CN113188645A

CN113188645A - Impact recognition method, device, equipment, storage medium and competition equipment

Info

Publication number: CN113188645A
Application number: CN202110475768.4A
Authority: CN
Inventors: 廖建华; 张金龙; 刘洋; 熊江涛; 陈朝邦
Original assignee: Shenzhen Gongjiangshe Technology Co ltd
Current assignee: Shenzhen Gongjiangshe Technology Co ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-07-30

Abstract

The invention belongs to the technical field of competitive prop control, and particularly relates to a hitting identification method, device, equipment, storage medium and competition equipment. The impact recognition method is applied to a game apparatus including an impacted member and a support member flexibly connected to each other. The method comprises the following steps: acquiring a first motion parameter, wherein the first motion parameter is a motion parameter of a struck piece; acquiring a second motion parameter, wherein the second motion parameter is a motion parameter of the support piece; analyzing the first motion parameter and the second motion parameter; and determining a stroke recognition result according to the analysis result. The invention can accurately identify whether the appointed part is hit or not.

Description

Impact recognition method, device, equipment, storage medium and competition equipment

Technical Field

The invention relates to the technical field of competitive prop control, in particular to a hitting identification method, a hitting identification device, hitting identification equipment, a storage medium and competition equipment.

Background

In a robot competition or game scene, competition devices are often arranged, and the props can be set to different roles according to requirements, such as a sentry post, a defense tower, a base and the like. In a robot competition or game, the robot can hit certain designated parts of the competition equipment to achieve some effects set by the competition or game, such as scoring the opponent, losing the opponent, reducing the opponent's blood volume, obtaining some game award, etc. Such playing devices are often provided with detection means to detect whether these designated parts have been hit. However, during the course of a game or a game, in addition to the designated effective striking part, the part of the game device may be struck or struck, thereby causing interference to the detection device, and at this time, the detection device cannot accurately identify whether the designated part of the game device is struck or not.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method, an apparatus, a device, a storage medium, and a game device for stroke recognition, so as to solve the technical problem that whether a designated part is struck or not cannot be accurately recognized in the prior art.

The technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides a stroke recognition method for use in a game apparatus comprising a struck member and a support member flexibly connected to each other, the method comprising the steps of:

acquiring a first motion parameter, wherein the first motion parameter is a motion parameter of a struck piece;

acquiring a second motion parameter, wherein the second motion parameter is a motion parameter of the support piece;

analyzing the first motion parameter and the second motion parameter;

and determining a stroke recognition result according to the analysis result.

Preferably, the first motion parameter is a first instantaneous acceleration, the first instantaneous acceleration is an instantaneous acceleration including a striking element, the second motion parameter includes a second instantaneous acceleration, the second instantaneous acceleration is an instantaneous acceleration of a support, and the first instantaneous acceleration and the second instantaneous acceleration are instantaneous accelerations generated at the same time;

the analyzing the first and second motion parameters comprises: comparing the magnitude of the first instantaneous acceleration and the second instantaneous acceleration;

the determining the impact recognition result according to the analysis result further includes the steps of:

if the first instantaneous acceleration is larger than the second instantaneous acceleration, the impact recognition result is that the impact is effective;

if the first instantaneous acceleration is less than or equal to the second instantaneous acceleration, the impact recognition result is that the impact is invalid;

preferably, the acquiring a first motion parameter, where the first motion parameter is a motion parameter of a struck piece, further includes the following steps:

acquiring a first threshold value;

monitoring whether the acceleration of the struck piece is greater than a first threshold value;

when the fact that the acceleration of the struck piece is larger than a first threshold value is monitored, recording the moment as a first moment, and acquiring the instantaneous acceleration of the struck piece at the first moment as a first instantaneous acceleration;

the acquiring of the second motion parameter, which is the motion parameter of the support member, includes the following steps:

acquiring a first moment;

acquiring the instantaneous acceleration of the support at the first moment according to the first moment to serve as a second instantaneous acceleration;

preferably, the acquiring a first motion parameter, where the motion parameter is a motion parameter of a struck piece, includes the following steps:

acquiring a first time range;

acquiring a series of acceleration values of the struck piece within a first time range according to the first time range to serve as a first motion parameter;

the obtaining of the second motion parameter is a motion parameter of the support member, and includes: acquiring a series of acceleration values of the support within a first time range according to the first time range as a second motion parameter;

the analyzing the first and second motion parameters further comprises:

acquiring an acceleration peak value of the struck piece in a first time range according to the first motion parameter to obtain a first acceleration peak value;

acquiring an acceleration peak value of the support within a first time range according to the second motion parameter to obtain a second acceleration peak value;

comparing the magnitude of the first acceleration peak value and the magnitude of the second acceleration peak value;

if the first acceleration peak value is larger than the second acceleration peak value, the beating identification result is that beating is effective;

and if the first acceleration peak value is less than or equal to the second acceleration peak value, the impact identification result is that the impact is invalid.

acquiring a second time range;

acquiring a series of acceleration values of the struck piece in a second time range according to the second time range to serve as a first motion parameter;

the obtaining of the second motion parameter is a motion parameter of the support member, and includes: acquiring a series of acceleration values of the support within a second time range according to the second time range as a second motion parameter;

the analyzing the first and second motion parameters further comprises:

obtaining the average value of the acceleration absolute value of the struck piece in a second time range according to the first motion parameter to obtain a first average value;

obtaining the average value of the acceleration absolute values of the supporting piece in a second time range according to the second motion parameter to obtain a second average value;

comparing the first average value with the second average value;

if the first average value is larger than the second average value, the beating recognition result is that beating is effective;

and if the first average value is less than or equal to the second average value, the impact recognition result is that the impact is invalid.

acquiring a first time parameter;

acquiring a first vibration amplitude corresponding to a first time parameter according to the first time parameter, wherein the first vibration amplitude is the vibration amplitude of a struck piece;

the obtaining of the second motion parameter is a motion parameter of the support member, and includes: and acquiring a second vibration amplitude corresponding to the first time parameter according to the first time parameter, wherein the second vibration amplitude is the vibration amplitude of the support.

