CN110152263A - A method of determining that shuttlecock acts from posture curve - Google Patents
A method of determining that shuttlecock acts from posture curve Download PDFInfo
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- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0017—Training appliances or apparatus for special sports for badminton
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Abstract
The invention discloses a kind of methods for determining shuttlecock movement from posture curve, the following steps are included: step 1: combat-type shuttlecock robot pose module uploads real time data block to cloud server system；Step 2: posture feature processing module carries out shuttlecock behavior identification to posture curve；Step 3: posture curve shuttlecock behavior is written Cloud Server database posture feature table and counted to posture feature table by posture feature processing module.Although gesture module is fixed on combat-type shuttlecock robotic rival's arm end and moves with mechanical rival's arm；But gesture module possesses attitude transducer, 4G module, WIFI module, master controller, can connect with cloud server system and directly upload real time data block；It generates an iteration label movement total degree by posture feature processing module to add up to summarize to summarize with same day action frequency, the present invention can form closed loop technical measures to supervise domestic and international each combat-type shuttlecock robot impact of venue.
Description
Technical field
The present invention relates to intellect service robot field, especially a kind of side for determining that shuttlecock is acted from posture curve
Method.
Background technique
Venue application scenario intellect service robot can be for example combat-type shuttlecock of indirect body-defence ball game
Robot, combat-type ping-pong robot, combat-type tennis robot.
As shown in Figure 1, combat-type shuttlecock robot includes control host, omnidirectional mobile vehicle bottom, power module, single binocular
Vision, mechanical rival's arm, the small arm of loins, gesture module, end grip racket composition.Combat-type shuttlecock robotic is strong
Arm is equipment, is made of multi-joint, including the first joint, second joint, third joint and end joint；Each joint action
The mobile badminton racquet to drive end to grip in end joint will be all driven to wave in space.
Combat-type shuttlecock robot receives to world champion badminton player is defeated under battle conditions from can send out, then to undergo
Ten to two ten years publication thousands of times iteration versions.
As shown in Fig. 2, coach sportsman and the confrontation of combat-type shuttlecock robot are competed, combat-type shuttlecock robot
From the opponent serves or we serves a ball, both sides bat back and forth, until shuttlecock lands, determine a Fang get Yi according to shuttlecock rule
Point.Combat-type shuttlecock robotic rival arm must act incessantly during this bulb separation, these movements include
Service, low level toe lift, prosposition is pushed the ball, a high position is killed, a high position is lobbed, is chopped the chop before high-order long service, net.
Shared sharing research mode may be selected in the combat-type shuttlecock robot for needing iteration to upgrade: organization unit will be combat-type
Shuttlecock robot point to research institute's measuring unit, organization unit's publication iteration label regulation most high ball speed is joined in interior index
Number, research institute develop interior upload iteration version, measuring unit coach sportsman and combat-type shuttlecock after surveying after study
Assessment result is provided after robot confrontation match, organization unit summarizes each measuring unit assessment result and finally confirms that research institute changes
Whether has release right for version, this process is typical shared sharing model.
Shared research mode core link of sharing is that measuring unit uploads assessment result, and organization unit summarizes each measuring unit
Assessment result finally confirms release right, and organization unit knows that combat-type shuttlecock robot is fought during the games in measuring unit
Specific movement is very necessary.
Intelligent badminton racquet is clapping prepackage posture sensing element in seat, including USB charging interface, blue tooth interface.
Badminton amateurish competitor matches intelligent badminton racquet and practices and compete in court, midway or after in intelligence
Energy mobile phone shuttlecock technique and tactics APP consults technique and tactics index parameter self.Intelligent badminton racquet and smart phone feather playing skill
Tactics APP collectively constitutes system, realizes the main skill that badminton amateurish competitor knows a such as movement in two hours self
Art parameter.
Fashion intelligent's wearable motion bracelet, motion bracelet are connect by bluetooth communication with smart phone bracelet APP, and hand is moved
Ring low-power consumption is operated by lithium battery power supply；Motion bracelet and smart phone bracelet APP collectively constitute system, realize fashion intelligent
Know the heart rate of step exercises process, distance, the technical parameters such as running step number of taking a walk self.
