 6 or 7, characterized in that the method further comprises:

determining the coordinate weight of the adjacent electromagnetic wave receiving end in a second coordinate of the preset coordinate system according to the preset receiving intensity and the receiving intensity of the adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end;

the step of determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system comprises the following steps:

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight.
The method according to claim 5, wherein when the intensity of the received electromagnetic wave is negatively correlated with the degree of shielding of the electromagnetic wave, the determining the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end comprises:

determining a target electromagnetic wave receiving end of which the receiving intensity is smaller than a first preset threshold value in the electromagnetic wave receiving ends corresponding to the preset coordinate axes in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The method according to claim 5, wherein when the intensity of the received electromagnetic wave is positively correlated with the degree of shielding of the electromagnetic wave, the determining the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end comprises:

determining a target electromagnetic wave receiving end of which the receiving intensity is greater than a second preset threshold value in the electromagnetic wave receiving ends corresponding to the preset coordinate axes in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The method as claimed in claim 9 or 10, wherein the determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system comprises:

performing weighted calculation on the first coordinate;

and determining the beating coordinate of the beating object in the preset coordinate system according to the calculation result.
The method as claimed in claim 9 or 10, wherein the determining the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system comprises:

determining the coordinate weight of the first coordinate according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate and the coordinate weight.
The method according to claim 8 or 12, wherein the predetermined reception intensity is a reception intensity of the electromagnetic wave received by the electromagnetic wave receiving end when the electromagnetic wave is not blocked.
The method according to any one of claims 1 to 4, wherein when the impact includes a plurality of, the periodically controlling the electromagnetic wave emitting end to emit the electromagnetic wave for a preset time period includes:

the method comprises the steps of periodically controlling electromagnetic wave transmitting ends to transmit electromagnetic waves with a preset time length, and controlling at least one of the electromagnetic wave transmitting ends to transmit the electromagnetic waves in a direction forming an included angle with an initial transmitting direction.
The method according to claim 14, wherein said controlling at least one of said electromagnetic wave emitting ends to emit said electromagnetic wave in a direction forming an angle with an initial emitting direction comprises:

determining reference beating positions of the plurality of beating objects according to the receiving intensity of the electromagnetic wave receiving end aiming at the initial transmitting direction;

determining at least one target electromagnetic wave emitting end in the electromagnetic wave emitting ends according to the reference striking position;

and controlling at least one target electromagnetic wave transmitting end to transmit the electromagnetic wave in a direction forming an included angle with the initial transmitting direction.
The method according to any one of claims 5 to 13, wherein the electromagnetic wave emitting ends corresponding to the same coordinate axis in the predetermined coordinate system are arranged along the direction of the coordinate axis and/or are arranged along the direction parallel to the coordinate axis.
The method according to any one of claims 1 to 16, wherein the heights and/or installation heights of the electromagnetic wave emitting end and the electromagnetic wave receiving end are less than or equal to the height of the striker.
The method according to any one of claims 1 to 17, wherein the electromagnetic wave is infrared or laser.
A detection device, comprising: the device comprises a processor, an electromagnetic wave transmitting end and an electromagnetic wave receiving end; the processor is respectively connected with the electromagnetic wave transmitting end and the electromagnetic wave receiving end;

the electromagnetic wave transmitting end is used for transmitting electromagnetic waves, and the electromagnetic wave receiving end is used for receiving the electromagnetic waves transmitted by the corresponding electromagnetic wave transmitting end;

the processor is used for periodically controlling the electromagnetic wave transmitting end to transmit the electromagnetic wave and the electromagnetic wave receiving end to receive the electromagnetic wave transmitted by the corresponding electromagnetic wave transmitting end by using a preset time length, wherein the preset time length is determined according to the stay time length of the beating object on the beating surface;

the processor is further used for determining the hitting position of the hit object on the hitting surface according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end.
The apparatus according to claim 19, wherein the electromagnetic wave transmitting end is divided into a plurality of groups;

the processor is used for periodically controlling the electromagnetic wave transmitting end to transmit the electromagnetic wave with a preset time length, and specifically comprises:

and periodically controlling the grouped electromagnetic wave transmitting terminals to transmit electromagnetic waves according to a preset rule with a preset time length.
The apparatus according to claim 20, wherein the processor is configured to periodically control the plurality of grouped electromagnetic wave emitting terminals to emit electromagnetic waves according to a preset rule with a preset duration, and specifically includes:

periodically controlling the electromagnetic wave transmitting ends of different groups to transmit electromagnetic waves in parallel with a preset time length, and controlling the electromagnetic wave transmitting ends of the same group to sequentially transmit the electromagnetic waves.
The apparatus according to claim 20 or 21, wherein the grouping of the electromagnetic wave transmitting ends is determined according to the scattering characteristics of the electromagnetic waves.
The apparatus according to any one of claims 19 to 22, wherein the processor is configured to determine a hitting position of the striker on the hitting surface according to a receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end, and specifically includes:

determining a beating coordinate of the beating object in a preset coordinate system according to the receiving intensity of the electromagnetic wave received by the electromagnetic wave receiving end, wherein the preset coordinate system is set according to the beating surface;

and determining the striking position of the striking object on the striking surface according to the striking coordinate.
The apparatus according to claim 23, wherein when the intensity of the received electromagnetic wave is negatively correlated to the degree of shielding of the electromagnetic wave, the processor is configured to determine the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end, and specifically includes:

determining a target electromagnetic wave receiving end with the minimum receiving intensity in the electromagnetic wave receiving ends corresponding to the preset coordinate axis in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The apparatus according to claim 23, wherein when the intensity of the received electromagnetic wave is positively correlated to the degree of shielding of the electromagnetic wave, the processor is configured to determine the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end, and specifically includes:

determining a target electromagnetic wave receiving end with the maximum receiving intensity in the electromagnetic wave receiving ends corresponding to the preset coordinate axis in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The apparatus of claim 24 or 25, wherein the processor is further configured to:

determining the coordinate weight of a second coordinate according to the second coordinate of an adjacent electromagnetic wave receiving end of the target electromagnetic wave receiving end in the preset coordinate system and the receiving intensity of the adjacent electromagnetic wave receiving end and the preset receiving intensity;

the processor is configured to determine a striking coordinate of the striking object in the preset coordinate system according to a first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, and specifically includes:

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate, the second coordinate and the coordinate weight.
The apparatus according to claim 23, wherein when the intensity of the received electromagnetic wave is negatively correlated to the degree of shielding of the electromagnetic wave, the processor is configured to determine the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end, and specifically includes:

determining a target electromagnetic wave receiving end of which the receiving intensity is smaller than a first preset threshold value in the electromagnetic wave receiving ends corresponding to the preset coordinate axes in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The apparatus according to claim 23, wherein when the intensity of the received electromagnetic wave is positively correlated to the degree of shielding of the electromagnetic wave, the processor is configured to determine the impact coordinate of the impact object in a preset coordinate system according to the intensity of the received electromagnetic wave at the electromagnetic wave receiving end, and specifically includes:

determining a target electromagnetic wave receiving end of which the receiving intensity is greater than a second preset threshold value in the electromagnetic wave receiving ends corresponding to the preset coordinate axes in the preset coordinate system;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system.
The apparatus according to claim 27 or 28, wherein the processor is configured to determine the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, and specifically includes:

performing weighted calculation on the first coordinate;

and determining the beating coordinate of the beating object in the preset coordinate system according to the calculation result.
The apparatus according to claim 27 or 28, wherein the processor is configured to determine the striking coordinate of the striking object in the preset coordinate system according to the first coordinate of the target electromagnetic wave receiving end in the preset coordinate system, and specifically includes:

determining the coordinate weight of the first coordinate according to the preset receiving intensity and the receiving intensity of the target electromagnetic wave receiving end;

and determining the beating coordinate of the beating object in the preset coordinate system according to the first coordinate and the coordinate weight.
The apparatus according to claim 26 or 30, wherein the predetermined reception intensity is a reception intensity of the electromagnetic wave received by the electromagnetic wave receiving end when the electromagnetic wave is not blocked.
The apparatus according to any one of claims 19 to 22, wherein when the impact object includes a plurality of objects, the processor is configured to periodically control the electromagnetic wave emitting end to emit the electromagnetic wave for a preset time period, and specifically includes:

the method comprises the steps of periodically controlling electromagnetic wave transmitting ends to transmit electromagnetic waves with a preset time length, and controlling at least one of the electromagnetic wave transmitting ends to transmit the electromagnetic waves in a direction forming an included angle with an initial transmitting direction.
The apparatus according to claim 32, wherein the processor is configured to control at least one of the electromagnetic wave emitting ends to emit the electromagnetic wave in a direction forming an angle with an initial emission direction, and specifically includes:

determining reference beating positions of the plurality of beating objects according to the receiving intensity of the electromagnetic wave receiving end aiming at the initial transmitting direction;

determining at least one target electromagnetic wave emitting end in the electromagnetic wave emitting ends according to the reference striking position;

and controlling at least one target electromagnetic wave transmitting end to transmit the electromagnetic wave in a direction forming an included angle with the initial transmitting direction.
The apparatus according to any one of claims 23 to 31, wherein the electromagnetic wave emitting ends corresponding to the same coordinate axis in the predetermined coordinate system are arranged along the direction of the coordinate axis and/or are arranged along the direction parallel to the coordinate axis.
The apparatus according to any one of claims 19 to 34, wherein the heights and/or installation heights of the electromagnetic wave emitting end and the electromagnetic wave receiving end are less than or equal to the height of the striker.
The apparatus according to any one of claims 19 to 35, wherein the electromagnetic wave is an infrared ray or a laser.