The analyzing the first and second motion parameters comprises: comparing the magnitude of the first vibration amplitude and the magnitude of the second vibration amplitude;

if the first vibration amplitude is larger than the second vibration amplitude, the beating recognition result is that beating is effective;

and if the first vibration amplitude is less than or equal to the second vibration amplitude, the impact recognition result is that the impact is invalid.

Has the advantages that: the hitting identification method, the device, the equipment, the storage medium and the competition equipment fully utilize the damping effect of the flexible connection on the supporting piece and the hit piece, firstly respectively obtain the motion parameters of the hit piece and the motion parameters of the supporting piece, and then analyze the motion parameters of the hit piece and the motion parameters of the supporting piece. Due to the damping effect of the flexible connection, differences occur between the parameters of the movement of the struck piece and the parameters of the movement of the support member in the event that the struck piece is struck. And a difference is generated between the motion parameter of the struck member and the motion parameter of the support member in the case where the support member is struck. And the difference in motion parameters will be different in the two cases. Therefore, whether the struck piece is struck or not can be accurately identified through analyzing the motion parameters of the struck piece and the motion parameters of the supporting piece.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without any creative effort, other drawings may be obtained according to the drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is a flowchart of a stroke recognition method in embodiment 1 of the present invention;

fig. 2 is a flowchart of a stroke recognition method in embodiment 2 of the present invention;

FIG. 3 is a block diagram showing the construction of the impact recognition apparatus of the present invention;

FIG. 4 is a block diagram of the impact recognition apparatus of the present invention;

FIG. 5 is a schematic view of an assembled configuration of the racing apparatus of the present invention;

FIG. 6 is an exploded view of the racing device of the present invention;

FIG. 7 is a cross-sectional view of a racing device of the present invention;

FIG. 8 is a front view of the spring of the present invention;

FIG. 9 is a schematic three-dimensional structure of a spring according to the present invention;

FIG. 10 is a schematic view of the spring of the present invention connected to a first connecting member;

FIG. 11 is a schematic view of the spring of the present invention connected to a second connecting member;

FIG. 12 is a three-dimensional block diagram of the fastener of the present invention;

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, the embodiments of the present invention and the various features of the embodiments may be combined with each other within the scope of the present invention.

Example 1

As shown in fig. 1, embodiment 1 of the present invention discloses a stroke recognition method applied to a game apparatus including a struck member and a support member flexibly connected to each other. By flexible connection is meant that two objects or two parts are connected to each other and can be displaced relative to each other or can move out of phase. For example, springs, silicone, rubber or other deformable connectors or linkages may be used to connect two objects or parts, and since these connectors or linkages may deform under the influence of external forces, the two connected objects or parts may move relative to each other or out of phase with each other. After the struck piece and the supporting piece are flexibly connected, when the struck piece or the supporting piece can generate asynchronous movement, the striking identification method of the embodiment is used for identifying whether the struck piece is struck or not, and the method comprises the following steps:

s1: acquiring a first motion parameter, wherein the first motion parameter is a motion parameter of a struck piece;

the first motion parameter includes, but is not limited to, instantaneous acceleration of the struck piece, a series of acceleration values within a preset time range, acceleration peak values within a preset time range, average values of absolute values of acceleration within a preset time range, and vibration amplitude.

S2: acquiring a second motion parameter, wherein the second motion parameter is a motion parameter of the support piece;

wherein the second motion parameter includes, but is not limited to, instantaneous acceleration of the support, a series of acceleration values within a preset time range, peak deceleration values within a preset time range, average of absolute values of acceleration within a preset time range, and vibration amplitude.

S3: analyzing the first motion parameter and the second motion parameter;

because the struck piece and the supporting piece are flexibly connected, the motion parameters of the struck piece and the motion parameters of the supporting piece can be different when the struck piece is struck. And a difference is generated between the motion parameter of the struck member and the motion parameter of the support member in the case where the support member is struck. And the difference in motion parameters will be different in the two cases. The analysis of the first motion parameter and the second motion parameter in this embodiment includes, but is not limited to, size comparison, mean solving, statistical peak value, interpolation processing, and curve fitting.

S4: and determining a stroke recognition result according to the analysis result.

The step determines the result of the striking recognition according to the analysis result of the motion parameters of the struck piece and the support in the previous step, wherein the striking recognition result at least comprises two results of striking effectiveness and striking ineffectiveness. When the result is that the impact is effective, the struck piece is indicated to be struck alone, and when the result is that the impact is effective, the struck result is that the struck piece is not struck alone. In the robot competition or game scene, whether each competition party or each party participating in the game achieves certain set competition effect or game effect can be judged according to the identification result so as to increase the interestingness of the competition or the game. Such play effects or game effects include, but are not limited to, scoring the opponent, losing the opponent, reducing the opponent's blood volume, awarding a certain game award, and the like.

