CN112915505A

CN112915505A - Table tennis small norm hand attacking sensing device and sensing method

Info

Publication number: CN112915505A
Application number: CN202110235162.3A
Authority: CN
Inventors: 贾旭; 贾永鹤
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-06-08

Abstract

The invention relates to a sensing device and a sensing method for the actions of attacking a ball of table tennis, size and forever, wherein the sensing device comprises a main control CPU chip, an attitude sensor, a relative distance sensor, an OLED screen and a buzzer, and is characterized in that: the main control CPU chip adopts an stm32f103c8t6 chip and is responsible for the operation of the whole device; the attitude sensor adopts an attitude detection gyroscope mpu6050 and is responsible for detecting the attitude and the relative angle of the human body; the relative distance sensor adopts an amplitude-limited infrared pair tube sensor and is responsible for measuring the relative amplitude of the human body; the OLED screen is connected with the main control CPU chip by an IIC bus and is responsible for man-machine conversation and operation. The advantages are that: can remind when forehand batting whether standard of bat action to remind and count the action that accords with the standard, can remind whether standard of action in real time when the action is waved, the training end can look over the action number of times of waving that accords with the standard in the training process, and help beginner develops into the action of correct forehand swing fast.

Description

Table tennis small norm hand attacking sensing device and sensing method

Technical Field

The invention relates to a sensing device and a sensing method for the action of attacking a ball of table tennis, size and forever, and belongs to the technical field of table tennis training equipment.

Background

The standard ball hitting and swing motions of the table tennis standard are not specified by anyone. But is summarized by numerous exploration practices, evolution improvement and extraction. The optimal ball hitting method is simple and reasonable, high in hit rate, convenient to exert force and convenient to connect. The shot ball can achieve the effects of quickness, accuracy, strength and variation. Many people are restricted by the wrong actions and are difficult to improve, so the correct posture at the initial stage is beneficial to the improvement of the later table tennis technology. The training level of table tennis is higher in China, the training equipment is more abundant, and the basic requirements of table tennis training can be met. The correct hitting and swinging actions are recorded in professional textbooks, and trainers can demonstrate and correct postures of trainers in daily training. The correct hitting and swinging movements are not always mastered and require constant practice and fixing. However, it is not clear to the exerciser itself whether the swinging motion is correct or not, and a special device is needed for sensing and reminding, so that the exerciser can easily master the correct motion posture, but at present, no device capable of sensing and reminding the swinging motion of the exerciser is available.

Disclosure of Invention

The invention aims to provide a ping-pong horn and norminal attacking motion detection sensor and a detection method, which can intelligently detect whether the practicer correctly performs attacking motions in real time every time, count the times of swinging, remind and count motions meeting the specification, check the times of swinging motions meeting the specification in the training process through a screen after the training is finished, and help a beginner quickly develop correct and standard swinging motions.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention discloses a sensing device for detecting the tapping action of a ping-pong ball size righting person, which comprises a main control CPU chip, an attitude sensor, a relative distance sensor, an OLED screen and a buzzer, and is characterized in that: the main control CPU chip adopts an stm32f103c8t6 chip and is responsible for the operation of the whole device; the attitude sensor adopts an attitude detection gyroscope mpu6050 and is responsible for detecting the attitude and the relative angle of the human body; the relative distance sensor adopts an amplitude-limited infrared pair tube sensor and is responsible for measuring the relative amplitude of the human body; the OLED screen is connected with the main control CPU chip by an IIC bus and is responsible for man-machine conversation and operation.

The OLED screen is connected with a main control CPU chip by an IIC bus, a No. 1 pin is connected with PB6, and a No. 2 pin is connected with PB 7; the No. 3 pin of the attitude detection gyroscope is connected into PB10, and the No. 4 pin of the attitude detection gyroscope is connected into PB 11; the buzzer is connected with the triode, amplified and then connected with PB 8; the two infrared geminate transistor sensor signal lines are respectively connected into a PA5, a PA6 and a PA7, the OLED screen is connected with a main control CPU chip through an IIC bus and is responsible for man-machine conversation and operation, five keys are used as input equipment for man-machine interaction, the keys are connected into PA 0-4, and pull-up resistors are additionally arranged on the keys.

The invention adopts a voltage stabilizing chip AMS1117-3.3V to output 3.3V voltage to supply power for a main control CPU chip and a buzzer.

The invention adopts a voltage stabilizing chip AMS1117-5V to output 5V voltage to supply power to an OLED screen, an attitude detection gyroscope and an infrared pair tube sensor.