Intelligent badminton racquet and smart phone shuttlecock technique and tactics APP, motion bracelet and smart phone bracelet APP composition
System there is certain reasonability in terms of pursuit movement process action details, but intelligent badminton racquet is set according to racket seat
Meter, motion bracelet are worn according to human wrist and are designed, the view result on smart phone APP, and measuring unit coach sportsman is
True people takes action on court, in order to protect coach sportsman's privacy, shares and shares research mode not to coach's fortune
Direct supervision is done in mobilization, and what organization unit needed to know is that combat-type shuttlecock robot is fought during the games in measuring unit
Specific movement can track mechanical rival's arm end joint movement and be equal to tracking badminton racquet shot, thus in machinery
Rival's arm end Installation posture module, by gesture module it is independent alone on catch and send real time data block to cloud server system.
Shared to share under development mode, which data gesture module uploads, and how cloud server system is from a bulb separation process
Concrete behavior movement is assert in posture curve, such as how the formation of database movement table acts statistical data, such as how iteration label
Associated movement statistical data is according to exact p-value unit, research institute's equity interests, is that combat-type shuttlecock robot is ground
Problem in the urgent need to address at present during system.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the present invention relates to a kind of upload in real time to assign the electronics measured on the spot
Scale is more specifically to be related to a kind of electronic scale realized with network communication, environmental monitoring, real-time control measure.
In order to achieve the above object, this invention takes following technical schemes:
A method of determining that shuttlecock acts from posture curve, the following steps are included:
Step 1: combat-type shuttlecock robot pose module uploads real time data block to cloud server system；
Step 2: posture feature processing module carries out shuttlecock movement from posture curve and assert；
Step 3: posture feature processing module carries out statistics to Cloud Server database posture feature table and summarizes；
Moreover, the step 1 also comprises the processing steps of:
(1) when combat-type shuttlecock robot pose module identification seizes up process, rest and reorganization behavior is executed；
(2) when combat-type shuttlecock robot pose module identification is in a bulb separation process, real time data is acquired；
After (3) one bulb separation processes, real time data block is uploaded to cloud server system:
Moreover, it includes beginning flag byte, iteration mark that combat-type shuttlecock robot pose module, which uploads real time data block,
Number, initial time, successively six number axis data, terminate time, termination flag byte, the beginning flag byte be 00, FF, 00,
FF, 00, FF；The termination flag byte is FF, FF, FF, FF, FF, FF；
Moreover, the step 2 also comprises the processing steps of:
(1) service behavior identification,
(2) low level toe lift behavior identification,
(3) prosposition is pushed the ball behavior identification,
(4) high position is killed behavior identification,
(5) high-order hanging ball behavior identification,
(6) high-order long service behavior identification,
(7) it chops the chop before net behavior identification.
Moreover, step (1) the service behavior confirmative rules are:
1. front is less than 0.5m/s2 for 30 above 3-axis accelerations in interval simultaneously；
2. successively two convex lines of apsides, first convex line of apsides rise line segment acceleration and are less than greater than 3m/s2 vertical Z axis acceleration
10m/s2；
3. vertical Z axis acceleration is according to next convex line of apsides, a recessed line of apsides, it is big that the convex line of apsides rises line segment acceleration maximum value
In 20m/s2；
2. 1. being 1. 3. deep high service for hair bead；
Step (2) the low level toe lift behavior confirmative rules are:
1. three lines of apsides of vertical Z axis acceleration, are followed successively by the recessed line of apsides, the convex line of apsides, the recessed line of apsides；
2. convex line of apsides ascent stage acceleration maximum value is greater than 20m/s2；
Step (3) prosposition behavior confirmative rules of pushing the ball are:
1. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides；It is maximum that the convex line of apsides rises line segment acceleration
Value is greater than 10m/s2；
2. vertical Z axis acceleration is less than 0.5m/s2, fluctuated in horizontal line；
Step (4) high position behavior confirmative rules of killing are:
1. three lines of apsides of vertical Z axis acceleration, are followed successively by the convex line of apsides, the recessed line of apsides, the convex line of apsides；