Example 2

In this embodiment, the first motion parameter is a first instantaneous acceleration, the first instantaneous acceleration is an instantaneous acceleration of the struck piece, the second motion parameter is a second instantaneous acceleration, the second instantaneous acceleration is an instantaneous acceleration of the support, and the first instantaneous acceleration and the second instantaneous acceleration are instantaneous accelerations generated at the same time. The instantaneous acceleration refers to the value of the acceleration of the object at a certain time.

Since the motion parameter acquired in the previous step is the instantaneous acceleration of the object, at S3: comparing the first instantaneous acceleration and the second instantaneous acceleration by adopting a first motion parameter and second motion parameter analysis method;

the S4: determining the impact recognition result from the analysis result further includes the steps of:

s41: if the first instantaneous acceleration is larger than the second instantaneous acceleration, the impact recognition result is that the impact is effective;

because the struck piece and the support piece are in flexible connection, after the struck piece is struck, the vibration of the struck piece is weakened and then transmitted to the support piece, and the instantaneous acceleration of the struck piece is larger than that of the support piece at the same moment. Therefore, if the first instantaneous acceleration is larger than the second instantaneous acceleration, the hit piece can be accurately judged to be hit alone.

S42: if the first instantaneous acceleration is less than or equal to the second instantaneous acceleration, the impact recognition result is that the impact is invalid;

because the struck piece and the supporting piece are in flexible connection, after the supporting piece is struck, the vibration of the supporting piece is weakened and then transmitted to the struck piece, and at the moment, the instantaneous acceleration of the struck piece cannot be printed. Therefore, if the first instantaneous acceleration is less than or equal to the second instantaneous acceleration, the struck piece can be accurately judged not to be singly struck.

In the embodiment, whether the struck piece is hit alone is judged by comparing the instantaneous acceleration of the struck piece and the instantaneous acceleration of the supporting piece at the same moment, and no matter which part of the struck piece is hit, the struck piece and the supporting piece generate the instantaneous acceleration with different magnitudes at the moment of being hit, so that the embodiment can accurately detect the striking of the struck piece in each direction and each part. Meanwhile, the data volume of the instantaneous acceleration is small, the data transmission is fast, and the instantaneous acceleration is easy to detect, so that the identification method of the embodiment is simple and fast, convenient to process and small in time delay.

As shown in fig. 2, in the present embodiment, the S1: the method for acquiring the first motion parameter of the struck piece comprises the following steps:

s11: acquiring a first threshold value;

s12: monitoring whether the acceleration of the struck piece is greater than a first threshold value;

s13: when the fact that the acceleration of the struck piece is larger than a first threshold value is monitored, recording the moment as a first moment, and acquiring the instantaneous acceleration of the struck piece at the first moment as a first instantaneous acceleration;

this step may set a threshold value of acceleration as the first threshold value first. The recognition of the impact is only activated when the acceleration value on the struck piece is greater than the threshold value. To avoid the impact on the identification due to slight perturbations of the associated device. The step can also monitor the acceleration value of the struck piece, and the identification of the striking can be started when the acceleration of the struck piece is larger than the first threshold value.

The S2: acquiring a second motion parameter, wherein the second motion parameter is the motion parameter of the support member, and the method comprises the following steps:

s21: acquiring a first moment;

s22: acquiring the instantaneous acceleration of the support at the first moment according to the first moment to serve as a second instantaneous acceleration;

when the impact is identified, the first moment when the acceleration of the struck piece is monitored to be larger than the first threshold value is selected, and then the instantaneous acceleration of the struck piece and the instantaneous acceleration of the supporting piece at the first moment are respectively obtained, so that the accuracy of impact identification is ensured.

Example 3

In the impact recognition method of the present embodiment, the step S1: the method comprises the following steps of obtaining a first motion parameter, wherein the motion parameter is the motion parameter of a struck piece:

s14: acquiring a first time range;

s15: and acquiring a series of acceleration values of the struck piece in the first time range according to the first time range as a first motion parameter.

Wherein the first time range is a continuous period of time and the first time range includes a start time and an end time. In the step, the acceleration of the struck piece can be sampled in the first time range to obtain a series of acceleration values, and the series of acceleration values are used as the first motion parameter.

The S2: acquiring a second motion parameter, wherein the second motion parameter is a motion parameter of the support member, and the method comprises the following steps: acquiring a series of acceleration values of the support within a first time range according to the first time range as a second motion parameter;

this step may sample the acceleration of the support within the aforementioned first time range to obtain a series of acceleration values, and use the series of acceleration values as the second motion parameter.

The S3: analyzing the first and second motion parameters further comprises:

s31, acquiring an acceleration peak value of the struck piece in a first time range according to the first motion parameter to obtain a first acceleration peak value;

wherein the first acceleration peak value is the absolute value of the acceleration with the largest absolute value in the first motion parameter.

S32, acquiring an acceleration peak value of the support within a first time range according to the second motion parameter to obtain a second acceleration peak value;

wherein the second acceleration peak value is the absolute value of the acceleration with the largest absolute value in the second motion parameter.

