CN115025470B - Intelligent table tennis bat, ball dispenser and intelligent table tennis teaching system - Google Patents
Intelligent table tennis bat, ball dispenser and intelligent table tennis teaching system Download PDFInfo
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- CN115025470B CN115025470B CN202210749351.7A CN202210749351A CN115025470B CN 115025470 B CN115025470 B CN 115025470B CN 202210749351 A CN202210749351 A CN 202210749351A CN 115025470 B CN115025470 B CN 115025470B
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- 230000033001 locomotion Effects 0.000 claims abstract description 81
- 238000004891 communication Methods 0.000 claims abstract description 29
- 238000001914 filtration Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims description 105
- 238000012549 training Methods 0.000 claims description 57
- 238000010079 rubber tapping Methods 0.000 claims description 17
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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- 238000005070 sampling Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
- A63B60/46—Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B59/00—Bats, rackets, or the like, not covered by groups A63B49/00 - A63B57/00
- A63B59/40—Rackets or the like with flat striking surfaces for hitting a ball in the air, e.g. for table tennis
- A63B59/42—Rackets or the like with flat striking surfaces for hitting a ball in the air, e.g. for table tennis with solid surfaces
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
- A63B2024/0012—Comparing movements or motion sequences with a registered reference
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/16—Table tennis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Electrically Operated Instructional Devices (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The application provides an intelligent table tennis bat, a ball dispenser and an intelligent table tennis teaching system, wherein the intelligent table tennis bat comprises a bat body, and a data acquisition module, a data processing module and a first communication module which are arranged in the bat body; the data acquisition module is used for acquiring table tennis technical motion data, the data processing module comprises a filtering unit, a standard motion library and an operation comparison unit, the filtering unit is used for carrying out noise filtering on the acquired data, the standard motion library is used for storing standard data of table tennis swing motions, the operation comparison unit is used for fitting according to the data filtered by the filtering unit to obtain a motion attitude angle and a motion speed, and the obtained motion attitude angle and motion speed are respectively corresponding to the motion attitude angle and the motion speed stored in the standard motion library for comparison so as to determine the motion type represented by the data acquired by the data acquisition module; the first communication module is used for communicating with an external service robot.
Description
Technical Field
The application belongs to the field of sports equipment, and particularly relates to an intelligent table tennis bat, a ball serving machine and an intelligent table tennis teaching system.
Background
The traditional table tennis bat consists of a bottom plate, a rubber sheet and a sponge, has a single function, can not provide information such as batting positions, dynamics, batting frequencies and the like in the training and competition process, can not provide objective related data for a coach and a sportsman, and leads to certain blindness in training. In addition, the existing service robot is poor in interactivity and does not have an interactive teaching function.
Disclosure of Invention
In order to overcome the problems existing in the related art to at least a certain extent, the application provides an intelligent table tennis bat, a ball dispenser and an intelligent table tennis teaching system.
According to a first aspect of embodiments of the present application, there is provided an intelligent table tennis bat including a bat body, and a data acquisition module, a data processing module, and a first communication module disposed within the bat body;
the data acquisition module is used for acquiring table tennis technical action data, wherein the table tennis technical action data comprise X/Y/Z triaxial angular velocity data, X/Y/Z triaxial acceleration data and X/Y/Z triaxial geomagnetic data;
the data processing module comprises a filtering unit, a standard action library and an operation comparison unit, wherein the filtering unit is used for carrying out noise filtering on acquired data, the standard action library is used for storing standard data of table tennis swing actions, the operation comparison unit is used for fitting according to the data filtered by the filtering unit to obtain a motion attitude angle and a motion speed, and the obtained motion attitude angle and the motion speed are respectively compared with the motion attitude angle and the motion speed stored in the standard action library in a corresponding mode so as to determine the action type represented by the data acquired by the data acquisition module;
the first communication module is used for communicating with an external service robot so that the service robot can perform service corresponding to the swing motion sent by the first communication module.
