CN107823864B - Table tennis game-to-game service identification system and method based on motion trail - Google Patents
Table tennis game-to-game service identification system and method based on motion trail Download PDFInfo
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- A63—SPORTS; GAMES; AMUSEMENTS
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- 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
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Abstract
The invention discloses a table tennis match service identification system and method based on a motion trail. The system comprises a module for acquiring pressure sensing data and judging whether the bat strikes the table tennis, a module for reading continuous position data before the bat strikes the table tennis, and a module for judging the table tennis match service according to the motion trail. An internet of things component (such as a signal intensity positioning component) for positioning table tennis is deployed in a table tennis system to obtain table tennis position data, and a pressure sensor deployed on a racket face obtains pressure sensing data; the server judges the ball hitting time according to the pressure sensing data and generates the motion trail of the table tennis ball before the ball hitting time according to the table tennis ball position data. Before the table tennis is dealt with, the motion trail of the table tennis must be in accordance with the motion trail model of the upper throwing and the falling, and whether the batting of the bat is the service of the table tennis is judged according to the motion trail model. The invention solves the problem that the table tennis sport system based on the Internet of things can not simply and effectively identify the table tennis match-up service.
Description
Technical Field
The invention belongs to the technical field of intelligent table tennis, and particularly relates to a table tennis match service identification system and method based on a motion trail.
Background
The existing table tennis system based on the Internet of things mainly utilizes table tennis motion videos or images to analyze and identify the opposite service, and has the defects of high calculation complexity and poor timeliness. Therefore, a table tennis match-play service identification system and method based on the motion trail are provided.
Disclosure of Invention
The invention aims to solve the technical problem that a table tennis sport system based on the Internet of things cannot simply and effectively identify service in table tennis game, and provides a table tennis game service identification system and method based on a sport track.
The invention applies a table tennis sport positioning technology and a pressure sensor, wherein the table tennis positioning technology refers to a technology for calculating the real-time position of a table tennis in the sport process through the existing Internet of things device and positioning method; the pressure sensor deforms after being pressed by an object, so that pressure sensing data are generated. As shown in fig. 1, an internet of things component (such as a signal strength positioning component) deployed in a table tennis system and used for positioning table tennis obtains table tennis position data, a pressure sensor deployed on a racket surface obtains pressure sensing data, and the table tennis position data and the pressure sensing data are sent to a server; the server judges the ball hitting time according to the pressure sensing data and generates the motion trail of the table tennis ball before the ball hitting time according to the table tennis ball position data. Before the table tennis is dealt with and served, the motion trail of the table tennis must be in accordance with a motion trail model of upper throwing and falling (referred to as a serving trail model for short).
A three-dimensional space coordinate system of a table tennis motion system is established in advance, the original point is the center of the table tennis table, the x axis and the y axis form a horizontal plane, and the z axis is vertical to the table top and faces upwards. Pressure sensors are uniformly arranged on the racket surface, and the pressure sensing area covers the whole racket surface. Setting a sampling time interval T, wherein the value of the sampling time interval T is smaller than the average time interval (obtained according to historical data statistics) between two times of batting of the game; setting a positive integer N; setting a threshold value X for judging the table tennis bat; setting a minimum throwing height threshold value H for serving identification; a maximum throw deviation threshold Y for tee shot recognition is set.
The table tennis sport positioning device is deployed, and the position coordinate value of the table tennis at each sampling moment is calculated by adopting the existing table tennis sport positioning method.
The table tennis match-play service identification system based on the motion trail comprises a module for acquiring pressure sensing data and judging whether a table tennis bat is used for hitting the table tennis, a module for reading continuous position data before the table tennis is hit by the table tennis bat, and a module for judging the table tennis match-play service according to the motion trail.
Acquiring pressure sensing data and judging whether the table tennis module is hit by the racket: the pressure sensor deployed on the racket surface acquires pressure sensing data according to the sampling time interval T and then sends the pressure sensing data to the server; judging that the table tennis is patted at the sampling moment when one and only one pressure sensing data u satisfies u > X in the pressure sensing data of the same sampling moment acquired by the server, and entering a continuous position data module for reading the position of the ball before the table tennis is patted; and otherwise, returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket.