S33, comparing the magnitude of the first acceleration peak value and the magnitude of the second acceleration peak value;

s43: if the first acceleration peak value is larger than the second acceleration peak value, the beating identification result is that beating is effective;

because the struck piece and the support piece are in flexible connection, after the struck piece is struck, the vibration of the struck piece is weakened and then transmitted to the support piece, and the acceleration peak value of the struck piece is larger than that of the support piece in the same period of time. Therefore, the hit piece can be accurately judged to be hit alone by the fact that the first acceleration peak value is larger than the second instantaneous acceleration peak value.

S44: and if the first acceleration peak value is less than or equal to the second acceleration peak value, the impact identification result is that the impact is invalid.

Because the struck piece and the support piece are in flexible connection, after the support piece is struck, the vibration of the support piece is weakened and then transmitted to the struck piece, and the instantaneous acceleration of the struck piece is not greater than that of the support piece in the same period of time. Therefore, the fact that the struck piece is not singly struck can be accurately judged by the fact that the first peak acceleration is smaller than or equal to the second peak acceleration.

Example 4

s104: acquiring a second time range;

s105: acquiring a series of acceleration values of the struck piece in a second time range according to the second time range to serve as a first motion parameter;

wherein the second time range is a continuous period of time and the second time range includes a start time and an end time. In the step, the acceleration of the struck piece can be sampled in the second time range to obtain a series of acceleration values, and the series of acceleration values are used as the first motion parameter.

The S2: acquiring a second motion parameter, wherein the second motion parameter is a motion parameter of the support member, and the method comprises the following steps: acquiring a series of acceleration values of the support within a second time range according to the second time range as a second motion parameter;

in the step, the acceleration of the supporting knock-out piece is sampled in the second time range to obtain a series of acceleration values, and the series of acceleration values are used as the second motion parameter.

The S3: analyzing the first and second motion parameters further comprises:

s301, obtaining the average value of the acceleration absolute value of the struck piece in a second time range according to the first motion parameter to obtain a first average value;

this step averages the absolute value of the acceleration used in the first motion parameter to obtain a first average value.

S302, obtaining an average value of the acceleration absolute values of the support piece in a second time range according to the second motion parameter to obtain a second average value;

S303, comparing the first average value with the second average value;

s403: if the first average value is larger than the second average value, the beating recognition result is that beating is effective;

because the struck piece and the support piece are in flexible connection, after the struck piece is struck, the vibration of the struck piece is weakened and then transmitted to the support piece, and the average value of the absolute values of the acceleration of the struck piece in the same period of time is larger than the average value of the absolute values of the acceleration of the support piece. Therefore, the hit piece can be accurately judged to be hit alone by the first adding average value being larger than the second adding average value.

S404: and if the first average value is less than or equal to the second average value, the impact recognition result is that the impact is invalid.

Because the struck piece and the support piece are in flexible connection, after the support piece is struck, the vibration of the support piece is weakened and then transmitted to the struck piece, and the average value of the absolute values of the acceleration of the struck piece in the same period of time is not larger than the average value of the absolute values of the acceleration of the support piece. Therefore, the condition that the first average value is less than or equal to the second average value can accurately judge that the struck piece is not singly struck.

Example 5

In the impact recognition method according to the present invention, the step S1: the method comprises the following steps of obtaining a first motion parameter, wherein the motion parameter is the motion parameter of a struck piece:

s16: acquiring a first time parameter;

s17: acquiring a first vibration amplitude corresponding to a first time parameter according to the first time parameter, wherein the first vibration amplitude is the vibration amplitude of a struck piece;

wherein the first time parameter may be the second time instant or the third time range. When the first time parameter is the second moment, the first vibration amplitude is the vibration amplitude of the struck piece at the second moment; when the first time parameter is in a third time range, the first vibration amplitude is an average value of the vibration amplitude of the struck piece in the third time range or an integral of the vibration amplitude of the struck piece in the third time range over time;

the S2: acquiring a second motion parameter, wherein the second motion parameter is a motion parameter of the support member, and the method comprises the following steps: and acquiring a second vibration amplitude corresponding to the first time parameter according to the first time parameter, wherein the second vibration amplitude is the vibration amplitude of the support.

When the first time parameter is the second moment, the second vibration amplitude is the vibration amplitude of the supporting piece at the second moment; when the first time parameter is a third time range, the first vibration amplitude is an average value of vibration amplitudes of the support member in the third time range or an integral of the vibration amplitudes of the support member in the third time range over time;

the S3: analyzing the first and second motion parameters includes: comparing the magnitude of the first vibration amplitude and the magnitude of the second vibration amplitude;

s45: if the first vibration amplitude is larger than the second vibration amplitude, the beating recognition result is that beating is effective;

because the struck piece and the supporting piece are in flexible connection, when the struck piece is struck, the vibration of the struck piece is weakened and then transmitted to the supporting piece, and the vibration amplitude of the struck piece is larger than that of the supporting piece. Therefore, the hit piece can be accurately judged to be hit alone by the first vibration amplitude being larger than the second vibration amplitude.

S46: and if the first vibration amplitude is less than or equal to the second vibration amplitude, the impact recognition result is that the impact is invalid.

Because the struck piece and the supporting piece are in flexible connection, when the supporting piece is struck, the vibration of the supporting piece is weakened and then transmitted to the struck piece, and the vibration amplitude of the struck piece is not larger than that of the supporting piece. Therefore, the fact that the struck piece is not singly struck can be accurately judged by the fact that the first vibration amplitude is smaller than or equal to the second vibration amplitude.