In the intelligent table tennis bat, when the operation comparison unit fits the data filtered by the filtering unit to obtain the motion attitude angle and the motion speed, the motion attitude angle is obtained by integrating triaxial angular velocity data, the motion speed is obtained by integrating triaxial acceleration data, and the triaxial geomagnetic data compensates the motion attitude angle.
In the intelligent table tennis bat, the table tennis technical action data comprise forward hand tapping action data, reverse hand pushing action data and forward hand ball rolling action data.
According to a second aspect of embodiments of the present application, there is further provided a service robot for use with the intelligent table tennis bat of any one of the above, comprising a second communication module, a standard action training course library, and a training course service module; the second communication module is used for communicating with the intelligent table tennis bat so as to receive a training course service instruction of the intelligent table tennis bat; the standard action training course library is used for storing courses of standard table tennis action training; the training course service module is used for performing service of the corresponding training courses according to the training course service instruction and service contents of the standard action training course library.
In the service robot, the service robot interacts with the intelligent table tennis bat to realize the service process is as follows:
the intelligent table tennis bat collects action data of a student for swinging the bat;
filtering the acquired data;
comparing the action data of the racket corresponding to the filtered data with the standard action data of the standard action library to obtain a comparison result;
and determining the swing action of the trainee according to the comparison result, and enabling the ball dispenser to perform the ball dispensing of the corresponding training course according to the swing action of the trainee.
In the ball dispenser, the swing action of the student is a forward-hand ball tapping action, a reverse-hand pushing action or a forward-hand ball rolling action.
According to a third aspect of embodiments of the present application, there is further provided an intelligent table tennis teaching system, including an intelligent table tennis racket as described in any one of the above, a service robot as described in any one of the above, a gateway, a console, and a display and control terminal;
the intelligent table tennis bat is connected with the control console through the gateway, the control console is connected with the display and control terminal, and the service robot is connected with the control console through the gateway;
the intelligent table tennis bat is networked through the gateway, and the control console is used for collecting, classifying, storing, recording and counting the data of each intelligent table tennis bat; the display and control terminal is used for performing interface display and interface control on the movement condition of the intelligent table tennis bat; the motion condition of the intelligent table tennis bat comprises the comparison condition and the comparison evaluation result of the motion data and the standard data of the intelligent table tennis bat collected each time.
In the intelligent table tennis teaching system, the intelligent table tennis teaching system realizes the process of serving balls as follows:
the display and control terminal controls the intelligent table tennis bat to enter a main attack training course through the control console;
the intelligent table tennis bat collects action data of a student for swinging the bat;
filtering the acquired data;
comparing the action data of the racket corresponding to the filtered data with the standard action data of the standard action library to obtain a comparison result;
judging whether the action of the student for swinging the racket is a normal hand ball-tapping action or not according to the comparison result, if so, communicating the control console with the ball-serving machine through the gateway, and enabling the ball-serving machine to perform normal hand ball-tapping according to the action of the student for swinging the racket, and ending the flow; otherwise, the display and control terminal reminds the student of inaccurate action and ends the flow.
According to the above specific embodiments of the present application, at least the following advantages are achieved: the intelligent table tennis bat that this application provided can gather table tennis technical action data through setting up data acquisition module, data processing module and first communication module to through comparing this table tennis technical action data with standard action in the standard action library, can confirm the swing work of student, and then trigger the ball of service robot transmission corresponding demand according to this swing action.
The service robot that this application provided can communicate with intelligent table tennis bat through setting up second communication module, standard action training course storehouse and training course service module to receive the training course service instruction of intelligent table tennis bat, and according to the service content of training course service instruction and standard action training course storehouse, carry out the service of corresponding training course, can use with intelligent table tennis bat cooperation, with help the student to accomplish the closed loop training.
The intelligent table tennis teaching system provided by the application can realize real-time table tennis training teaching of a plurality of students through networking a plurality of intelligent table tennis rackets, and a teacher or a coach can clearly see the training action condition and the training record of each student through the display and control terminal, and meanwhile, the racket can be controlled to enter a corresponding training course mode, so that the teaching efficiency is greatly improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a functional block diagram of an intelligent table tennis bat and a service robot according to an embodiment of the present application.