Reading a continuous position data module before the ball is patted and the table tennis is played: reading the coordinate value of the ping-pong ball position at N consecutive sampling moments before the moment when the ping-pong ball is struck by the ball bat, wherein N is a positive integer and is marked as (x)i,yi,zi) I is more than or equal to 1 and less than or equal to N; entering a table tennis match service module which judges the table tennis match according to the motion trail.
Judging a table tennis match service module according to the motion trail: and judging whether the motion trail of the table tennis accords with the service trail model before the table tennis is served to the game. Coordinate values (x) of N table tennis positionsi,yi,zi) N of xiArranged in a matrix of x, N yiArranged in a matrix y, N ziArranged in a matrix z when max (x) -min (x)<Y and max (Y) -min (Y)<Y and max (z) -min (z)>When the speed is H (according with a serving trajectory model), wherein max () is a function for solving the maximum value of the matrix, and min () is a function for solving the minimum value of the matrix, the condition that the table tennis is played by the ball bat at the sampling moment is judged to be a game serving; otherwise, judging that the table tennis hit at the sampling moment is not the game serving. And returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket.
A system block diagram of a table tennis match-making service identification system based on motion trail is shown in fig. 2.
The table tennis game-to-game service identification method based on the motion trail comprises the following steps:
step 1, establishing a three-dimensional space coordinate system and setting parameters.
And establishing a three-dimensional space coordinate system of the table tennis motion system, wherein the original point is the center of the table tennis table, the x axis and the y axis form a horizontal plane, and the z axis is vertical to the table top and faces upwards. Pressure sensors are uniformly arranged on the racket surface, and the pressure sensing area covers the whole racket surface. Setting a sampling time interval T, wherein the value of the sampling time interval T is smaller than the average time interval (obtained according to historical data statistics) between two times of batting of the game; setting a positive integer N; setting a threshold value X for judging the table tennis bat; setting a minimum throwing height threshold value H for serving identification; a maximum throw deviation threshold Y for tee shot recognition is set.
And 2, calculating the position coordinate value of the table tennis.
The position coordinate value of the table tennis at each sampling moment is calculated by utilizing the existing table tennis positioning technology and device.
And step 3, acquiring pressure sensing data and judging whether the table tennis ball is hit by the racket.
The pressure sensor deployed on the racket surface acquires pressure sensing data according to the sampling time interval T and then sends the pressure sensing data to the server; judging that the table tennis is patted at the sampling moment when one or only one pressure sensing data u satisfies u > X in the pressure sensing data u of the same sampling moment acquired by the server, and entering step 4; otherwise, returning to the step 2.
And 4, reading continuous position data before the table tennis is played by the racket.
Reading the ping-pong position coordinate values of N consecutive sampling times before the ping-pong time of the ball bat, and recording as (x)i,yi,zi) And i is more than or equal to 1 and less than or equal to N. Proceed to step 5.
And 5, judging whether the table tennis is matched for serving according to the motion trail.
And judging whether the motion trail of the table tennis accords with the service trail model before the table tennis is served to the game. Coordinate values (x) of N table tennis positionsi,yi,zi) N of xiArranged in a matrix of x, N yiArranged in a matrix y, N ziArranged in a matrix z when max (x) -min (x)<Y and max (Y) -min (Y)<Y and max (z) -min (z)>When the speed is H (according with a serving trajectory model), wherein max () is a function for solving the maximum value of the matrix, and min () is a function for solving the minimum value of the matrix, the condition that the table tennis is played by the ball bat at the sampling moment is judged to be a game serving; otherwise, judging that the table tennis hit at the sampling moment is not the game serving. And returning to the step 2.
A flow chart of a table tennis match-up service identification method based on a motion trail is shown in fig. 3.
The system and the method of the invention have the advantages that:
(1) by applying the table tennis sport positioning technology and the pressure sensor, the table tennis position and the bat hitting node in the table tennis match can be simply and effectively judged.
(2) According to the characteristics of the motion trail of the table tennis before the table tennis is dealt with, the table tennis can be simply and effectively identified.