A sensing method based on ping-pong ball size norm attacking action sensing device is characterized in that data of an attitude sensor are Euler angle, gyroscope original data and accelerometer original data respectively, a main control CPU chip reads the accelerometer original data and the gyroscope original data from the attitude sensor, sliding weighted filtering is carried out on the original data, 5 times of data are selected for filtering according to accuracy of data testing, weights are 0.4, 0.2, 0.1 and 0.1 respectively and compensate for zero drift, the filtered data are used for subsequent processing, the accelerometer data are used for judging acceleration of a swing and the gyroscope data are used for judging an angle of action, and a relative distance sensor is used for judging whether a position of a small arm is in accordance with a standard or not; the angle is continuously increased when the swing is performed, the angle is continuously decreased when the swing is performed, the angle information adopts processed gyroscope data, the gyroscope data is reset when the period is completed, the data processing of the next period is started, the maximum value and the minimum value of the angle are recorded in a program, if the swing is normal, the difference value is constant or within a set range, the relative distance sensor detects that the relative distance sensor is used for limiting the position of an arm and correcting the angle, when the swing reaches the highest point, the data is recorded, the current difference value is positive, the swing is performed, when the data is turned and reduced, the swing is started, the judgment of the swing action period can be completed by combining with an accelerometer, when the swing frequency is increased by one when the swing period is completed, the relative distance sensor is combined with the gyroscope data of the standard swing action for comparison, and if the requirement of the standard action is met, adding one to the effective swing times, and displaying the effective swing times to an OLED screen to finish all processing of one swing action.

The invention has the advantages that: whether can in time remind when the beginner learns table tennis forehand batting and wave the action and accord with the standard, and remind and count the action that accords with the standard, can remind whether the action is standard in real time when the action is waved the bat, can look over the bat action number of times that accords with the standard in the training process through the screen at the training end, can help the beginner to develop into the forehand of correct standard fast and wave the bat action, be favorable to the improvement of later stage table tennis technique, can save high coach guide cost simultaneously, it is accurate quick to detect standard action.

Drawings

FIG. 1 is a block diagram of the overall architecture of the present invention;

FIG. 2 is a wiring diagram of stm32f103c8t6 chip;

FIG. 3 is a reset circuit diagram of the present invention;

FIG. 4 is a circuit diagram of an external high speed clock of the present invention;

FIG. 5 is a circuit diagram of the external low speed clock of the present invention;

FIG. 6 is a diagram of a voltage regulator circuit according to the present invention;

FIG. 7 is a filter circuit diagram of the present invention;

FIG. 8 is a 3.3V short circuit protection circuit diagram of the present invention;

FIG. 9 is a 5V short circuit protection circuit diagram of the present invention;

FIG. 10 is a power indication circuit diagram of the present invention;

FIG. 11 is a BOOT mode select circuit diagram of the present invention;

FIG. 12 is a circuit diagram of an attitude sensor interface of the present invention;

FIG. 13 is a circuit diagram of an OLED interface of the present invention;

FIG. 14 is a circuit diagram of a five-key embodiment of the present invention;

FIG. 15 is a relative distance sensor interface circuit diagram of the present invention;

fig. 16 is a buzzer circuit diagram of the present invention.

Detailed Description

Referring to the attached drawings, the sensing device for the actions of attacking the ball of table tennis size normmade ball of the invention comprises a main control CPU chip, an attitude sensor, a relative distance sensor, an OLED screen and a buzzer, wherein the main control CPU chip adopts an stm32f103c8t6 chip and is responsible for the operation of the whole device; the attitude sensor adopts an attitude detection gyroscope mpu6050 and is responsible for detecting the attitude and the relative angle of the human body; the relative distance sensor adopts an amplitude-limited infrared pair tube sensor and is responsible for measuring the relative amplitude of the human body; the OLED screen is connected with a main control CPU chip by an IIC bus and is responsible for man-machine conversation and operation, and five keys are adopted for man-machine interaction. The circuits connected with the main control CPU chip are respectively as follows: reset circuit, clock circuit, voltage stabilizing circuit, filter circuit, short-circuit protection circuit, power indicator circuit, BOOT mode selection circuit, attitude sensor interface circuit, five key circuit, relative distance sensor interface circuit, buzzer circuit, wherein: the clock circuit comprises an external high-speed clock circuit and an external low-speed clock circuit; the short-circuit protection circuit comprises a 3.3V short-circuit protection circuit and a 5V short-circuit protection circuit.

The table tennis size normothermia attacking and attacking sensor device executes all initialization functions after being powered on, an OLED screen is displayed as an initialization interface, the initialization interface enters a main interface after being worn by a posture sensor, five keys are used as input devices for man-machine interaction, an upper key and a lower key are menu function selection keys, and a middle key is a determination key. The corresponding function menu can be selected on the main interface, the keys are reused after entering the function menu after the selection is determined, the upper key and the lower key are keys for adjusting the size of the parameters, the key position is determined to confirm data, and the left key is a quit key and returns to the previous layer of menu.

The invention belongs to an auxiliary training instrument, when in use, a professional table tennis coach wears a sensing device of the invention on the chest of a trainer according to the actual situation of the trainer, wherein one infrared geminate transistor sensor is worn on the wrist of a swing, the positions of two infrared geminate transistor sensors (mainly the wearing positions of the sensing device are adjusted) are adjusted to limit the range of arm swing and ensure the correct position of the swing arm, an attitude sensor collects real-time angle information and feeds the real-time angle information back to a main control CPU chip for processing, and the information collected by the infrared geminate transistor sensor and the attitude sensor is synthesized to judge whether the swing is effective (the angle and the swing range are met). If the swing is effective, the buzzer sounds one sound, and meanwhile, the screen can display the total swing times and the effective swing times. The method not only can enable the beginner to quickly master the correct swing action, but also can correct the deviation of the student who develops the wrong action in the past.

