KR101948672B1 - Tennis racket with sensing device, device, method and computer readable storage medium for discriminating hitting point and player’s posture - Google Patents

Abstract

An embodiment of the present invention is a tennis racket comprising: a tennis racket; A sensing unit installed on the tennis racket and including a gyro sensor, an acceleration sensor, and a complementary filter; Based on angular velocity information from the x- and y-axis angle information from the complementary filter, determines a rub-point, which is a contact point of the tennis racket and the ball, based on angular velocity information from the x, y and z axes from the complementary filter, A processor for determining a posture, and an apparatus for determining the posture of the player.

Description

TECHNICAL FIELD [0001] The present invention relates to a tennis racket having a sensing device, an apparatus and a method for determining a player's position and a player's posture, and a computer readable storage medium.

The present invention relates to a tennis racket having a sensing device, and a device for determining the position of a player and the position of the player. The present invention relates to a tennis racket capable of collecting information on a player's position and a target point on a target racket using a sensor device installed on the tennis racket.

Recently, IoT, the most important topic of the IT industry, is taking a big part in the market economy. In Korea, tennis is a sport whose popularity is lower than other countries in the world. One of the reasons for this is not only the lack of interest in sports called tennis, but also the limitations of learning.

Typically, this is because of the lack of expensive lessons and the environment in which to play tennis. If you can practice by yourself by connecting the Internet (IoT) technology to the tennis racket, you will be able to escape from the non-sports events with good recognition change of the sport called tennis.

Recently, a technique for calibrating a player's position by installing the tennis racket on a sensing device has been developed.

Japanese Patent Application Laid-Open No. 14126147 discloses an apparatus in which a swing is shot with three high-speed cameras and the motion of the racket is analyzed based on the obtained image. The measuring apparatus described in this publication is large and complex. Such a measuring device is not suitable for fitting in a tennis club or the like.

Japanese Patent Laid-Open No. 18263340 discloses a swing speed measurement method. The magnet is mounted on the tip of the racket and the sensor detects the passage of the magnet, so that the swing speed can be calculated. With this method, it is difficult to analyze the RBI contact point with the ball, and there is a limitation that the player's posture can not be measured.

Japanese Patent Application Laid-Open No. 21125499 discloses a method in which a three-axis acceleration sensor and a three-axis gyro sensor are used to analyze a swing. However, it is not clear how each sensor is used in the described method.

Also, Korean Patent Laid-Open Publication No. 10-2016-0025087 discloses a racquet exercise apparatus having a point detecting unit and a method of detecting a point. The invention disclosed in the publication controls and displays a plurality of light receiving elements interposed at a predetermined interval between a plurality of light source elements detected by the detecting unit installed in the racket frame, There is a limitation that the player's posture can not be corrected without being guaranteed.

Japanese Patent Publication No. 06073631 discloses a tennis racket for analyzing a swing using a gyro and an acceleration sensor, but it is not clear how to analyze the RBI.

In addition, U.S. Patent Publication No. 20150157901 discloses a technique of analyzing the play of a play using a vibration sensor, an acceleration sensor, and an angular velocity sensor, but it is not clear how each of the sensors is used, There is a problem that can not be installed in a tennis racket without a device.

JP 14126147 A JP 18263340 A JP 21125499 A JP 06073631 B KR 10-2016-0025087 A US 20150157901A

The present invention provides a tennis racket for discriminating the rickets and attitude information capable of discriminating the rickets of the tennis rackets and the player's attitude information by using a sensing device detachable to and from the tennis rackets, do.

In addition, the present invention provides a tennis racket for discriminating RB points and attitude information that can accurately determine RB points using angular velocity information of a tennis racket, a RB point and an attitude information discriminating apparatus using the same, a method and a computer readable storage medium do.

The present invention also relates to a tennis racket for discriminating rickety point and attitude information capable of precisely discriminating a player's posture using angle information of a tennis racket, a rickstick and an attitude information discriminating apparatus using the same, a method and a computer- .

Further, the present invention provides a tennis racket for providing a player with RBI and posture information and determining RBI and posture information that allows the player to provide feedback on the RBI and posture information so that the player can play the RBI accurately, A discriminating apparatus, a method, and a computer-readable storage medium.

In addition, the present invention provides a tennis racket for discriminating the RB and the attitude information that enables the swing practice for a long time by minimizing the power consumption by collecting the attitude information of the player from the point of time when the RB is formed, Methods, and computer readable storage media.

The present invention also relates to a tennis racket for discriminating a rider's point and attitude information that can precisely determine the attitude of a player by matching angle information of a tennis racket with a singular point according to a position, To provide a readable storage medium.

An embodiment of the present invention is a tennis racket comprising: a tennis racket; A sensing unit installed on the tennis racket and including a gyro sensor, an acceleration sensor, and a complementary filter; Based on angular velocity information from the x- and y-axis angle information from the complementary filter, determines a rub-point, which is a contact point of the tennis racket and the ball, based on angular velocity information from the x, y and z axes from the complementary filter, A processor for determining a posture, and an apparatus for determining the posture of the player.

In another aspect, the sensing unit may provide a device for determining a righthand point including the processor and an attitude of the player.

According to another aspect of the present invention, the processor may be provided with an apparatus for determining an RB point and a player's posture, which are installed in an external device and receive angle information of x, y, and z axes from the complementary filter from the sensing unit.

In another aspect of the present invention, the sensing unit further includes a vibration sensor, and the processor collects angle information of the x, y, and z axes for determining the attitude of the player when vibration of a predetermined value or more is detected from the vibration sensor It is possible to provide an apparatus for determining the posture of the player and the posture of the player.

In another aspect, the tennis racket includes a sensing portion, a sensing portion, a head portion, a shaft, a pair of left and right throats extending from the head portion to the shaft, and a grip extending from the shaft, The sensing unit may be provided in a form capable of being detachably attached to the throttle, and an apparatus for determining the posture of the player.

According to another aspect of the present invention, it is possible to provide an apparatus for determining a rudder point and a player's posture for determining a rudder formed in any one of an upper region, a lower region and a central region of the cut based on the y-axis angular velocity information.

According to another aspect of the present invention, it is possible to provide an apparatus for determining a rudder point and a player's posture for determining a rudder formed on any one of a left side region, a center region and a right side region of the cut based on the x-axis angular velocity information.

In another aspect of the present invention, the external device may provide an apparatus for determining the rider's position and the player's posture, the rider's position and the posture information of the player determined by the processor, to the player.

According to another embodiment of the present invention, there is provided a method of controlling a tennis racket, comprising: collecting angle data of x, y, and z axes of the tennis racket from a gyro sensor installed in a tennis racket and a complementary filter receiving sensing information from the angular velocity sensor; Determining a player's posture based on the x, y, and z-axis angle data; Converting angular data of the x and y axes into angular velocity data of x and y axes; And a step of discriminating an RB that is a contact point between the tennis racket and the ball based on the angular velocity data of the x and y axes.