Drawings
FIG. 1 is a schematic diagram of a table tennis system of the present invention based on signal strength location technology;
FIG. 2 is a block diagram of a table tennis match identification system of the present invention based on motion trajectory;
FIG. 3 is a flow chart of a table tennis match-making service identification method based on a motion trail according to the present invention;
FIG. 4 is a schematic diagram of a table tennis ball positioning three-dimensional space coordinate system according to an embodiment of the invention;
Detailed Description
The following describes in detail preferred embodiments of the present invention.
The invention applies a table tennis sport positioning technology and a pressure sensor, wherein the table tennis positioning technology refers to a technology for calculating the real-time position of a table tennis in the sport process through the existing Internet of things device and positioning method; the pressure sensor deforms after being pressed by an object, so that pressure sensing data are generated. As shown in fig. 1, an internet of things component (such as a signal strength positioning component) deployed in a table tennis system and used for positioning table tennis obtains table tennis position data, a pressure sensor deployed on a racket surface obtains pressure sensing data, and the table tennis position data and the pressure sensing data are sent to a server; the server judges the ball hitting time according to the pressure sensing data and generates the motion trail of the table tennis ball before the ball hitting time according to the table tennis ball position data. Before the table tennis is dealt with and served, the motion trail of the table tennis must be in accordance with a motion trail model of upper throwing and falling (referred to as a serving trail model for short).
A three-dimensional space coordinate system of a table tennis motion system is established in advance, the original point is the center of the table tennis table, the x axis and the y axis form a horizontal plane, and the z axis is vertical to the table top and faces upwards. Pressure sensors are uniformly arranged on the racket surface, and the pressure sensing area covers the whole racket surface. Setting a sampling time interval T, wherein the value of the sampling time interval T is smaller than the average time interval (obtained according to historical data statistics) between two times of batting of the game; setting a positive integer N; setting a threshold value X for judging the table tennis bat; setting a minimum throwing height threshold value H for serving identification; a maximum throw deviation threshold Y for tee shot recognition is set. In this embodiment, the origin of the three-dimensional space coordinate system is the center of the table tennis table, the center of the table tennis table is the intersection point of the central axis of the table tennis net and the table tennis table, the x axis is parallel to the narrow side of the table tennis table, the y axis is parallel to the long side of the table tennis table, and the z axis is perpendicular to the table top and faces upward, as shown in fig. 4. The 12 piezoelectric film sensors are uniformly arranged on the racket surface, so that the pressure sensing area covers the whole racket surface. Setting a sampling time interval T to be 10 milliseconds; setting a positive integer N to 5; setting the voltage threshold value X of 5 millivolts (mV) for judging the ball-patting of the table tennis; setting a minimum throwing height threshold H for serving identification to be 0.16 m; the maximum throw deviation threshold value Y for tee shot recognition is set to 0.15 m.
The table tennis sport positioning device is deployed, and the position coordinate value of the table tennis at each sampling moment is calculated by adopting the existing table tennis sport positioning method. In this embodiment, a ping-pong ball positioning method based on signal strength positioning is adopted to calculate the position coordinates of a ping-pong ball, three signal receiving devices are deployed on a ping-pong table, the signal sending device is carried on the ping-pong ball, each signal receiving device receives a wireless signal sent by the ping-pong ball, the signal strength is obtained and then sent to a server, and the server calculates the position coordinate value of the ping-pong ball at each sampling time according to the signal strength and the position of the signal receiving device.
The table tennis match-play service identification system based on the motion trail comprises a module for acquiring pressure sensing data and judging whether a table tennis bat is used for hitting the table tennis, a module for reading continuous position data before the table tennis is hit by the table tennis bat, and a module for judging the table tennis match-play service according to the motion trail.
Acquiring pressure sensing data and judging whether the table tennis module is hit by the racket: the method comprises the following steps that a pressure sensor deployed on a racket face obtains pressure sensing data according to a preset sampling time interval T and then sends the pressure sensing data to a server; when one or only one pressure sensing data u satisfies u > X in the pressure sensing data of the same sampling moment acquired by the server, judging that the ball is patted to play the table tennis at the moment, and entering a continuous position data module for reading the position of the ball before the patting to play the table tennis; and otherwise, returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket. In this embodiment, the sampling time interval T is 10 milliseconds, 12 piezoelectric thin film sensors deployed on the racket face acquire voltage data according to the sampling time interval T, and then transmit the voltage data to the server, and 12 voltage data values at a certain sampling time acquired by the server are arranged into a matrix x ═ 1,0,0,1.2,0.8,1,0,0,7,2,1,1.5, and if there is only one voltage data 7mV >5mV in the matrix x, it is determined that the ball at the sampling time hits a table tennis ball, and the module enters a continuous position data module before the ball is hit.