And (3) data processing:

the data of the attitude sensor are euler angle, gyroscope raw data and accelerometer raw data respectively. Here we read from the sensors the raw data of the acceleration sensors and the raw data of the gyroscopes. Firstly, the original data is subjected to sliding weighted filtering, 5 times of data are selected for filtering according to the accuracy of data testing, the weights are 0.4, 0.2, 0.1 and 0.1 respectively, and zero drift is compensated. The filtered data can be used for subsequent processing, the accelerometer can judge the acceleration of the swing, the gyroscope data is used for judging the angle of action, and the infrared pair tube sensor judges whether the position of the forearm meets the standard or not.

The angle is continuously increased when the user swings the racket, the angle is continuously reduced when the user swings the racket, the angle information adopts previously processed gyroscope data, the gyroscope data is reset when the period is completed, and data processing of the next period is started. Recording the maximum value and the minimum value of the angle in the program, if the swing is normal, the difference value should be basically constant or within a certain range, the infrared sensor detection is used for limiting the position of the arm on one hand, and is used for correcting the angle on the other hand, when the swing reaches the highest point, namely when the infrared pair tube sensor detection is carried out, the angle value should be about 130. The data are recorded, the current back difference value is just to wave the bat and begin to put the bat when the turn of data appears and begin to reduce, combine accelerometer can accomplish the judgement of waving the bat action cycle simultaneously, wave the bat number of times and add one when every wave a bat cycle of accomplishing, combine spacing geminate transistor and the gyroscope data of standardizing and waving the bat action to contrast, if accord with standard action requirement then effectively wave the bat number of times and add one to show to the OLED screen, accomplish a whole processing of waving the bat action so far.

Claims

1. The utility model provides a table tennis size normed hand attack ball action detects sensor includes main control CPU chip, attitude sensor, relative distance sensor, OLED screen, bee calling organ, characterized by: the main control CPU chip adopts an stm32f103c8t6 chip and is responsible for the operation of the whole device; the attitude sensor adopts an attitude detection gyroscope mpu6050 and is responsible for detecting the attitude and the relative angle of the human body; the relative distance sensor adopts an amplitude-limited infrared pair tube sensor and is responsible for measuring the relative amplitude of the human body; the OLED screen is connected with the main control CPU chip by an IIC bus and is responsible for man-machine conversation and operation.

2. The sensing device of table tennis ball size vanning hand attack of claim 1, wherein: the OLED screen is connected with a main control CPU chip by an IIC bus, a No. 1 pin is connected with PB6, and a No. 2 pin is connected with PB 7; the No. 3 pin of the attitude detection gyroscope is connected into PB10, and the No. 4 pin of the attitude detection gyroscope is connected into PB 11; the buzzer is connected with the triode, amplified and then connected with PB 8; the two infrared geminate transistor sensor signal lines are respectively connected into a PA5, a PA6 and a PA7, the OLED screen is connected with a main control CPU chip through an IIC bus and is responsible for man-machine conversation and operation, five keys are used as input equipment for man-machine interaction, the keys are connected into PA 0-4, and pull-up resistors are additionally arranged on the keys.

3. A sensing method based on the sensing device for sensing actions of table tennis ball, size, forever and attacking, as claimed in claim 1, wherein: the data of the attitude sensor are euler angle, original data of a gyroscope and original data of the accelerometer, the main control CPU chip reads the original data of the accelerometer and the original data of the gyroscope from the attitude sensor, sliding weighted filtering is carried out on the original data, 5 times of data are selected according to the accuracy of data testing for filtering, weights are 0.4, 0.2, 0.1 and 0.1 respectively, zero drift is compensated, the filtered data are used for carrying out subsequent processing, the data of the accelerometer are used for judging the acceleration of a swing and the data of the gyroscope are used for judging the angle of action, and a relative distance sensor is used for judging whether the position of a forearm is in accordance with the standard or not; the angle is continuously increased when the swing is performed, the angle is continuously reduced when the swing is performed, the angle information adopts processed gyroscope data, the gyroscope data is reset when the period is completed, the data processing of the next period is started, the maximum value and the minimum value of the angle are recorded in a program, if the swing is normal, the difference value is constant or within a set range, the relative distance sensor detects that the position of the arm is limited and the angle is corrected, when the swing reaches the highest point, the data is recorded, the current difference value is positive, namely the swing is performed, the swing is started when the turning of the data is reduced, the judgment of the swing action period can be completed by combining with an accelerometer, when the swing frequency is increased once the swing period is completed, the comparison is performed by combining the relative distance sensor and the gyroscope data of the standard swing action, and if the requirement of the standard action is met, adding one to the effective swing times, and displaying the effective swing times to an OLED screen to finish all processing of one swing action.