According to another aspect of the present invention, the step of discriminating the RB includes a step of detecting a RBD region formed in any one of an upper region, a center region and a lower region of a cut on a head portion of the tennis racket based on the y-axis angular velocity data. And a method of determining the posture of the player.

According to another aspect of the present invention, the step of discriminating the RB includes a step of detecting a RBI region formed in any one of the left region, the center region and the right region of the cut based on the x-axis angular velocity data; It is possible to provide a method of determining the player's posture and the player's posture.

According to another aspect of the present invention, there is provided a method for determining a righthand point and a player's posture, which detects a last righthand point area according to the second step if it is detected that the righthand point area is formed in the central area according to the first step.

According to another aspect of the present invention, the gyro sensor and the acceleration sensor may provide a method of determining a rudder point and a player's posture while collecting data while a vibration greater than a preset value is detected from a vibration sensor provided on the tennis racket.

According to another aspect of the present invention, there is provided a method for determining a posture and a player's posture, the method further comprising: feedbacking the determined posture and the posture information of the player to the player.

In another aspect, collecting angle data of the x, y, and z axes of the tennis racket includes collecting k angular data for each of the x, y, and z axes from the complementary filter for a predetermined time period; A first condition that the first angle data of the x axis is negative, a second condition that the kth angle data of the y axis is d2 (negative number) or more, an angle of less than d1 (negative number) of k pieces of angle data of the x axis, When the third condition that the number of data exceeds y is satisfied, it is possible to provide a method of determining the rider point and the player's posture determined as the forehand top spin posture.

In another aspect, collecting angle data of the x, y, and z axes of the tennis racket includes collecting k angular data for each of the x, y, and z axes from the complementary filter for a predetermined time period; A fourth condition that the first angle data of the x axis is positive, a fifth condition that the kth angle data of the y axis is d3 (positive number) or more, and a sixth condition that the kth angle data of the z axis is a negative number , A RB that determines a backhand top spin posture, and a player's posture determination method.

In another aspect, collecting angle data of the x, y, and z axes of the tennis racket includes collecting k angular data for each of the x, y, and z axes from the complementary filter for a predetermined time period; (Seventh) condition that the first angle data of the x-axis is positive, the eighth condition that the k-th angle data of the y-axis is d5 (positive number) or more, Is less than z, it is possible to provide a method of determining a rider's point and a player's posture determined as the forehand volley.

In another aspect, collecting angle data of the x, y, and z axes of the tennis racket includes collecting k angular data for each of the x, y, and z axes from the complementary filter for a predetermined time period; A tenth condition that the angular data of d6 (positive number) or more out of k pieces of angle data of the x axis is less than i, an eleventh condition that the kth angle data of the y axis is less than d8 (positive number) (12th condition that the data is less than d7 (positive number) and the thirteenth condition that less than j pieces of angle data of less than d9 (negative number) out of k pieces of angle data of the z axis satisfy the condition of the back horse volley, Method can be provided.

In another aspect, collecting angle data of the x, y, and z axes of the tennis racket includes collecting k angular data for each of the x, y, and z axes from the complementary filter for a predetermined time period; , And determines whether or not the number of angle data indicating a positive value among values of the n + ath angle data from the nth angle data among the k pieces of angle data is x or more, It is possible to provide an attitude determination method.

In yet another aspect, one or more computer-readable storage media having executable instructions for performing the steps described above can be provided.

The embodiment of the present invention provides the player with accurate RB points and attitude information to enable effective swing practice.

In addition, the embodiment of the present invention can accurately determine the RB points in the upper, middle, lower, right, and left regions regardless of the strength when the ball contacts the cut by finding the RB with the change of the inclination of the racket.

In addition, since the swing can be analyzed by attaching the sensing part to the existing tennis racket, the embodiment of the present invention enables swing analysis for various tennis racquets.

In addition, the embodiment of the present invention can analyze the top span and baly posture first, and then determine the flat posture, thereby significantly reducing the probability of error in the posture determination.

Further, the embodiment of the present invention makes it possible to perform accurate RBT and posture analysis regardless of the strength of the swing.

Further, since the embodiment of the present invention can perform data analysis through an external device, the complexity of the sensing unit can be reduced and lightened, thereby minimizing a negative impact on the swing due to the sensing unit being installed in the tennis racket.

In addition, embodiments of the present invention can feed back the analysis process through an external device such as a terminal, share the analysis process with others, or use it as information for receiving feedback from an expert.

In addition, the embodiment of the present invention enables a posture correction to be effectively performed by providing a still image for each of the most important points in a swing motion.

1A is a front view of a tennis racket according to an embodiment of the present invention.
1B is a front view of a tennis racket provided with a sensing unit according to an embodiment of the present invention.
1C is a front view of a tennis racket provided with a sensing unit according to another embodiment of the present invention.
1D is a front view of a tennis racket equipped with a sensing unit according to another embodiment of the present invention.
1E is a front view of a tennis racket provided with a sensing unit according to another embodiment of the present invention.
2A is an exemplary block diagram of the detailed configuration of the sensing unit.
2B and 2C are perspective views illustrating the structure of the sensing unit.
FIG. 3 is a graph showing an angle (a) of the y-axis when the RB points are formed in the upper region with time in the forehand stroke flat attitude, an angle (b) of the y-axis when the RB is formed in the central region, The graph for the angle (c) of the axis (x-axis is time and y-axis is angle).
Fig. 4 is a graph of the angular velocity obtained by differentiating the angles of Fig. 3 (x axis is 0 to 0.8 sec, y axis is angular velocity).
FIG. 5 is a graph showing the y-axis angular velocity (a) in the case where the RB points are formed in the upper region with time in the backhand stroke flat attitude, the y-axis angular velocity (b) The graph of the angular velocity (c) of the axis (x-axis is time and y-axis is angular velocity).
FIG. 6 is a graph showing the angular velocity (a) of the x-axis when the RB points are formed in the right region with time in the forehand stroke flat attitude, the angular velocity b of the x-axis when the RBs are formed in the central region, The graph of the angular velocity (c) of the axis (x-axis is time and y-axis is angular velocity).
7 is an exemplary block diagram of a sensing unit according to an embodiment of the present invention.
8A shows the angular values of the y-axis from the complementary filter for a forehand flat and a forehand top spin, respectively (the x-axis in the graph and the y-axis are angles).
FIG. 8B is a flowchart for collecting data for analyzing the player's attitude and analyzing the collected data according to an embodiment of the present invention.
9 is an exemplary block diagram of an external device communicating with a sensing portion and a sensing portion of a tennis racket according to another embodiment of the present invention.
10 is an exemplary block diagram of configurations in a server side view and a re-server.
11 is a diagram illustrating an example of a sensing unit installed in a tennis racket and a terminal communicating with the sensing unit according to another embodiment of the present invention.
12 is a schematic view of a receiver and a terminal as a tennis racket, a sensing unit, and an external device according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms. In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning. Also, the singular expressions include plural expressions unless the context clearly dictates otherwise. Also, the terms include, including, etc. mean that there is a feature, or element, recited in the specification and does not preclude the possibility that one or more other features or components may be added. Also, in the drawings, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

The sensing unit and / or external device to be described below may include one or more memories and one or more microprocessors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) Logic circuitry, software, hardware, firmware, or any combination thereof.