Reading a continuous position data module before the ball is patted and the table tennis is played: reading the coordinate value of the ping-pong ball position at N consecutive sampling moments before the ping-pong ball is patted, wherein N is a positive integer and is marked as (x)i,yi,zi) I is more than or equal to 1 and less than or equal to N; entering a table tennis match service module which judges the table tennis match according to the motion trail. In this embodiment, N is 5, and the table tennis ball position coordinate values at 5 consecutive sampling times before the ball hitting time are (0.1,1.5,0.4), (0.05,1.51,0.5), (0.05,1.51,0.3), (0.05,1.51,0.2), and (0.05,1.51,0.1), respectively. Entering a table tennis match service module which judges the table tennis match according to the motion trail.
Judging a table tennis match service module according to the motion trail: and judging whether the motion trail of the table tennis accords with the service trail model before the table tennis is served to the game. Coordinate values (x) of N table tennis positionsi,yi,zi) N of xiArranged in a matrix of x, N yiArranged in a matrix y, N ziArranged in a matrix z when max (x) -min (x)<Y and max (Y) -min (Y)<Y and max (z) -min (z)>When the speed is H (according with a serving trajectory model), wherein max () is a function for solving the maximum value of the matrix, min () is a function for solving the minimum value of the matrix, and the condition that the table tennis is hit by the ball at the moment is the game serving is judged; otherwise, judging that the table tennis hit by the ball at the moment is not the game serving. And returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket. Book (I)In the examples, Y is 0.15 m, H is 0.16 m; according to the continuous 5 coordinate values before the time of hitting the table tennis, the x coordinate forms a matrix x (0.1,0.05,0.05,0.05,0.05), max (x) is 0.1 meter, and min (x) is 0.05 meter; the y coordinate constitutes a matrix y (1.5,1.51,1.51,1.51,1.51), max (y) 1.51 meters, min (y) 1.5 meters; the z coordinate constitutes a matrix z (0.4,0.5,0.3,0.2,0.1), max (z) 0.5 m, min (z) 0.1 m. max (x) -min (x) 0.05<Y0.15 m, max (Y) -min (Y) 0.01<Y0.15 m, max (z) -min (z) 0.5>And H is 0.16 m, judging that the table tennis hit at the sampling moment is a game serve. And returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket.
The table tennis game-to-game service identification method based on the motion trail comprises the following steps:
step 1, establishing a three-dimensional space coordinate system and setting parameters.
And establishing a three-dimensional space coordinate system of the table tennis motion system, wherein the original point is the center of the table tennis table, the x axis and the y axis form a horizontal plane, and the z axis is vertical to the table top and faces upwards. Pressure sensors are uniformly arranged on the racket surface, and the pressure sensing area covers the whole racket surface. Setting a sampling time interval T, wherein the value of the sampling time interval T is smaller than the average time interval (obtained according to historical data statistics) between two times of batting of the game; setting a positive integer N; setting a threshold value X for judging the table tennis bat; setting a minimum throwing height threshold value H for serving identification; a maximum throw deviation threshold Y for tee shot recognition is set. In this embodiment, the origin of the three-dimensional space coordinate system is the center of the table tennis table, the center of the table tennis table is the intersection point of the central axis of the table tennis net and the table tennis table, the x axis is parallel to the narrow side of the table tennis table, the y axis is parallel to the long side of the table tennis table, and the z axis is perpendicular to the table top and faces upward, as shown in fig. 4. The 12 piezoelectric film sensors are uniformly arranged on the racket surface, so that the pressure sensing area covers the whole racket surface. Setting a sampling time interval T to be 10 milliseconds; setting a positive integer N to 5; setting the voltage threshold value X of 5 millivolts (mV) for judging the ball-patting of the table tennis; setting a minimum throwing height threshold H for serving identification to be 0.16 m; the maximum throw deviation threshold value Y for tee shot recognition is set to 0.15 m.