2. recessed line of apsides decline line segment acceleration absolute value maximum value is greater than 30m/s2；
The high-order hanging ball behavior confirmative rules of the step (5) are:
1. three lines of apsides of vertical Z axis acceleration are successively the convex line of apsides, the recessed line of apsides, the recessed line of apsides
2. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides, it is maximum that the convex line of apsides rises line segment acceleration
Value is less than 5m/s2；
The high-order long service behavior confirmative rules of the step (6) are:
1. two lines of apsides of vertical Z axis acceleration are successively the convex line of apsides, the recessed line of apsides；
2. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides, it is maximum that the convex line of apsides rises line segment acceleration
Value is greater than 10m/s2；
3. the convex line of apsides of X-axis is after the convex line of apsides time shaft of Z axis, the recessed line of apsides of Z axis is after the time shaft of the recessed line of apsides of X-axis；
Behavior confirmative rules of chopping the chop before step (7) net are:
1. two lines of apsides of vertical Z axis acceleration are successively the recessed line of apsides, the convex line of apsides
2. two lines of apsides of forward direction X-axis acceleration, are successively the convex line of apsides, the recessed line of apsides, the convex line of apsides of X-axis rises line segment acceleration most
Big value is greater than 5m/s2；
3. the convex line of apsides of X-axis is after the recessed line of apsides time shaft of Z axis.The convex line of apsides of Z axis is after the recessed line of apsides time shaft of X-axis；
Moreover, the step 3 also comprises the processing steps of:
(1) iteration label movement total degree is accumulative to summarize:
(2) iteration label same day action frequencies summarize.
The advantages and positive effects of the present invention are: to be installed only at combat-type shuttlecock robotic strong for gesture module
Arm end, gesture module are not directly connected to combat-type shuttlecock robot control host.Cloud server system passes through appearance
Morphotype block, which uploads real time data block and formed to count, summarizes data, and whether the assessment result that independent exact p-value unit alone uploads is true
It is real effective, it allows and assigns the foundation of iteration edition right release right in closed loop confirmation data link, it is ensured that shared sharing diagnostic cast
Formula disclose it is just, ensured combat-type shuttlecock robot iteration upgrading orderly carry out.
Detailed description of the invention
Fig. 1 is combat-type shuttlecock robot composition figure
Fig. 2 is that combat-type shuttlecock robot and coach fight match schematic diagram
Fig. 3 is combat-type shuttlecock robot cloud server system composition figure
Fig. 4 is three number axis of posture and direction of motion schematic diagram
In figure: the combat-type shuttlecock robot of 100- cloud server system, 200-, 300- gesture module 6- omnidirectional mobile vehicle
Bottom, 7- control host, the bis- monocular visions of 8-, 9- machinery rival arm, 10- racket, 11- gesture module, the small hand of 12- loins
The vertical Z axis of arm, 21-, the side 22- to before Y-axis, 23- to X-axis.
Specific embodiment
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, right as follows in conjunction with drawings and embodiments
The present invention is further described.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to
Limit the present invention.
In order to which the embodiment of the present invention is described more fully, it is dedicated for title concept of the present invention and is defined and explains.
One bulb separation process has referred to that both sides bat back and forth from the opponent serves or we serves a ball, until shuttlecock lands, according to
Shuttlecock rule determines the process that a side gets a point.There is marked halt between one bulb separation process and a bulb separation process, and a bulb separation
The i.e. combat-type shuttlecock robotic rival arm that must continuously bat in process must act incessantly.
Iteration label refers to that cloud server system issues iteration grade, and each iteration grade forms unique group by character and number
It closes, which is named as iteration label；Index parameter and equity delimited with the binding of iteration label together.
The line of apsides refers to that the figure that two lines section intersects to form, starting and terminal point are all located at horizontal number axis, and crosspoint is in horizontal number axis
On when the referred to as convex line of apsides, referred to as recessed line of apsides when crosspoint is under horizontal number axis.
Fig. 1-Fig. 4 is please referred to, a kind of method that posture curve determines behavior is in combat-type shuttlecock as shown in Figure 3
It is realized in robot cloud server system, which is made of three-tier architecture.