The memory includes instructions (e.g., executable instructions) such as computer readable instructions or processor readable instructions. The instructions may include one or more instructions executable by the computer, such as by each of the one or more processors.

For example, the one or more instructions may cause the one or more processors to perform operations including processing a sensed value to determine a player's posture and a player's posture, the point at which the ball and ball contact the cut based on the sensed value from the sensing portion May be executable by one or more processors.

<Tennis racket>

1B is a front view of a tennis racket provided with a sensing unit according to an embodiment of the present invention. FIG. 1C is a front view of a tennis rackets according to another embodiment of the present invention. FIG. 1D is a front view of a tennis racket having a sensing unit according to another embodiment of the present invention, and FIG. 1E is a front view of a tennis racket having a sensing unit according to another embodiment of the present invention. And FIG. 2A is an exemplary block diagram of the detailed configuration of the sensing unit. And FIGS. 2B and 2C are perspective views for explaining the structure of the sensing unit.

1A and 2A, a tennis racket 100 according to an embodiment of the present invention includes a head 110, a shaft 120, and a left and right tether 120 extending from the head 110 to the shaft 120. [ A pair of throats 130 and a grip 140 extending from the shaft 120.

The head portion 110 includes a frame 111 and a cut 112 of a net structure having a certain elasticity coupled to the inside of the frame 111. [

It is obvious to a person skilled in the art that the frame and the cut 112 of the tennis racket 100 are not limited to specific materials but may be made of various materials.

The player grips the grip 140 and moves the ball in a desired direction by contacting the ball with the head 110, more specifically, with the cut 112.

When the virtual first straight line connecting the tennis racket 100 from the grip 140 to the head portion 110 is positioned parallel to the paper surface G while the player holds the tennis racket 100, The left region, the right region, the upper region, and the lower region are defined as follows.

The cut 112 has a region near the throat 130 on a virtual first straight line extending from the grip 140 to the head 110 among the center region and the edge region in the middle region from the left region, The farthest region is defined as an upper region, the region farther from the ground on a hypothetical second straight line passing through the right region, the central region, and perpendicular to the first straight line, and the region close to the ground as a lower region.

On the other hand, at least one vibration sensor may be installed in the head portion of the racquet (specifically, the frame of the red portion, the plurality of different regions of the frame on the other side, and the upper and lower regions and the left and right regions of the frame, respectively, The vibration sensor detects the vibration generated in the head part in response to the pressure applied to the head part by the ball from the vibration value of the vibration sensor. Based on the sensed vibration information, the area of the cut part of the head part, Information can be analyzed.

For example, it is possible to install four vibration sensors in the upper and lower regions and the left and right regions of the frame, respectively, and analyze the RB based on the sensing value of the vibration sensor.

Due to the structural problems of the racket, there is a problem in that one of the vibration sensors receives more vibrations several times depending on the part to be fit, and the vibration which is measured by one vibration sensor except the range of abnormally derived values due to the characteristics of the vibration sensor When using the averages of the strengths, it is important to note that when the cut and the ball are hit hard (the ball is hit hard), the vibration sensor is out of range of the frequency range allowed, the sensitivity is not good enough to accurately derive the high frequency impact, A problem in which the degree of engagement of the cut and the frame is different for each racket and the vibration received by the two vibration sensors due to the large vibration is added at a time difference when the cut is loosely coupled to the frame and thus the accurate vibration intensity value can not be derived, The vibration transmitted to one sensor is detected by a vibration sensor Even if the sensing information is corrected according to the high-frequency component removal method or the linear interpolation through the curve fitting using the filter, a problem arises in that the average of the data is inaccurately increased while interfering with the data of the facing vibration sensor while being quickly transmitted through the string There is a problem that high accuracy of the RB can not be ensured. Therefore, the embodiment of the present invention uses the acceleration and the angular velocity information to determine the RB and the posture of the player. Hereinafter, this will be described in detail.

<RBI analysis>

The apparatus for determining the player's posture and the player's posture according to the present invention further includes a tennis racket 100 and a sensing unit 200 provided on the tennis racket 100.

The sensing unit 200 may be mounted on the tennis racket 100 and may be detachably attached to the tennis racket 100.

Referring to FIG. 1B, the sensing unit 200 may be disposed in the left and right throats 130 and disposed in the space between the left and right throats 130.

1C, the sensing unit 200 may be installed in a region between the left and right throttle 130 adjacent to the shaft 120 to keep the space between the left and right throats 130 open . Therefore, it is possible to minimize the phenomenon of obstructing air flow between the throats 130.

2A, the sensing unit 200 includes a gyro sensor 210, an acceleration sensor 220, a complementary filter 230, at least one first memory 260 for storing instructions, at least one And may include a first processor 280 and a replaceable battery 290 that is wired and / or wirelessly chargeable or can be replaced from the sensing unit 200.

20. One or more computer-readable storage medium having executable instructions for performing the steps of any of claims 9 to 19.

The complementary filter 230 is a step of computing the output values of the gyro sensor 210 and the acceleration sensor 220 and generating the angle information of the x, y, and z axes. The command is stored in the first memory 260 And may be configured to be executed by the first processor 280.

In addition, the battery 290 is capable of storing and outputting electric power in various ways in which a small size and light weight are satisfied, and is not limited to a battery of a specific method or a specific shape.

The battery 290 includes a gyro sensor 210, an acceleration sensor 220, a complementary filter 230, a first memory 260, and a first processor 280. The battery 290 is installed in the tennis racket 100 1D and 1E, the battery 290 may include a gyro sensor 210, an acceleration sensor 220, a complementary filter 230, a first memory 260, and a first processor 260, The acceleration sensor 220, the complementary filter 230, the first memory 260, and the second memory 260. In this case, the power is supplied from the battery 290 through the gyro sensor 210, the acceleration sensor 220, the complementary filter 230, 1 &lt; / RTI &gt; The battery 290 may be installed at the distal end of the grip 140 to prevent the player from interfering with gripping the grip 140 and may be configured to be worn on a part of the body of the player on the other side, The tennis racket 100 may be installed on the tennis racket 100 at a position different from the position where the tennis racket 220 is installed.