And 2, calculating the position coordinate value of the table tennis.
The position coordinate value of the table tennis at each sampling moment is calculated by utilizing the existing table tennis positioning technology and device. In this embodiment, a ping-pong ball positioning method based on signal strength positioning is adopted to calculate the position coordinates of a ping-pong ball, three signal receiving devices are deployed on a ping-pong table, the signal sending device is carried on the ping-pong ball, each signal receiving device receives a wireless signal sent by the ping-pong ball, the signal strength is obtained and then sent to a server, and the server calculates the position coordinate value of the ping-pong ball at each sampling time according to the signal strength and the position of the signal receiving device.
And step 3, acquiring pressure sensing data and judging whether the table tennis ball is hit by the racket.
The pressure sensor deployed on the racket surface acquires pressure sensing data according to the sampling time interval T and then sends the pressure sensing data to the server; the server acquires pressure sensing data, and when one and only one pressure sensing data u meets u > X, the server judges that the table tennis is played by the ball at the moment, and the step 4 is carried out; otherwise, returning to the step 2. In this embodiment, 12 piezoelectric thin film sensors deployed on a racket face acquire voltage data according to a sampling time interval T, and then send the voltage data to a server, where 12 voltage data values at a certain sampling time acquired by the server are arranged into a matrix x ═ 1,0,0,1.2,0.8,1,0,0,7,2,1,1.5, and if there is only one voltage data 7mV >5mV in the matrix x, it is determined that the racket at the sampling time strikes a table tennis ball, and the process proceeds to step 4.
And 4, reading continuous position data before the table tennis is played by the racket.
Reading the coordinate value of the ping-pong ball position at N consecutive sampling moments before the ping-pong ball is patted, and recording as (x)i,yi,zi) And i is more than or equal to 1 and less than or equal to N. Proceed to step 5. In this embodiment, the table tennis ball position coordinate values at 5 consecutive sampling times before the time when the ball is struck are adjusted to be (0.1,1.5,0.4), (0.05,1.51,0.5), (0.05,1.51,0.3), (0.05,1.51,0.2), and (0.05,1.51,0.1), respectively. Proceed to step 5.
And 5, judging whether the table tennis is matched for serving according to the motion trail.
Judgment ofWhether the motion trail of the table tennis accords with the service trail model before the table tennis is served by the table tennis pair. Coordinate values (x) of N table tennis positionsi,yi,zi) N of xiArranged in a matrix of x, N yiArranged in a matrix y, N ziArranged in a matrix z when max (x) -min (x)<Y and max (Y) -min (Y)<Y and max (z) -min (z)>When the speed is H (according with a serving trajectory model), wherein max () is a function for solving the maximum value of the matrix, min () is a function for solving the minimum value of the matrix, and the condition that the table tennis is hit by the ball at the moment is the game serving is judged; otherwise, judging that the table tennis hit by the ball at the moment is not the game serving. And returning to the step 2. In the present embodiment, based on 5 consecutive coordinate values before the time when the ball is patted to play the table tennis, the x coordinate constitutes a matrix x ═ (0.1,0.05,0.05,0.05,0.05), max (x) 0.1 m, and min (x) 0.05 m; the y coordinate constitutes a matrix y (1.5,1.51,1.51,1.51,1.51), max (y) 1.51 meters, min (y) 1.5 meters; the z coordinate constitutes a matrix z (0.4,0.5,0.3,0.2,0.1), max (z) 0.5 m, min (z) 0.1 m. max (x) -min (x) 0.05<Y0.15 m, max (Y) -min (Y) 0.01<Y0.15 m, max (z) -min (z) 0.5>And H is 0.16 m, judging that the table tennis hit at the sampling moment is a game serve. And returning to the step 2.
Of course, those skilled in the art should realize that the above embodiments are only used for illustrating the present invention, and not as a limitation to the present invention, and that the changes and modifications of the above embodiments will fall within the protection scope of the present invention as long as they are within the scope of the present invention.