Example 6

As shown in fig. 3, the present embodiment provides a hit recognition device applied to a game apparatus including a flexibly connected struck member and a support member, the hit recognition device including:

the first detector is used for acquiring a first motion parameter, and the motion parameter is the motion parameter of a struck piece;

wherein the first detector includes, but is not limited to, an acceleration sensor, an accelerometer, a three-axis accelerometer, an inertial measurement unit, a displacement sensor. When the first detector is a speed sensor, an accelerometer, a three-axis accelerometer or an inertial measurement unit, the first detector can be arranged on the struck piece to move synchronously with the struck piece.

A second detector for acquiring a second motion parameter, the second motion parameter being a motion parameter of the support;

wherein the second detector includes, but is not limited to, an acceleration sensor, an accelerometer, a three-axis accelerometer, an inertial measurement unit, a displacement sensor. The second detector may be mounted on the support for synchronous movement with the support when the second detector is a velocity sensor, accelerometer, triaxial accelerometer, inertial measurement unit.

A control circuit for analyzing the first and second motion parameters and determining a stroke recognition result based on the analysis result.

The control Circuit may be a Central Processing Unit (CPU), or other general purpose Processor, a single chip, an ARM, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA), or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc.

Example 7

In addition, the impact recognition method of the embodiment of the present invention described in conjunction with fig. 4 may be implemented by an impact recognition apparatus. Fig. 4 is a schematic diagram showing a hardware configuration of the impact recognition apparatus according to the embodiment of the present invention.

The impact recognition device may include a processor 401 and a memory 402 storing computer program instructions.

Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.

Memory 402 may include mass storage for data or instructions. By way of example, and not limitation, memory 402 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 402 may include removable or non-removable (or fixed) media, where appropriate. The memory 402 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 402 is a non-volatile solid-state memory. In a particular embodiment, the memory 402 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

The processor 401 reads and executes computer program instructions stored in the memory 402 to implement the data addressing method for area random printing in any of the above embodiments.

The stroke recognition device may also include a communication interface 403 and a bus 410 in one example. As shown in fig. 6, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.

The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.

The bus 410 includes hardware, software, or both that couple components for fractional ink output to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 410 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.

Example 8

In addition, in combination with the impact recognition method in the above embodiments, embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the impact recognition methods in the above embodiments.

Example 9

The present embodiment provides a competition device which is mainly used in a robot competition or a game. In a robot competition or game, competition devices can have different names according to different character settings, such as bases, defense towers, sentry posts and the like, and the specific names are not limited herein. The competition device can sense the impact on the appointed part in the competition or the game. The game comprises a struck piece, a support and the strike recognition device of embodiment 6, wherein the struck piece and the support are flexibly connected. The game device of this embodiment also comprises a spring, i.e. the struck piece and the support can be flexibly connected by means of a spring. In other embodiments, other components or mechanisms may be used to form the flexible connection, and are not limited herein.

As shown in fig. 5 and 6, the struck member 50 is located at one end of the support member 40, and the struck member 50 is used for receiving the impact of the target object. In this embodiment the struck member 50 can be used as an effective striking area for a playing device as specified in a game or rules of play.

In order to prevent the impact or blow on the playing device except other parts of the struck piece 50 from being transmitted to the struck piece 50 and detected by the first detector 90, the present embodiment uses the spring 10 to form a separable flexible connection between the supporting member 40 and the struck piece 50 of the playing device, i.e. the supporting member 40 and the struck piece 50 can be displaced asynchronously. Due to the elastic characteristics of the spring 10, the shock generated when the supporting member 40 of the game device is hit or bumped is not directly transmitted to the hit piece 50, thereby effectively blocking the hit or bumped on the supporting member 40. Thus, the impact or shock on the support member 40 is not directly transmitted to the struck member 50 and is detected by the first detector 90 mounted on the struck member 50.

As shown in fig. 10, in the present embodiment, the spring 10 includes an elastic section 13 and a first connection portion 11, the first connection portion 11 is connected to one end of the elastic section 13 facing the support 40, as shown in fig. 5, the first connection portion 11 includes a first sub-portion 111 and a second sub-portion 112, the first sub-portion 111 and the second sub-portion 112 are disposed on two sides of the elastic section 13 along a radial direction of the elastic section 13, and the first sub-portion 111 and the second sub-portion 112 are respectively connected to the support 40.

The spring 10 of the present embodiment is additionally provided with the first connecting portion 11 on the basis of the elastic section 13 of the conventional spring 10. The elastic section 13 of the spring 10 has a certain elasticity, and is deformed correspondingly under the action of an external force, such as compression deformation, tensile deformation and the like, and can restore the original shape after the external force is removed. The present embodiment utilizes the aforementioned characteristics of the spring 10 to cushion and block external impacts such as impacts or bumps acting on the support member 40.

In order to not affect the effect of the spring 10 on buffering and blocking external impact and to play a role in connection, the first connection portion 11 is disposed at the end of the elastic section 13. When in connection, only the first connection part 11 can be used to contact with the support part 40, and the elastic section 13 can not be interfered by the support part 40, so that the flexible connection between the spring 10 and the support part 40 is realized, and the influence of the connection with the support part 40 on the buffering and blocking performance of the spring 10 is avoided.