2B and 2C, the sensing unit 200 installed in the tennis racket 100 includes a gyro sensor 210, an acceleration sensor 220, a complementary filter 230 (see FIG. A storage unit 201 that houses the first memory 260 and the first processor 280 and further stores the battery 290 on the other side and a pair of coupling units 202 And a protrusion 240 protruding from the outer surface of one of the pair of coupling portions 202. A groove 203 may be formed on one side of the coupling portion 202 where the protrusion 240 is formed.

The sensing unit 200 may be configured such that a region between the shaft 120 and the shaft 120 adjacent to the throttle 130 is fastened to a space between the pair of coupling portions 202, It is possible to attach the sensing unit 200 to the tennis racket 100 by connecting a flexible and elastic member such as a rubber band or the like and passing through the groove 203 and turning it backward one turn to the protruding portion 240 However, the present invention is not limited thereto, and any structure can be used as long as it can detachably attach the sensing unit 200 around the throttle 130.

Since the sensing unit 200 can be attached to the tennis racket 100, the sensing unit 200 is installed at a specific position of the proposed racket in a general tennis racket without a special electronic device, Can be distinguished.

The gyro sensor 210 may be a three-axis gyro sensor, and the acceleration sensor 220 may be a three-axis acceleration sensor. Each of the gyro sensor 210 and the acceleration sensor 220 may include x, y, and z-axis.

The sensed values from the gyro sensor 210 and the acceleration sensor 220 are converted into angles through the complementary filter 230 and angle information of each of the x, y, and z axes can be output from the complementary filter 230.

In addition, the reference of the x-axis is set to an angle that the arm gripping the tennis racket 100 among the two arms of the player is moved vertically while the player grips the grip 140 Set your wrist to the angle of rotation, and set the z-axis to be a circular arc over your head. Also, the x, y, and z axes are perpendicular to each other representing three dimensions.

The first processor 280 can detect an area in which the other point is formed in the upper area, the center area, and the lower area based on the y-axis angular velocity information obtained by differentiating the y-axis angle outputted from the complementary filter 230. [

In another aspect, the first processor 280 may compare the y-axis angular velocity information with a predetermined y-axis reference value to detect an area in which the other point is formed in the upper area, the center area, and the lower area.

In addition, the first processor 280 can detect an area in which a ridge is formed in the right area, the center area, and the left area based on the x-axis angular velocity information obtained by differentiating the angle of the x-axis output from the complementary filter 230.

In another aspect, the first processor 280 can detect an area in which the R, G, and B areas are formed, by comparing the x-axis angular velocity information with a preset x-axis reference value.

When the ball is fitted to the cut 112, the tennis racket 100 is tilted as the portion of the tennis racket 100 is pushed backward by the reaction of the cut 112. This tilting can be detected to analyze the RB. For example, when the ball is fitted to the upper region of the cut 112, the upper portion of the tennis racket 100 is pushed back by the force, so that the degree of change of the y-axis, which is the rotation of the wrist, . When the ball is in the right area of the cut 112, the right area of the tennis racket 100 is pushed back and the corresponding x-axis is changed.

In addition, the first processor 280 determines the one-step region among the upper, middle, and lower regions based on the y-axis angular velocity information among the y-axis and x-axis angular velocity information as the first step, Of the left and the right endpoint regions. This is because the y-axis angular velocity information of the central region and the y-axis angular velocity information of the right region are similar to each other. Therefore, if it is determined that the RBs are formed in the central region in the first step to discriminate the RBs, It is preferable to analyze whether the ball is formed at the right region or the ball is formed at the center region.

Meanwhile, when the first processor 280 compares the x, y, and z axis angular velocity values with preset x, y, and z axis reference values, the x, y, and z axis reference values are moved in parallel, It is possible to discriminate the RBs by comparing the measured data with the reference value having the minimum difference value by searching the minimum difference value by comparing with the data.

For example, the reference value is compared with the measured data while simultaneously moving the reference values of the three axes from 20 times in 0.5 units, that is, from 5 to 5 in the reference value, and the smallest difference value, And then find out the RBI in comparison with the tendency in that group.

However, the present invention is not limited thereto, and the first processor 280 may be configured to determine an RB by setting an optimal reference value based on a predetermined amount of data or more according to a machine learning method, and comparing the measured value with a set reference value.

<Experimental Example for RBI Analysis>

FIG. 3 is a graph showing an angle (a) of the y-axis when the RB points are formed in the upper region with time in the forehand stroke flat attitude, an angle (b) of the y-axis when the RB is formed in the central region, The graph for the angle (c) of the axis (x-axis is time and y-axis is angle). 4 is a graph of the angular velocity obtained by differentiating the angles of Fig. 3 (x axis is 0 to 0.8 sec, y axis is angular velocity).

Referring to FIG. 3, in order to analyze the tendency of each of the three axes through experiment, 30 pieces of sample data were acquired for each of the R, and the number of the detected sample data for each of the R, G, R, 150 data pieces, 150 pieces of data, and 300 pieces of data, which were detected when the R, G, B, R, and R, respectively, were formed on the backhand stroke, and the data was sampled, 3 can be obtained.

According to FIG. 3, the tendencies of the y-axis in the upper, middle, and lower regions are similar, but in the case of the angular velocity obtained by differentiating the angles as shown in Fig. 4, .

In addition, since the angle of the ball is different from that of the ball, the variation amount of the angular velocity can be sufficiently differentiated by the size of the upper and lower ranks based on 0.04 seconds of reaction even if the racket 100 is slightly inclined There is an advantage.

FIG. 5 is a graph showing the y-axis angular velocity (a) in the case where the RB points are formed in the upper region with time in the backhand stroke flat attitude, the y-axis angular velocity (b) The graph of the angular velocity (c) of the axis (x-axis is time and y-axis is angular velocity).

According to Fig. 5, it can be seen that the tendency of the y-axis angular velocity in the upper, middle, and lower areas in the case of the angular velocity is different even in the backhand stroke flat posture. By comparing the tendency of the angular velocity with the reference value, It is possible to discriminate the RB accurately.

In addition, by detecting the point of the spot by the change of the inclination caused by the reaction of the ball, there is an effect that the upper, middle, and lower regions can be discriminated irrespective of the strength when the ball contacts the cut 112.

FIG. 6 is a graph showing the angular velocity (a) of the x-axis when the RB points are formed in the right region with time in the forehand stroke flat attitude, the angular velocity b of the x-axis when the RBs are formed in the central region, The graph of the angular velocity (c) of the axis (x-axis is time and y-axis is angular velocity).

Referring to FIG. 6, it can be seen that the tendency of the x-axis angular velocity in each of the right, middle, and left regions is different. Thus, by comparing the tendency of the angular velocity with the reference value, have.