Claims (2)
1. A table tennis match service identification system based on a motion trail is characterized by comprising a module for acquiring pressure sensing data and judging whether a table tennis bat is used for hitting a table tennis ball or not, a module for reading continuous position data before the table tennis ball is hit by the table tennis bat, and a module for judging the table tennis match service according to the motion trail;
the module for acquiring pressure sensing data and judging whether the table tennis ball is hit by the racket is characterized in that: the method comprises the following steps that a pressure sensor deployed on a racket face obtains pressure sensing data according to a preset sampling time interval T and then sends the pressure sensing data to a server; when one or only one piece of pressure sensing data u satisfies u > X in the pressure sensing data of the same sampling moment acquired by the server, wherein X is a preset threshold for judging that the table tennis is played by the ball patting at the sampling moment, and entering a continuous position data module for reading the continuous position data before the table tennis is played by the ball patting; otherwise, returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket;
the module for reading the continuous position data before the table tennis is played by the bat is characterized in that: reading the coordinate value of the ping-pong ball position at N consecutive sampling moments before the moment when the ping-pong ball is struck by the ball bat, wherein N is a positive integer and is marked as (x)i,yi,zi) I is more than or equal to 1 and less than or equal to N; entering a table tennis match service module which judges the table tennis match according to the motion trail;
the table tennis match service module is characterized in that the table tennis match service module is judged according to the motion trail: coordinate values (x) of N table tennis positionsi,yi,zi) N of xiArranged in a matrix of x, N yiArranged in a matrix y, N ziArranged in a matrix z when max (x) -min (x)<Y and max (Y) -min (Y)<Y and max (z) -min (z)>H, wherein max () is a function for solving the maximum value of the matrix, min () is a function for solving the minimum value of the matrix, Y is a preset maximum throwing deviation threshold value for serve identification, H is a preset minimum throwing height threshold value for serve identification, and then the condition that the table tennis is played by the ball bat at the sampling moment is a game serve is judged; otherwise, judging that the table tennis hit at the sampling moment is not a game serving; and returning to obtain the pressure sensing data and judging whether the table tennis module is hit by the racket.
2. A table tennis match service identification method based on motion trail is characterized in that:
step 1, establishing a three-dimensional space coordinate system and setting parameters;
establishing a three-dimensional space coordinate system, wherein the origin is the center of the table tennis table, the x axis and the y axis form a horizontal plane, and the z axis is vertical to the table top and faces upwards; a pressure sensor is arranged on the racket surface, and the pressure sensing area covers the whole racket surface; setting a sampling time interval T; setting a positive integer N; setting a threshold value X for judging the table tennis bat; setting a minimum throwing height threshold value H for serving identification; setting a maximum throw deviation threshold value Y for service identification;
step 2, calculating the position coordinate value of the table tennis;
calculating the position coordinate value of the table tennis at each sampling moment by utilizing a table tennis positioning technology and a table tennis positioning device;
step 3, acquiring pressure sensing data and judging whether the table tennis ball is hit by the racket;
the pressure sensor deployed on the racket surface acquires pressure sensing data according to the sampling time interval T and then sends the pressure sensing data to the server; judging that the table tennis is patted at the sampling moment when one or only one pressure sensing data u satisfies u > X in the pressure sensing data u of the same sampling moment acquired by the server, and entering step 4; otherwise, returning to the step 2;
step 4, reading continuous position data before the table tennis is played by the racket;
reading the ping-pong position coordinate values of N consecutive sampling times before the ping-pong time of the ball bat, and recording as (x)i,yi,zi)，1≤i≤N；
Step 5, judging the table tennis match service according to the motion trail;
coordinate values (x) of N table tennis positionsi,yi,zi) N of xiArranged in a matrix of x, N yiArranged in a matrix y, N ziArranged in a matrix z when max (x) -min (x)<Y and max (Y) -min (Y)<Y and max (z) -min (z)>H, judging whether the table tennis is played by the ball at the sampling moment is a game serving if max () is a function for solving the maximum value of the matrix and min () is a function for solving the minimum value of the matrix; otherwise, judging that the table tennis hit at the sampling moment is not a game serving; and returning to the step 2.
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