Fig. 2 is a functional block diagram of an intelligent table tennis teaching system according to an embodiment of the present application.
Fig. 3 is a linkage flow chart of the intelligent table tennis bat and the service robot provided in the specific embodiment of the application.
Fig. 4 is a flowchart of a control console for controlling linkage of an intelligent table tennis bat and a service robot according to an embodiment of the present application.
Description of the reference numerals
1. An intelligent table tennis bat; 11. a data acquisition module; 12. a data processing module; 121. a filtering unit; 122. a standard action library; 123. an operation comparison unit; 13. a first communication module;
2. a ball dispenser; 21. a second communication module; 22. standard action training course library; 23. training course service module;
3. a gateway; 4. a console; 5. and displaying and controlling the terminal.
Detailed Description
For the purposes of clarity, technical solutions and advantages of embodiments of the present application, the following drawings and detailed description will clearly illustrate the spirit of the disclosure of the present application, and any person skilled in the art, after having the knowledge of the embodiments of the present application, may make changes and modifications by the techniques taught by the present application, without departing from the spirit and scope of the present application.
The exemplary embodiments of the present application and their description are for the purpose of explaining the present application, but are not limiting of the present application. In addition, the same or similar reference numerals are used for the same or similar parts in the drawings and the embodiments.
The terms "first," "second," …, and the like, as used herein, do not denote a particular order or sequence, nor are they intended to limit the application to distinguishing between elements or operations that are described in the same technical language.
As used herein, the terms "comprising," "including," "having," "containing," and the like are intended to be inclusive and mean an inclusion, but not limited to.
As used herein, "and/or" includes any or all combinations of such things.
Reference herein to "a plurality" includes "two" and "more than two"; the term "plurality of sets" as used herein includes "two sets" and "more than two sets".
Certain terms used to describe the application will be discussed below, or elsewhere in this specification, to provide additional guidance to those skilled in the art in connection with the description of the application.
As shown in fig. 1, the intelligent table tennis bat provided in the embodiment of the present application includes a bat body, a data acquisition module 11, a data processing module 12, and a first communication module 13 that are disposed in the bat body. The data acquisition module 11 is used for acquiring various basic table tennis technical action data such as forward hand tapping data, reverse hand pushing data, forward hand ball rolling data and the like. Specifically, the data acquisition module 11 employs a sensor signal acquisition unit. The sensor signal acquisition unit may be a 9-axis IMU (InertialMeasurement Unit ). The 9-axis IMU is used for collecting X/Y/Z three-axis angular velocity data, X/Y/Z three-axis acceleration data and X/Y/Z three-axis geomagnetic data.
The data processing module 12 includes a filtering unit 121, a standard action library 122, and an operation comparison unit 123. In order to obtain more accurate data, the filtering unit 121 is configured to perform noise filtering, such as mean value, kalman filtering, and the like, on the collected data. The standard motion library 122 is used for storing standard data of various basic table tennis swing motions such as forward hand ball attack, reverse hand ball push and pull, forward hand ball rolling and the like. The operation comparison unit 123 is configured to fit the data filtered by the filtering unit to obtain a motion gesture angle and a motion speed, and compare the obtained motion gesture angle and motion speed with the motion gesture angle and motion speed stored in the standard motion library, respectively, so as to determine a motion type represented by the data collected by the data collection module 11, that is, what motion is represented.
When the operation comparison unit 123 fits the data filtered by the filtering unit 121 to obtain the motion attitude angle and the motion speed, the motion attitude angle is obtained by integrating the three-axis angular velocity data, the motion speed is obtained by integrating the three-axis acceleration data, and the three-axis geomagnetic data compensates the motion attitude angle.