&Lt; Determination of player's posture &

The stroke action of a tennis ball is collectively called a stroke. The strokes of tennis include ground strokes (once hit the ball on the ground once), and ball (hit the ball with no bound), and can be divided into forehand and backhand depending on the hit points. Also, there are forehand strokes and backhand strokes, which are divided into flat, drive, slice, and top spin, depending on how they are hit. In describing the embodiment of the present invention, flat and top spins are selected and classified in the stroke.

7 is an exemplary block diagram of a sensing unit according to an embodiment of the present invention. 8A shows the angular values of the y-axis from the complementary filter for a forehand flat and a forehand top spin, respectively (in the graph, the x-axis is time and the y-axis is angle). FIG. 8B is a flowchart for collecting data for analyzing the player's attitude and analyzing collected data according to an embodiment of the present invention.

Referring to FIG. 7, the sensing unit 200 of the tennis racket 100 according to the embodiment of the present invention may further include a vibration sensor 240.

The first processor 280 may analyze the sensing information from the gyro sensor 210 and the acceleration sensor 220 when the vibration is detected from the vibration sensor 240.

Since it is necessary to use data from the time when a point at the time of determining the player's posture is formed to the finishing operation (taking the fixed posture for the predetermined time in the finishing operation), the moment when the point is formed is detected, So that the power consumption of the sensing unit 200 is minimized. This reduces the structural complexity of the sensing unit 200, reduces the area of the chip, assures a fast calculation amount, and helps to miniaturize and lighten the battery 290.

The first processor 280 can determine the player's posture based on the x, y, and z-axis angle information output from the complementary filter 230.

The angle that is the output value of the complementary filter 230 is used in determining the posture.

Since the angles of the x, y, and z axes of the forehand strokes and the backhand strokes are completely differentiated by swinging, the angular range of the forehand stroke and the backhand stroke is determined by the sign of the angle at which the ball is fitted and the sign or size of the angle of the angle at the finish operation. It is possible to improve the accuracy of the determination of the posture of the user.

In addition, in the case of a pitch, since the snap of the moving wrist at the time of the impact lasts until the final finishing operation in order to insert the spin, it is possible to improve the accuracy of determination of the player's attitude by judging from the angle of the first impact and the angle of the finishing motion .

FIG. 8A is a graph of the experimental result. As a result, 125 data are read and analyzed from the time of reading the detection of the vibration sensor 240. However, since the transient response is included in the initial value, . Therefore, except for the transient response data, 125 pieces of the data of the steady state response are read for each axis, and the output data of the complementary filter 230 is collected one by one, and the posture can be discriminated by comparing the data of the part with the difference.

More specifically, the first processor 280 may collect k (k is a natural number of 50 or more) pieces of data from the gyro sensor 210 and the acceleration sensor 220. Each of the gyro sensor 210 and the acceleration sensor 220 may periodically detect data for a predetermined time from the time when the vibration is detected and collect k data for the predetermined time.

Here, the predetermined time may be set in advance as an average time from the point at which the RB is formed when the players swing to when the swing is finished, but the present invention is not limited to this, It can vary from city to city.

In addition, each of the first number of data may be converted into angle information through the complementary filter 230.

Here, k may be determined according to the number of sensing times of the sensing unit 200 during the average time from the time point when the RB is formed to when the swing is finished when the players swing.

In addition, since the finishing operation is maintained for a predetermined time in the finishing operation with the preferable swing, when the finishing operation is performed, there is no vibration detected from the vibration sensor 240 or only the vibration less than the preset value can be measured. Accordingly, the first processor 280 recognizes the time when the vibration is detected from the vibration sensor 240, and recognizes that the vibration is greater than a predetermined value from the vibration sensor 240 during the swing, It can be recognized that the swing motion has been completed because no vibration is detected from the sensor 240 or a vibration less than a preset value is detected.

In addition, since the vibration can be continuously detected due to an undesirable finishing operation of the player, the first processor 280 may receive data from the gyro sensor 210 and the acceleration sensor 220 when the vibration is continuously detected for a predetermined time limit, Collection can be discontinued. It is preferable that the predetermined time limit herein is set to be longer than the average time from the point at which the RB is formed when the player swings to when the swing is finished.

In addition, the first processor 280 may analyze the collected data to determine posture, or may transmit data collected by an external device, which will be described later, from an external device to analyze the data from the external device to determine the posture.

As an example, the k value may be 125, but is not limited thereto.

<Determination of forehand posture and backhand posture>

The first processor 280 calculates nth angle data (n is a positive integer including 0, 0th angle data among the first number of x-axis angle data) (The data just before the point in time) to (n + a) th angular data, and if the number of angle data indicating a positive value of a + 1 angle data is x or more (x is a natural number smaller than a) If it is less than x, it can be determined as a forehand posture.

As an example, n can be 60, a is 60, n + a can be 120, and x can be 35, but is not limited thereto.

<Determination of forehand top spin posture and backhand top spin posture>

The top spin is a ball that turns strongly on the front of the ball and pushes the ball up like a tennis racket (100). The ball flew into the air, then dropped sharply downward, the speed was faster, and the surface bounced low.

The first processor 280 calculates the first angle data (data sensed at the time when the vibration is detected) from the x-axis angle data and the x-axis angle data, the k-th angle data To determine the forehand top spin posture.

More specifically, the first processor 280 determines whether or not the number of angular data less than a preset d1 value (d1 is a negative number) out of the x-axis angular data exceeds y and the value of the first angular data And the value of the k-th angle data, which is the last angle data among the y-axis angle data, is greater than or equal to a preset d2 value (d2 is a negative number), it can be determined as a forehand top spin attitude.

As an example, d1 may be -140, y may be 15, and d2 may be -85, but is not limited thereto.

The first processor 280 calculates the first angle data among the x-axis angle data, the k-th angle data of the y-axis, which is the last angle data among the y-axis angle data, It is possible to determine the backhand top spin posture based on the data.

More specifically, the first processor 280 determines that the first angle data value among the x-axis angle data is positive and the k-th angle data of the y-axis, which is the last angle data among the y- ) And the kth angle data of the z axis, which is the last angle data among the z axis angle data, is negative, it can be determined as a backhand top spin attitude.

As an example, d3 may be 70, but is not limited thereto.

<Forehand volley and backhand volley posture discrimination>

Bali means hit before the ball touches the ground. There is a high volley that rises above the shoulder and a low ball that strikes the ball lower than the net. There is a half - bali as soon as the ball reaches the ground. Here, forehand volley and backhand volley were distinguished.

The first processor 280 can determine the posture of the posture based on the first angle data among the first angle data value, the k y-axis angle data, and the y-axis angle data among the x-axis angle data.