First layer is cloud server system, including database and posture feature processing module.
The second layer is combat-type shuttlecock robot, by omnidirectional mobile vehicle bottom, double monocular visions, mechanical rival's arm, loins
Small arm, end grip racket, control host composition.
Third layer is gesture module, including attitude transducer, 4G module, WIFI module, master controller, power interface, is pressed
Key indicator light.
Combat-type shuttlecock robot control host acquires shuttlecock target parallax data by binocular vision and forms feather
Ball real time kinematics geometric locus, combat-type shuttlecock robot control host is by omnidirectional mobile vehicle bottom Mecanum wheel in ball
Field is run movement of walking, and combat-type shuttlecock robot control host realizes impact by controlling mechanical each joint motions of rival's arm
Shuttlecock effect.Gesture module is fixed on combat-type shuttlecock robotic rival's arm end, and mechanical each joint of rival's arm is moved
Dynamic movement will all drive mechanical rival's arm end linkage, and therefore, gesture module synchronized tracking machinery rival's arm strikes shuttlecock
Overall process behavior.
It include posture feature table in cloud server system database, field includes iteration label, and service, is put down low level toe lift
Position is pushed the ball, a high position is killed, a high position is lobbed, is chopped the chop before high-order long service, net, and posture feature processing module is function in cloud server system
It can software.
Gesture module master controller is connect with cloud server system alone by 4G module and WIFI module.
A method of behavior is determined with posture curve, the following steps are included:
Step 1: combat-type robot pose sensor module uploads real time data block to cloud server system；
(1) when combat-type shuttlecock robot pose module identification seizes up process, rest and reorganization behavior is executed；
Master controller is to judge 3-axis acceleration first, if continuous 30 or more sampled points three between the sampling interval
Axle acceleration amplitude is less than 0.5m/s2 simultaneously, then master controller assert that combat-type shuttlecock robot seizes up the stage.
Gesture module executes rest and reorganization behavior and refers to not to any data of cloud server system upload.
(2) it is to acquire real time data when combat-type shuttlecock robot pose module identification is in a bulb separation process:
Gesture module acquires real time data
Step 1: the present clock that confirmation is accurate to ms is initial time；
Step 2: after every acquisition moment acquires three angular speed and 3-axis acceleration, storage to transmission buffered data area,
Sampling is formed by three angular speed every time and 3-axis acceleration is defined as one group of data；
And judge sampled point 3-axis acceleration amplitude whether and meanwhile be less than 0.5m/s2, if it is, giving a bulb separation process
End mark adds 1；
There is one beyond 0.5m/s2 if there is sampled point 3-axis acceleration amplitude, then removing a bulb separation process terminates to mark
Will allows a bulb separation process end mark to be zeroed；
Step 3: deleting when a bulb separation process end mark is more than or equal to 30 and sending the newest 30 groups of numbers in buffered data area
According to, will at this time clock subtract 3s postscript for terminate the time；
(3) message upload procedure is organized:
Real time data block include beginning flag byte, iteration label, initial time, successively six number axis data, terminate the time,
Termination flag byte, the beginning flag byte are 00, FF, 00, FF, 00, FF；The termination flag byte be FF, FF, FF,
FF、FF、FF。
Step 2: posture feature processing module carries out shuttlecock behavior identification to posture curve:
Posture feature processing module carries out the basic principle of shuttlecock behavior identification to posture curve:
Combat-type shuttlecock robotic rival arm will return after completing service stroke and be returned to ready position.
Ready position refers specifically to second joint and is in that angle between level angle, third joint and horizontal line is 45 degree clockwise, end presss from both sides
60 degree of angle clockwise are held between badminton racquet and horizontal line.
Be as shown in Figure 4 mainly to judge component with vertical Z axis acceleration, take into account it is preceding to X-axis component and lateral Y-axis component,
Judgement service, low level toe lift, prosposition is pushed the ball, a high position is killed, a high position is lobbed, is chopped the chop from preparation position before high-order long service, net by dynamic
Make process and arrives the 3-axis acceleration component characterization for returning to preparation position formation posture curve again.