In this embodiment, the first connecting portion 11 may be further divided into two parts, namely, a first sub-portion 111 and a second sub-portion 112, and the two parts are respectively located at two sides of the elastic section 13 in the radial direction, so that the projections of the first sub-portion 111 and the second sub-portion 112 and the elastic section 13 on the reference plane perpendicular to the axial direction of the spring 10 do not overlap with each other. Wherein the first sub-portion 111 and the second sub-portion 112 form a connection with the supporting member 40 at different positions. Since the first sub-portion 111 and the second sub-portion 112 are located at two sides of the elastic section 13, the connection between the spring 10 and the supporting member 40 can be achieved at two sides of the elastic section 13, which is more stable and can effectively prevent the spring 10 from being biased to one side. And since the two sub-portions do not coincide with the resilient section 13, the connecting portion and the resilient portion do not interfere with each other, which does not affect neither the connection nor the cushioning and baffling properties of the spring 10.

In order to achieve the connection of the support element 40 to the spring 10, the playing device in this embodiment further comprises a first connecting element 20, and the first sub-portion 111 or the second sub-portion 112 is connected to the support element 40 via the first connecting element 20.

Since the first connection portion 11 comprises two sub-portions, two first connection members 20 are used when one and the same spring 10 is connected to the support member 40. One of the two first connecting members 20 is used for connecting the supporting member 40 with the first sub-portion 111 of the spring 10, and the other is used for connecting the supporting member 40 with the second sub-portion 112 of the spring 10.

The present embodiment can facilitate and ensure the connection between the first connecting portion 11 and the supporting member 40 with the aid of the first connecting member 20.

In order to realize the connection between the spring 10 and the struck piece 50, in the present embodiment, the spring 10 further includes a second connecting portion 12, the second connecting portion 12 is connected to one end of the elastic section 13 facing the struck piece 50, the second connecting portion 12 includes a third sub-portion 121 and a fourth sub-portion 122, the third sub-portion 121 and the fourth sub-portion 122 are disposed on two sides of the elastic section 13 along a radial direction of the elastic section 13, and the third sub-portion 121 and the fourth sub-portion 122 are respectively connected to the struck piece 50.

As shown in fig. 8, the competition device further comprises a second connecting element 30, and the third subsection 121 or the fourth subsection 122 is connected to the support element 40 via the second connecting element 30. The third sub-section 121 is formed with a third cavity 123 through which the third terminal passes, and the fourth sub-section 122 is formed with a fourth cavity 124 through which the third terminal passes.

In the embodiment, the first connecting portion 11 and the second connecting portion 12 are disposed at two ends of the elastic section 13 of the spring 10, and the first connecting member 20 used in cooperation with the first connecting portion 11 and the second connecting member 30 used in cooperation with the second connecting portion 12 enable the support member 40, the struck piece 50 and the spring 10 to be conveniently and rapidly installed from bottom to top, and enable the installed support member 40 and the struck piece 50 to form flexible connection through the spring 10. By adopting the mode, the two ends of the spring 10 can be reliably locked with the supporting piece 40 and the struck piece 50, and the mutual interference between the connecting part and the elastic section 13 of the spring 10 is avoided while the connection is realized, so that the supporting piece 40 and the struck piece 50 can not be completely separated after the connection, and the mutual vibration can be effectively blocked.

As shown in fig. 9, in the present embodiment, the first sub-section 111 includes a first section 1111, a second section 1112, and a third section 1113 connected end to end. The first segment 1111 is a straight segment, the second segment 1112 is a circular arc segment, and the third segment 1113 is a straight segment. Wherein the first section 1111 and the third section 1113 extend in a direction parallel to the radial direction of the spring 10. First section 1111, second section 1112, and third section 1113 enclose a space through which first end 21 of first coupling member 20 may pass. When the first end 21 of the first connecting element 20 passes through the space, the first section 1111, the second section 1112 and the third section 1113 cannot move freely in the radial direction under the limiting effect of the first end 21, so as to realize the radial positioning of the first sub-portion 111 by the first connecting element 20.

Similarly, in the present embodiment, the second sub-section 112 includes a fourth sub-section 1121, a fifth sub-section 1122, and a sixth sub-section 1123 connected end to end. The third segment 1113 is a straight segment, the fourth segment 1121 is a circular arc segment, and the fifth segment 1122 is a straight segment. Wherein the fourth segment 1121 and the sixth segment 1123 extend in a direction parallel to the radial direction of the spring 10. The fourth segment 1121, the fifth segment 1122 and the sixth segment 1123 define a space through which the first end 21 of the first connector 20 can pass. When the first end 21 of the first connecting member 20 passes through the space, the fourth segment 1121, the fifth segment 1122 and the sixth segment 1123 cannot move freely in the radial direction under the limiting action of the first end 21, so that the radial positioning of the second sub-portion 112 by the first connecting member 20 is realized.

Wherein the third subsection 1113 of the first sub-section 111 and the fourth subsection 1121 of the second sub-section 112 are connected to form a whole body of the first sub-section and the second sub-section 112, the whole body is the first connection portion 11, and the two circular arcs of the second subsection 1112 and the fifth subsection 1122 face each other. The shape of the first connection portion 11 is then that of a semi-closed racetrack. The two first connection pieces 20 pass through the first and

second sub-parts

111 and 112, respectively. The foregoing structure allows the first sub-portion 111 and the second sub-portion 112 to cooperate with each other when the connection positioning is achieved.