More specifically, the first processor 280 determines whether or not the first angular data value among the x-axis angular data is positive and the value of the angular data whose value is less than d4 (d4 is a negative number) Number is less than z, and if the value of the last angle data among the y-axis angle data is equal to or greater than a preset d5 (d5 is a negative number), it can be determined as a forehand baling attitude.

As an example, d4 is -40, z is 10, and d5 is -45, but not limited thereto.

In addition, the first processor 280 calculates x-axis angle data, kth angle data of the x-axis which is the last angle data among the x-axis angle data, kth angle data of the y- The backhand baling posture can be determined based on the angle data of the axis.

More specifically, the first processor 280 determines whether or not the number of angular data whose value is equal to or greater than a preset d6 (d6 is a positive number) among the x-axis angular data is less than i, the value of the kth angle data of the y-axis, which is the last angle data among the y-axis angle data, is less than a preset d8 (d8 is a positive number), and the value of the z- If the number of angular data having a value of angular data less than d9 (negative value of d9) is less than j, the backhand baling attitude can be determined.

As an example, d6 is 120, i is 2, d7 is 85, d8 is 45, d9 is -10, j is 2, but the number is not limited thereto.

On the other hand, the first processor 280 first determines whether or not the condition of the above-described angle matched with the top spin attitude and the Balinese attitude is satisfied, and determines whether the conditions satisfy the forehand and backhand flat conditions . It is possible to significantly reduce the probability of errors by proceeding in this order.

The analysis and determination conditions of each posture are summarized as follows. In the first memory 260, an instruction for analyzing the satisfaction of each condition is stored. The first processor 280 analyzes and conditions each condition based on the instruction. .

in detail,

- Forehand top spin

If the first angle data on the x axis is negative (first condition)

If the kth angle data on the y axis is d2 (negative number) or more (second condition)

the number of angular data less than d1 (negative number) out of k pieces of angle data on the x axis exceeds y number (third condition)

- Backhand top spin

If the first angle data of the x axis is positive (fourth condition)

If the kth angle data on the y axis is d3 (positive number) or more (fifth condition)

If the kth angle data of the z axis is negative (sixth condition)

- forehand bali

If the first angle data on the x axis is positive (seventh condition)

If the kth angle data on the y axis is d5 (positive number) or more (eighth condition)

Less than z number of angular data less than d4 (negative number) out of k pieces of angle data on the y axis (ninth condition)

- Backhand Balinese

less than i angular data of d6 (positive number) or more out of k pieces of angle data of the x axis (tenth condition)

If the kth angle data on the y axis is less than d8 (positive number) (11th condition)

If the kth angle data on the x axis is less than d7 (positive number) (twelfth condition)

Less than j pieces of angle data less than d9 (negative number) out of k pieces of angle data of the z axis (thirteenth condition)

More specifically, if the first to third conditions are satisfied, it is determined as a forehand top spin posture. However, when the first and second conditions are satisfied but the third condition is not satisfied, the tenth and eleventh conditions can be satisfied. In this case, when the conditions 12 and 13 are satisfied, the backhand volley position is determined. However, if any one of the 10th to 13th conditions is not satisfied, the flet posture analysis process can be performed.

If the first condition is not satisfied, the fourth or seventh condition is satisfied. And at least one of the fifth condition and the eighth condition can be satisfied.

If the fourth condition (= seventh condition), the fifth condition, and the eighth condition are satisfied, the backhand top spin attitude is determined if the sixth condition is satisfied, and the forehand baling attitude is determined if the ninth condition is satisfied. When the fourth condition (= seventh condition), the fifth condition, and the eighth condition are all satisfied, the backhand top spin and the forehand volley posture are distinguished from each other since both the sixth and ninth conditions are not satisfied at the same time .

In addition, if the fifth condition is not satisfied but the fourth condition (= the seventh condition) and the eighth condition are all satisfied, the ninth condition is analyzed and if the ninth condition is satisfied, the forehand volley posture is determined, Condition and the 13th condition, and if it is satisfied, it can be discriminated as the backhand bali posture, otherwise the process of the posture analysis of the flet can be performed.

If the fourth condition (= the seventh condition) is satisfied but the fifth and eighth conditions are not all satisfied, the condition of the backhand volley posture is analyzed and if it satisfies the condition, the backhand volley posture is determined. Otherwise, Process can proceed.

Even if the fourth condition (= the seventh condition) and the tenth condition are satisfied at the same time, the d3 value is set to be larger than d8, so that the fifth condition and the eleventh condition are not satisfied at the same time. However, since the 8th condition and the 11th condition can be satisfied at the same time, the forehand volley and the backhand volley can be distinguished from each other according to the satisfaction of the 9th condition, 12th condition and 13th condition.

In addition, when it is not determined as a top spin or a volley posture according to the above conditions, k pieces of angle data for each of the x, y, and z axes from the complementary filter 230 for a predetermined time are collected, it is possible to discriminate between the backhand flute posture and the forehand flute posture if it is x or more, depending on whether or not the angle data indicating the positive value among the values of the (n + a) th angle data from the nth angle data is more than x.

<Interlocking of tennis rackets and external devices>

9 is an exemplary block diagram of an external device communicating with a sensing portion and a sensing portion of a tennis racket according to another embodiment of the present invention.

Referring to FIG. 9, the sensing unit 200 of the tennis racket 100 according to the embodiment of the present invention may further include a first communication unit 270.

The sensing unit 200 may transmit the determination information on the RB and the player's attitude to the external device 300 through the first communication unit 270. [

The first processor 280 may include a gyro sensor 210 and an acceleration sensor 220. The gyro sensor 210 and the acceleration sensor 220 may be integrated with each other, The output value from the first communication unit 270 may be transmitted to the external device 300 through the first communication unit 270 so that the external device 300 can determine the RBT and the posture according to the above- The processor 280 transmits the output value from the complementary filter 230 to the external device 300 through the first communication unit 270 so that the external device 300 can determine the RBT and the posture according to the above- You may.

Further, by making it possible to determine the rudder point and the posture in the external device 300, the cross-sectional area of the chip of the sensing unit 200 can be minimized, and the consumption of the battery can be reduced, thereby further reducing the size and weight of the sensing unit 200.

Also, the first communication unit 270 and the external device 300 can perform communication by wire and / or wireless.

<Interlocking of tennis racket and receiver>

10 is an exemplary block diagram of configurations in a server side view and a re-server.

Referring to FIG. 10, the external device 300 may be a receiver 310.

The receiver 310 includes a main body 311, a blank discharge unit 312, a bounce unit 313, an output unit 314, one or more second memories 316 for storing instructions, a second communication unit 317, At least one second processor 318 for executing instructions and a power supply 319 for supplying power thereto.

For example, one or more instructions may include operations that include processing sensed values to determine one or more second processors 318 based on sensing values received from the sensing unit 200 to determine a player's attitude May be executable by one or more processors to perform the functions described herein.