Specifically, the operation comparison unit 123 may use the data obtained by fitting for comparison as sample data, the standard data stored in the standard motion library 122 for comparison as sliding window data, and the sliding window data starts from the start time of the sample data to calculate the euclidean distance between the sliding window data and the sample data. Comparing the calculated Euclidean distance with a preset distance threshold range, and if the calculated Euclidean distance meets the preset distance threshold range, judging that sample data corresponding to the Euclidean distance is identical to sliding window data, namely that actions corresponding to the sample data are identical to actions corresponding to the sliding window data, so that the swing shooting actions of a user are identified.
That is, the euclidean distance between the moving posture angle in the sliding window data and the moving posture angle in the sample data, and the euclidean distance between the moving speed in the sliding window data and the moving speed in the sample data are respectively slide-calculated starting from the start time of the sample data with the time length of the sliding window data as the calculated window time length. The sliding calculation means that after the Euclidean distance is calculated for 1 time from the starting time of the sample data, the time unit is increased by 1 sampling period as the calculation starting time, the Euclidean distance between the motion gesture angle in the sliding window data and the motion gesture angle in the sample data and the Euclidean distance between the motion speed in the sliding window data and the motion speed in the sample data are calculated again in a sliding mode, until the end of the sample data is reached, a data segment corresponding to the Euclidean distance smaller than the set threshold value is found, and the actions are considered to be the same in the data segment.
The first communication module 13 is used for communicating with the external service robot 2 so that the service robot 2 can perform service corresponding to the swing action sent by the first communication module 13. The first communication module 13 may be a bluetooth communication module, a WIFI communication module, or other internet of things communication modules.
Based on the intelligent table tennis bat 1 that this application provided, this application embodiment still provides a service robot 2, and it is used with intelligent table tennis bat 1 cooperation.
The service robot provided in the embodiment of the present application includes a second communication module 21, a standard action training course library 22, and a training course service module 23. The second communication module 21 is configured to communicate with the intelligent table tennis bat 1 to receive a training course service instruction of the intelligent table tennis bat 1, for example, a main hand service instruction. Standard action training course library 22 is used to store courses for standard table tennis action training, such as hands-on play courses. The training course service module 23 is configured to perform service of a corresponding training course according to service content of the standard action training course library 22.
The service robot 2 can stop serving by triggering the service stop by the user, or can stop serving by switching different actions of the user, such as changing the normal hand ball tapping from reverse hand ball tapping to reverse hand ball tapping, and changing the normal hand ball tapping of the service robot 2 to the service of reverse hand ball tapping course.
The intelligent table tennis bat 1 communicates with the ball dispenser 2, the intelligent table tennis bat 1 is directly triggered to start, a training flow chart is shown in figure 3,
s11, the intelligent table tennis bat 1 collects action data of a student swinging the bat, and specifically, the sensor signal collecting unit collects X/Y/Z three-axis angular velocity data, X/Y/Z three-axis acceleration data and X/Y/Z three-axis geomagnetic data of the intelligent table tennis bat 1 held by the student.
S12, filtering the acquired data.
S13, comparing the action data of the racket corresponding to the filtered data with the standard action data of the standard action library to obtain a comparison result.
S14, determining the swing action of the student according to the comparison result, and enabling the ball dispenser 2 to perform ball dispensing of the corresponding training course according to the swing action of the student. Wherein, the clapping action of the student is a positive hand ball tapping action, a negative hand pushing action, a positive hand ball rolling action or other standard actions.
Based on the intelligent table tennis bat 1 and the service robot 2 provided by the application, the embodiment of the application also provides an intelligent table tennis teaching system.
The intelligent table tennis teaching system provided by the embodiment of the application comprises the intelligent table tennis bat 1, a service robot 2, a gateway 3, a console 4 and a display and control terminal 5. Wherein, intelligent table tennis bat 1 is connected with control cabinet 4 through gateway 3, and control cabinet 4 is connected with display and control terminal 5, and service robot 2 is connected with control cabinet 4 through gateway 3.