As shown in fig. 11, when the spring 10 tends to move toward w1 in the figure, the first section 1111 of the first sub-portion 111 and the sixth section 1123 of the second sub-portion 112 can prevent the spring 10 from being biased toward w1 from both sides of the spring 10. When the spring 10 tends to move toward w2 in the figure, the third segment 1113 of the first sub-portion 111 and the fourth segment 1121 of the second sub-portion 112 can prevent the spring 10 from being biased toward w2 from both sides of the spring 10. Second segment 1112 of first sub-portion 111 may prevent spring 10 from deflecting in the direction w3 when spring 10 has a tendency to move in the direction w 3. When the spring 10 tends to move in the direction w4 in the figure, the fifth segment 1122 of the second sub-portion 112 can prevent the spring 10 from shifting in the direction w 4.

Therefore, the connecting portion of this embodiment can limit the deflection of the spring 10 from the above directions, and a sufficient space can be left between the second segment 1112 and the fifth segment 1122 to facilitate the first connecting member 20 or other components to pass through in the axial direction of the spring 10, which facilitates the assembly and also realizes a reliable connection.

Similarly, the third sub-portion 121 and the fourth sub-portion 122 of the second connection portion 12 may also adopt a structure in which two straight line segments are connected with an arc segment end to end, and the shape thereof may be completely the same as the first sub-portion 111 and the second sub-portion 112 of the first connection portion 11, and the effect thereof is the same, which is not described herein again

When the first connection portion 11 and the second connection portion 12 have the same shape, the angles of the first connection portion 11 and the second connection portion 12 at the circumferential positions may be staggered by an angle ranging from 85 degrees to 95 degrees. The angle-staggered arrangement of the first connecting portion 11 and the second connecting portion 12 can increase the space for operation during assembly, thereby facilitating assembly. Meanwhile, the positions of the four connecting points of the spring can be dispersed, so that the connecting stability is improved.

The first connecting member 20 may include a first end 21 and a second end 22 disposed opposite to each other, the first sub-portion 111 forms a first cavity 113 through which the first end 21 passes, the second sub-portion 112 forms a second cavity 114 through which the first end 21 passes, the first end 21 passes through the first cavity 113 or the second cavity 114 and is connected to the supporting member 40, and the first sub-portion 111 or the second sub-portion 112 is limited between the supporting member 40 and the second end 22.

The first end 21 and the second end 22 may be disposed at both ends of the first connecting member 20 along the axial direction of the elastic section 13, that is, the first end 21 is located at a position of the first connecting member 20 facing the striking member, and the second end 22 is located at a position of the first connecting member 20 facing the support member 40. When the first sub-portion 111 is connected to the supporting member 40 through the first connecting member 20, the first end 21 of the first connecting member 20 passes through the first cavity 113, wherein a part of the first end 21 passes through the first cavity 113, and the passed part can be used to form a connection with the supporting member 40. The second end 22 of the first connector 20 may have a larger cross-section than the first end 21. For example, the projection of the first end 21 on the reference plane is located in the first cavity 113, so that the first end 21 can vertically pass through the first cavity 113, and the projection of the second end 22 on the reference plane at least partially coincides with the first sub-portion 111, so that the second end 22 can limit the first sub-portion 111 from moving relative to the support 40 along the axial direction of the elastic section 13.

In the above manner, the first sub-portion 111 and the second sub-portion 112 can be conveniently and quickly connected to the supporting member 40. The first end 21 of the first connecting element 20 reliably limits the radial position of the first subsection 111 or the second subsection 112 by passing through the first cavity 113 or the second cavity 114, while the second end 22 located outside the first cavity 113 or the second cavity 114 reliably limits the axial position of the first subsection 111 or the second subsection 112. In the embodiment, the first end 21 and the second end 22 of the first connecting member 20 limit the first sub-portion 111 and the second sub-portion 112 from different positions and different directions, so that the first sub-portion 111 and the second sub-portion 112 are stably and reliably connected with the supporting member 40. And the first connecting member 20 is in contact with only the first sub-portion 111 or the second sub-portion 112 of the spring 10 to achieve reliable connection of the spring 10 to the supporting member 40, so that the performance of the elastic section 13 is not affected.

As shown in fig. 12, in the present embodiment, the supporting member 40 further includes a fixing member 60, the fixing member 60 is located at an end of the supporting member 40 facing the struck member 50, and a limiting portion 61 is disposed on the fixing member 60, and the limiting portion 61 penetrates through the spring 10 and the second connecting member 30 along the axial direction of the spring 10.

In the embodiment, the position of the limiting part 61 arranged on the fixing part 60 is limited in the radial direction corresponding to the spring 10 and the second connecting piece 30 by penetrating the spring 10 and the second connecting piece 30, so that the telescopic performance of the spring 10 is not affected, and effective limiting can be realized. In this embodiment, the length of the position-limiting portion 61 in the axial direction may be greater than the sum of the lengths of the spring 10 and the second connecting member 30, so that the position-limiting portion 61 can limit the position of each of the spring 10 and the second connecting member 30 in the axial direction, thereby forming a more stable and reliable connection between the spring 10 and the supporting member 40.

In a preferred embodiment, the limiting part 61 is in the shape of a circular truncated cone, and the diameter of the cross section of one end of the limiting part 61 close to the fixing part 60 is larger than the diameter of the cross section of one end of the limiting part 61 far from the fixing part 60. The periphery of the limiting part 61 is further provided with limiting strips 62, the limiting strips 62 extend from the peripheral wall of the circular truncated cone to the outer side of the circular truncated cone, the bottom of the limiting strips 62 is flush with the end, with the larger diameter, of the circular truncated cone, and the length of the limiting strips 62 is smaller than that of the circular truncated cone. This through the setting of aforementioned spacing strip 62 can increase the structural strength of spacing portion 61, improve the reliability of spacing portion 61 location. The bottom of the limiting strip 62 can also be used in cooperation with the first connecting piece 20, and the spring 10 can be limited in radial position from the central part of the spring 10 and the periphery of the spring 10, so that the connection between the installed spring 10 and the supporting piece 40 is more stable and reliable.