The main body 311 of the receiver 310 receives balls that have collided with the tennis racket 100 and flew for reaction. The bouncing unit 31 bounces the ball discharged from the bore discharging unit 312 and can transmit the bouncing ball toward the player.

Also, the second processor 318 receives the information transmitted from the first communication unit 270 through the second communication unit 317, and can determine the positions of the player and the player through the calculation process described above.

The second processor 318 receives the attitude information of the other points and the player from the sensing unit 200 or calculates the attitude and the attitude of the player according to one or more commands stored in the second memory 316, And the message information matched with the posture of the player and the posture of the player can be read from the second memory 316 and output through the output unit 314. [

The output unit 314 may be a speaker device capable of outputting a voice message or a display device capable of displaying an image. However, the present invention is not limited thereto. Any device capable of transmitting RBI and attitude information to the player It is possible.

In another aspect, the receiver 310 may further include a photographing unit 315. [

The photographing unit 315 can photograph the forward of the receiver 310, that is, the player.

The first processor 280 of the sensing unit 200 can transmit the vibration sensing information at the time when the vibration is sensed by the vibration sensor 240 and the vibration sensing information at the time when the vibration is not sensed to the second communication unit 317 have.

When the second processor 318 receives the vibration sensing information through the second communication unit 317, the second processor 318 transmits the vibration sensing information to the first image frame And the second image frame corresponding to the vibration sensing information reception time is stored in the second memory 316. When the vibration sensing information is received through the second communication unit 317, And store the frame in the second memory 316. The stored first through third image frames may be displayed through the output unit 314.

Accordingly, the player confirms the stop motion at the time point when the most important spot is formed in the swing practice, the stop motion at the time of performing the swing before the spot is formed, and the stop motion at the end point of the swing, Feedback for posture correction can be received.

<Interlocking of tennis racket and terminal>

11 is a diagram illustrating an example of a sensing unit installed in a tennis racket and a terminal communicating with the sensing unit according to another embodiment of the present invention.

Referring to FIG. 11, the external device 300 may be a terminal 320.

The terminal 320 includes a display device 321, a photographing device 325, a third communication unit 327, one or more third memories 326 for storing instructions, at least one third processor 328 for executing the instructions, . &Lt; / RTI &gt;

For example, one or more instructions may include operations that involve processing one or more third processors 328 to sense values to determine a player's posture based on the sensed value received from the sensing portion 200 May be executable by one or more processors to perform the functions described herein.

In another aspect, the terminal 320 may be configured such that an application operable by a player is installed, which has a function of identifying the RB and the posture of the player and displaying the determined RB and player information.

Terminal 320 is one or more computers or other electronic devices used by a player to execute applications that perform various tasks. For example, a computer, a laptop computer, a smart phone, a mobile phone, a PDA, a tablet PC, or any other device operable to communicate with the sensing unit 200. But are not limited to, the terminal 320 may include processing logic executing on various machines and interpreting and executing instructions stored in the plurality of memories, wherein the processing logic for executing a graphical user interface (GUI) on an external input / And various other elements such as processes for displaying graphical information. In addition, the terminal 320 may be connected to an input device (e.g., a mouse, a keyboard, a touch sensitive surface, etc.) and an output device (e.g., a monitor, a screen, etc.).

The third processor 338 receives the information transmitted from the first communication unit 270 through the third communication unit 337 and determines the positions of the RB and the player through the data analysis process for determining the RB and the posture .

In addition, the third processor 328 analyzes the posture of the player and the posture of the player by receiving the posture information of the other player and the player from the sensing unit 200 or by calculating one or more commands stored in the third memory 326 , Message information matched with the identified RBI and player's posture may be read from the third memory 326 and outputted through the display device 321 or may be output through a speaker device (not shown).

Further, the photographing apparatus 325 can photograph the forward of the terminal 320, that is, the player.

The first processor 280 of the sensing unit 200 generates vibration sensing information at the time when vibration is sensed from the vibration sensor 240 and generates vibration sensing information at a time when vibration is not sensed, To the communication unit 327.

When the third processor 328 receives the vibration detection information from the sensing unit 200 through the third communication unit 327, the third processor 328 detects the vibration detection information from the reception time of the vibration detection information in the image continuously captured by the photographing apparatus 325 The fourth image frame at the time before the time and the fifth image frame corresponding to the vibration sensing information reception time are stored in the third memory 326. When the vibration sensing information is received through the third communication unit 327, The sixth image frame at the time of information reception can be stored in the third memory 326. Then, the stored fourth through sixth image frames can be displayed through the display device 321.

<Interlocking of tennis rackets, receivers and terminals>

12 is a schematic view of a receiver and a terminal as a tennis racket, a sensing unit, and an external device according to another embodiment of the present invention.

Referring to FIG. 12, a terminal 320 may be mounted on the receiver 310.

In addition, the terminal 320 receives the output value of the complementary filter 230, which is information for determining the RB and the attitude, from the sensing unit 200, and can determine the RB and the posture of the player based on the received information.

That is, the receiver 310 can receive the ball that is thrown out of the tennis racket 100 and then eject the ball to the player side, and the analysis process for determining the RBT and the posture is performed by the terminal 320, The above-described video frame can be displayed while photographing the player located in front of the receiver 310 through the display unit 310. [

Therefore, it is possible to perform a complicated data analysis and processing process in the terminal 320, utilize the display device and the photographing device provided in the terminal 320 in advance, and the player can utilize his or her terminal as the terminal 320 according to the embodiment You can check the RBI and posture information at any time after the exercise. You can share RBI and posture information on various Shosun networks through web server and get feedback from experts.

The display unit of the receiver 320 may be a liquid crystal display (LCD), a field emission display (FED), a plasma display panel An image can be displayed according to a display panel, a PDP method, an electroluminescence device (EL) method, an electrophoretic display method, and an organic light emitting diode display method.

Also, the first to third communication units 270, 317, and 327 may communicate with each other using technical standards or a communication method (for example, Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), HSDPA An external terminal, or a server on a mobile communication network constructed according to a High Speed Downlink Packet Access (HSUPA), a Long Term Evolution (LTE) And can transmit and receive wireless signals with at least one.

The first to third communication units 270, 317, and 327 may be a wireless LAN (WLAN), a wireless fidelity (Wi-Fi), a wireless fidelity (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), or the like).