The intelligent table tennis rackets 1 can be networked through the gateway 3, and the gateway 3 is used as a network access transfer of the intelligent table tennis rackets 1, and can adopt a Bluetooth communication module, a WIFI communication module or other internet of things communication modules and the like. The console 4 is used for collecting, classifying, storing and recording data of the plurality of intelligent table tennis rackets 1, and carrying out necessary statistical operations and the like. The display and control terminal 5 is used for performing interface display and interface control on the movement condition of the intelligent table tennis bat 1. The motion condition of the intelligent table tennis bat 1 mainly comprises the comparison condition and the comparison evaluation result of the motion data and the standard data of the intelligent table tennis bat 1 collected each time.
Taking the hand-attack training as an example, the display and control terminal 5 in the intelligent table tennis teaching system is triggered to start, and a training flow chart is shown in fig. 4.
S21, the display and control terminal 5 controls the intelligent table tennis bat 1 to enter a forward attack training course through the control console 4.
S22, the intelligent table tennis bat 1 collects action data of a student swinging the bat, and specifically, the sensor signal collecting unit collects X/Y/Z three-axis angular velocity data, X/Y/Z three-axis acceleration data and X/Y/Z three-axis geomagnetic data of the intelligent table tennis bat 1 held by the student.
S23, filtering the acquired data.
S24, comparing the action data of the racket corresponding to the filtered data with the standard action data of the standard action library to obtain a comparison result.
S25, judging whether the action of the student for swinging the racket is a normal hand ball tapping action or not according to the comparison result, if so, entering a step S26, otherwise, entering a step S27.
S26, the console 4 communicates with the ball dispenser 2 through the gateway 3, and the ball dispenser 2 performs tapping and dispensing according to the action of a student swinging the racket, and ends the flow.
And S27, the display and control terminal 5 reminds the student of inaccurate actions, and the process is ended.
The intelligent table tennis bat 1 that this application provided uses with service robot 2 cooperation, when the student accomplishes to swing the bat, intelligent table tennis bat 1 can discern the swing action of student, say the hand and attack the ball, and through the communication interaction of intelligent table tennis bat 1 and service robot 2, inform service robot 2 to send corresponding hand and attack ball training ball, realized the linkage of intelligent table tennis bat 1 and service robot 2, just so accomplished whole hand and attack ball training, realized the closed-loop training.
The intelligent table tennis teaching system provided by the application can realize real-time table tennis training teaching of a plurality of students through networking a plurality of intelligent table tennis rackets 1, and a teacher or a coach can clearly see the training action condition and the training record of each student through the display and control terminal 5, and meanwhile, the racket can be controlled to enter a corresponding training course mode, so that the teaching efficiency is greatly improved.
The foregoing is merely illustrative of the specific embodiments of this application and any equivalent variations and modifications can be made by those skilled in the art without departing from the spirit and principles of this application.
Claims (8)
1. An intelligent table tennis bat is characterized by comprising a bat body, and a data acquisition module, a data processing module and a first communication module which are arranged in the bat body;
the data acquisition module is used for acquiring table tennis technical action data, wherein the table tennis technical action data comprise X/Y/Z triaxial angular velocity data, X/Y/Z triaxial acceleration data and X/Y/Z triaxial geomagnetic data;
the data processing module comprises a filtering unit, a standard action library and an operation comparison unit, wherein the filtering unit is used for carrying out noise filtering on acquired data, the standard action library is used for storing standard data of table tennis swing actions, the operation comparison unit is used for fitting according to the data filtered by the filtering unit to obtain a motion attitude angle and a motion speed, and the obtained motion attitude angle and the motion speed are respectively compared with the motion attitude angle and the motion speed stored in the standard action library in a corresponding mode so as to determine the action type represented by the data acquired by the data acquisition module;
the operation comparison unit compares the obtained motion gesture angle and motion speed with the motion gesture angle and motion speed stored in the standard motion library, and specifically comprises the following steps:
the operation comparison unit takes the motion attitude angle and the motion speed obtained by fitting as sample data, takes the standard data stored in the standard action library as sliding window data, and calculates Euclidean distance between the sliding window data and the sample data from the starting time of the sample data; comparing the calculated Euclidean distance with a preset distance threshold range, and if the calculated Euclidean distance meets the preset distance threshold range, judging that sample data corresponding to the Euclidean distance is identical to sliding window data, and that actions corresponding to the sample data are identical to actions corresponding to the sliding window data, so that the swing action of a user is identified;
the first communication module is used for communicating with an external service robot so that the service robot can perform service corresponding to the swing motion sent by the first communication module.