As a modified embodiment, as shown in fig. 6 and 7, in this embodiment, the competition device further includes a retaining member 70, the retaining member 70 is connected to the fixed member 60 at a position where the spring 10 is spaced from the second connecting member 30 by a predetermined distance in the axial direction, and the retaining member 70 is located on a side of the second connecting member 30 facing the struck member 50.

The predetermined distance is in a range of 1.3mm to 2.7 mm. When the struck piece 50 is pulled upwards, the spring 10 is easily damaged, the anti-falling piece 70 is arranged above the second connecting piece 30 to limit the position of the second connecting piece 30, when the struck piece 50 is pulled upwards, the spring 10 moves to the position where the second connecting piece 30 abuts against the anti-falling piece 70 along with the second connecting piece 30, the second connecting piece 30 is blocked by the anti-falling piece 70 and cannot move upwards continuously, and the spring 10 cannot be stretched continuously, so that the damage to the spring 10 is effectively avoided.

The present embodiment may further include a control circuit 100 disposed inside the supporting member 40, wherein the control circuit 100 may receive the detection signal from the first detector 90 and send the detection signal to the competition system for scoring.

In this embodiment, the playing device further comprises a bump guard surrounding an end of the body 40 remote from the struck piece 50.

In this embodiment, the anti-collision device includes an anti-collision member 81 and a shock-absorbing member 82, the anti-collision member 81 is a frame structure provided with a cavity, and the shock-absorbing member 82 surrounds an end of the main body 40 away from the struck member 50 and is located between the frame and the main body 40.

The bumper 81 may increase the stability of the bottom of the competition device. When the bottom of the competition equipment is impacted or impacted, the shock absorbing parts 82 can play a role in buffering in time, so that the shock finally transmitted to the shock absorbing parts 82 is greatly reduced.

The struck piece 50 comprises an upper shell 51 and a lower shell 52, wherein the upper shell 51 is provided with a cavity, the bottom of the cavity is provided with an opening, and the lower shell 52 is connected with the upper shell 51 at the bottom of the upper shell 51.

As shown in fig. 6 and 7, the playing device of this embodiment is assembled by first placing the spring 10 directly into the positioning slot of the fixing member 60 and fastening the first connecting member 20; then the lower shell 52 is vertically put down, the second connecting part 12 of the spring 10 passes through the lower shell 52, then the second connecting part 12 of the spring 10 is buckled into a clamping groove at the bottom of the second connecting piece 30, then the second connecting piece 30 and the lower shell 52 are fixed, and then the PCB and the upper shell 51 in the struck piece 50 are sequentially installed.

The foregoing is a detailed description of the impact recognition method, apparatus, device, and storage medium provided by the embodiments of the present invention.

It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.

Claims

1. Impact recognition method applied to a playing device comprising a struck piece and a support flexibly connected to each other, characterized in that it comprises the following steps:

analyzing the first motion parameter and the second motion parameter;

and determining a stroke recognition result according to the analysis result.

2. The impact recognition method according to claim 1, wherein the first motion parameter includes a first instantaneous acceleration, the first instantaneous acceleration being an instantaneous acceleration of the struck piece, the second motion parameter includes a second instantaneous acceleration, the second instantaneous acceleration being an instantaneous acceleration of the support, the first instantaneous acceleration and the second instantaneous acceleration being instantaneous accelerations generated at the same time;

if the first instantaneous acceleration is equal to or less than the second instantaneous acceleration, the impact recognition result is that the impact is invalid.

3. The impact recognition method of claim 2, wherein the obtaining a first motion parameter, the first motion parameter being a motion parameter of a struck piece, further comprises the steps of:

acquiring a first threshold value;

acquiring a first moment;

and acquiring the instantaneous acceleration of the support at the first moment as a second instantaneous acceleration according to the first moment.

4. The impact recognition method according to claim 1, wherein the obtaining of the first motion parameter is a motion parameter of the struck piece, and comprises the steps of:

acquiring a first time range;

the analyzing the first and second motion parameters further comprises:

5. The impact recognition method according to claim 1, wherein the obtaining of the first motion parameter is a motion parameter of the struck piece, and comprises the steps of:

acquiring a second time range;

the analyzing the first and second motion parameters further comprises:

comparing the first average value with the second average value;

6. The impact recognition method according to claim 1, wherein the obtaining of the first motion parameter is a motion parameter of the struck piece, and comprises the steps of:

acquiring a first time parameter;

the obtaining of the second motion parameter is a motion parameter of the support member, and includes: acquiring a second vibration amplitude corresponding to the first time parameter according to the first time parameter, wherein the second vibration amplitude is the vibration amplitude of the support;

7. Hit recognition device, be applied to the competition equipment, the competition equipment includes struck piece and support piece that flexibly connects, characterized in that, hit recognition device includes:

8. Impact recognition apparatus, characterized by comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of the first aspect as claimed in any one of claims 1-6.

9. A storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-6.

10. A game apparatus comprising a struck member, a support member and a stroke recognition device according to claim 6.