Also, the first to third communication units 270, 317, and 327 can transmit and receive wireless signals using a short-range wireless communication method. For example, the first to third communication units 270, 317, and 327 may be Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The embodiments of the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer-readable recording medium may be those specifically designed and configured for the present invention or may be those known and used by those skilled in the computer software arts. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROM and DVD, magneto-optical media such as floptical disks, medium, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code, such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be modified into one or more software modules for performing the processing according to the present invention, and vice versa.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as &quot; essential &quot;, &quot; importantly &quot;, etc., it may not be a necessary component for application of the present invention.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

The tennis racket 100 includes a head 110, a frame 111,
The cut 112, the shaft 120, the throat 130, the grip 140,
A sensing unit 200, a gyro sensor 210, an acceleration sensor 220,
A complementary filter 230, a vibration sensor 240, a first memory 260,
A communication unit 270, a first processor 280, a battery 290,
The external device 300, the receiver 310, the main body 311,
A bore discharge unit 312, a bounce unit 313, an output unit 314,
A second memory 316, a second communication unit 317, a second processor 318,
A power supply 319, a terminal 320, a display device 321,
A photographing apparatus 325, a third communication unit 327, a third memory 326,
The third processor 328,

Claims (20)

Tennis racket;
A sensing unit installed on the tennis racket and including a gyro sensor, an acceleration sensor, and a complementary filter;
Based on angular velocity information from the x- and y-axis angle information from the complementary filter, determines a rub-point, which is a contact point of the tennis racket and the ball, based on angular velocity information from the x, y and z axes from the complementary filter, A processor for determining a posture
Apparatus for determining the posture and the player's posture. The method according to claim 1,
The sensing unit includes the processor
Apparatus for determining the posture and the player's posture. The method according to claim 1,
The processor may be configured to receive the angle information of the x, y, and z axes from the complementary filter,
Apparatus for determining the posture and the player's posture. The method according to claim 2 or 3,
The sensing unit may further include a vibration sensor,
Wherein the processor collects angle information of the x, y, and z axes for determining the attitude of the player when a vibration of a predetermined value or more is detected from the vibration sensor
Apparatus for determining the posture and the player's posture. 5. The method of claim 4,
The tennis racket,
A sensing portion, a sensing portion, a head portion, a shaft, a pair of left and right throats extending from the head portion to the shaft, and a grip extending from the shaft,
The sensing unit may be detachably attached to the throat
Apparatus for determining the posture and the player's posture. 6. The method of claim 5,
Based on the y-axis angular velocity information, determines an RB formed on any one of the upper region, the lower region, and the center region of the cut
Apparatus for determining the posture and the player's posture.
However, when a virtual first straight line extending from the grip to the head portion is positioned in parallel with the paper surface, the region near the throat on the first straight line of the center region and the edge region, which is the center region of the cut, An area far from the ground is defined as an upper area, and a region near the ground is defined as a lower area. 6. The method of claim 5,
Based on the angular velocity information of the x-axis, determines an RB formed in any one of the left region, the center region, and the right region of the cut
Apparatus for determining the posture and the player's posture.
However, when a virtual first straight line extending from the grip to the head portion is positioned in parallel with the paper surface, the region near the throat on the first straight line of the center region and the edge region, which is the center region of the cut, An area far from the ground is defined as an upper area, and a region near the ground is defined as a lower area. The method of claim 3,
The external device feeds back the player's attitude information and the player's attitude information determined by the processor
Apparatus for determining the posture and the player's posture. Collecting angle data of x, y and z axes of the tennis racket from a gyro sensor installed in a tennis racket and a complementary filter receiving sensing information from an angular velocity sensor;
Determining a player's posture based on the x, y, and z-axis angle data;
Converting angular data of the x and y axes into angular velocity data of x and y axes; And
And determining a point of contact, which is a contact point of the tennis racket and the ball, based on the angular velocity data of the x and y axes
How to determine the position of the RB and the player. 10. The method of claim 9,
The step of determining the RB may include:
And a first step of detecting a spot area formed in any one of an upper area, a center area and a lower area of a cut on the head of the tennis racket based on the y-axis angular velocity data
How to determine the position of the RB and the player. 11. The method of claim 10,
The step of determining the RB may include:
A second step of detecting a rung area formed in any one of the left area, the center area, and the right area of the cut based on the x-axis angular velocity data;
How to determine the position of the RB and the player. 12. The method of claim 11,
If it is detected that the other spot region is formed in the central region according to the first step, the last spot spot region according to the second step is detected
How to determine the position of the RB and the player. 10. The method of claim 9,
The gyro sensor and the angular velocity sensor collect data while the vibration of the tennis racket is detected from the vibration sensor at a predetermined value or more
How to determine the position of the RB and the player. 10. The method of claim 9,
And feedbacking the determined player's position and the posture information of the player to the player
How to determine the position of the RB and the player. 10. The method of claim 9,
The step of collecting angle data of x, y and z axes of the tennis racket,
Collecting k pieces of angle data for each of the x, y and z axes from the complementary filter for a predetermined time,
A first condition that the first angle data of the x axis is a negative number, a second condition that kth angle data of the y axis is d2 (negative number) or more, a second condition that the number of angular data less than d1 If the third condition is satisfied, it is judged as a forehand top spin posture
How to determine the position of the RB and the player. 10. The method of claim 9,
The step of collecting angle data of x, y and z axes of the tennis racket,
Collecting k pieces of angle data for each of the x, y and z axes from the complementary filter for a predetermined time,
The fourth condition that the first angle data of the x axis is positive, the fifth condition that the kth angle data of the y axis is d3 (positive number) or more, and the sixth condition that the kth angle data of the z axis are negative, To determine by posture
How to determine the position of the RB and the player. 10. The method of claim 9,
The step of collecting angle data of x, y and z axes of the tennis racket,
Collecting k pieces of angle data for each of the x, y and z axes from the complementary filter for a predetermined time,
A seventh condition that the first angle data of the x axis is positive, an eighth condition that the kth angle data of the y axis is equal to or greater than d5 (positive number), and an angle data of less than d4 (negative number) If the ninth condition is satisfied, it is judged as a forehand baling posture
How to determine the position of the RB and the player. 10. The method of claim 9,
The step of collecting angle data of x, y and z axes of the tennis racket,
Collecting k pieces of angle data for each of the x, y and z axes from the complementary filter for a predetermined time,
A tenth condition that the angular data of d6 (positive number) or more among the k pieces of angle data of the x axis is less than i, an eleventh condition that the kth angle data of the y axis is less than d8 (positive number) (Positive number), and the thirteenth condition that the angular data of less than d9 (negative number) out of k pieces of angle data of the z-axis satisfies the thirteenth condition is judged as the backhand volley attitude
How to determine the position of the RB and the player. 10. The method of claim 9,
The step of collecting angle data of x, y and z axes of the tennis racket,
Collecting k pieces of angle data for each of the x, y and z axes from the complementary filter for a predetermined time,
A determination is made as to whether the angular data indicating the positive value among the values of the (n + a) -th angular data from the n-th angular data among the k angular data is greater than or equal to x
How to determine the position of the RB and the player. 20. One or more computer-readable storage medium having executable instructions for performing the steps of any of claims 9 to 19.

Images