2. The intelligent table tennis bat according to claim 1, wherein when the operation comparison unit fits the data filtered by the filtering unit to obtain a motion attitude angle and a motion speed, the motion attitude angle is obtained by integrating triaxial angular velocity data, the motion speed is obtained by integrating triaxial acceleration data, and the triaxial geomagnetic data compensates the motion attitude angle.
3. The intelligent table tennis bat of claim 1, wherein the table tennis technical motion data includes forward hand tapping motion data, reverse hand pushing motion data, and forward hand ball rolling motion data.
4. A service robot for use with the intelligent table tennis bat of any of claims 1-3, comprising a second communication module, a standard action training course library, and a training course service module; the second communication module is used for communicating with the intelligent table tennis bat so as to receive a training course service instruction of the intelligent table tennis bat; the standard action training course library is used for storing courses of standard table tennis action training; the training course service module is used for performing service of the corresponding training courses according to the training course service instruction and service contents of the standard action training course library.
5. The service robot of claim 4, wherein the service robot interacts with the intelligent table tennis bat to effect a service:
the intelligent table tennis bat collects action data of a student for swinging the bat;
filtering the acquired data;
comparing the action data of the racket corresponding to the filtered data with the standard action data of the standard action library to obtain a comparison result;
and determining the swing action of the trainee according to the comparison result, and enabling the ball dispenser to perform the ball dispensing of the corresponding training course according to the swing action of the trainee.
6. The ball dispenser of claim 5, wherein the swing motion of the student is a forward tapping motion, a reverse pushing motion, or a forward rolling motion.
7. An intelligent table tennis teaching system comprising an intelligent table tennis racket as claimed in any one of claims 1-3, a service robot, a gateway, a console and a display and control terminal as claimed in any one of claims 4-6;
the intelligent table tennis bat is connected with the control console through the gateway, the control console is connected with the display and control terminal, and the service robot is connected with the control console through the gateway;
the intelligent table tennis bat is networked through the gateway, and the control console is used for collecting, classifying, storing, recording and counting the data of each intelligent table tennis bat; the display and control terminal is used for performing interface display and interface control on the movement condition of the intelligent table tennis bat; the motion condition of the intelligent table tennis bat comprises the comparison condition and the comparison evaluation result of the motion data and the standard data of the intelligent table tennis bat collected each time.
8. The intelligent table tennis teaching system according to claim 7, wherein the intelligent table tennis teaching system implements a service process comprising:
the display and control terminal controls the intelligent table tennis bat to enter a main attack training course through the control console;
the intelligent table tennis bat collects action data of a student for swinging the bat;
filtering the acquired data;
comparing the action data of the racket corresponding to the filtered data with the standard action data of the standard action library to obtain a comparison result;
judging whether the action of the student for swinging the racket is a normal hand ball-tapping action or not according to the comparison result, if so, communicating the control console with the ball-serving machine through the gateway, and enabling the ball-serving machine to perform normal hand ball-tapping according to the action of the student for swinging the racket, and ending the flow; otherwise, the display and control terminal reminds the student of inaccurate action and ends the flow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210749351.7A CN115025470B (en) | 2022-06-28 | 2022-06-28 | Intelligent table tennis bat, ball dispenser and intelligent table tennis teaching system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210749351.7A CN115025470B (en) | 2022-06-28 | 2022-06-28 | Intelligent table tennis bat, ball dispenser and intelligent table tennis teaching system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115025470A CN115025470A (en) | 2022-09-09 |
| CN115025470B true CN115025470B (en) | 2024-03-08 |
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