(1) service behavior identification:
Service confirmative rules are:
1. front is less than 0.5m/s2 for 30 above 3-axis accelerations in interval simultaneously；
2. successively two convex lines of apsides, first convex line of apsides rise line segment acceleration and are less than greater than 3m/s2 vertical Z axis acceleration
10m/s2；
3. vertical Z axis acceleration is according to next convex line of apsides, a recessed line of apsides, it is big that the convex line of apsides rises line segment acceleration maximum value
In 20m/s2；
2. 1. being 1. 3. deep high service for hair bead.
Principle is assert in service are as follows:
From preparation position, to serving position, this process is slow uniform motion, therefore 3-axis acceleration is approximately equal to 0；Send out small
Ball need to swing the bat upwards, later, continue to draw bat being upwardly into prepared position；Then strength is swung the bat upwards for deep high service, bat at the end of movement
Prepared position is surmounted, later, has drawn bat and just arrive preparation position downwards.
(2) low level toe lift behavior identification:
Low level toe lift confirmative rules are:
1. three lines of apsides of vertical Z axis acceleration, are followed successively by the recessed line of apsides, the convex line of apsides, the recessed line of apsides；
2. the convex line of apsides, which rises line segment acceleration maximum value, is greater than 20m/s2；
Principle is assert in low level toe lift are as follows:
Receiving from preparation position to low level is to move downward, and low level toe lift is fast upward motion, and toe lift is clapped at the end of acting
Son has surmounted prepared position, later, draws bat and just arrives preparation position downwards.
(3) prosposition is pushed the ball behavior identification:
Prosposition confirmative rules of pushing the ball are:
1. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides；It is maximum that the convex line of apsides rises line segment acceleration
Value is greater than 10m/s2；
2. vertical Z axis acceleration is less than 0.5m/s2, fluctuated in horizontal line；
Prosposition, which is pushed the ball, assert principle are as follows:
Prosposition, which is pushed the ball, directly carries out shot from preparation position, pushes forward, after success, back to preparation position.
(4) high position is killed behavior identification:
High position confirmative rules of killing are:
1. three lines of apsides of vertical Z axis acceleration, are followed successively by the convex line of apsides, the recessed line of apsides, the convex line of apsides；
2. recessed line of apsides decline line segment acceleration absolute value maximum value is greater than 30m/s2；
A high position, which is killed, assert principle are as follows:
Draw bat from preparation position and to second joint erect third joint and erect the 4th articulated splint and hold bat sub- setting, strength is downwards
Movement after success, draws bat to preparation position upwards.
(5) high-order hanging ball behavior identification:
High position hanging ball confirmative rules are:
3. three lines of apsides of vertical Z axis acceleration, dividing is the convex line of apsides, the recessed line of apsides, the recessed line of apsides
4. two lines of apsides of forward direction X-axis acceleration, the before this convex line of apsides, the recessed line of apsides；It is maximum that the convex line of apsides of X-axis rises line segment acceleration
Value is less than 5m/s2；Principle is assert in high position hanging ball are as follows:
Draw bat from preparation position and to second joint erect third joint and erect the 4th articulated splint and hold bat sub- setting, forward downwards
Slowly move,
After success, bat is first retracted, draws fearness downwards again to preparation position.
(6) high-order long service behavior identification:
High-order long service confirmative rules are:
1. two lines of apsides of vertical Z axis acceleration are successively the convex line of apsides, the recessed line of apsides；
2. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides, it is maximum that the convex line of apsides rises line segment acceleration
Value is greater than 10m/s2；
3. the convex line of apsides of X-axis is after the convex line of apsides time shaft of Z axis, the recessed line of apsides of Z axis is after the time shaft of the recessed line of apsides of X-axis；
High-order long service assert principle are as follows:
Draw bat from preparation position and to second joint erect third joint and erect the 4th articulated splint and hold bat sub- setting, strength is forward
Movement first retracts bat after success, draws bat still further below to preparation position.
(7) it chops the chop before net behavior identification:
Confirmative rules of chopping the chop before net are:
1. two lines of apsides of vertical Z axis acceleration are successively the recessed line of apsides, the convex line of apsides
2. two lines of apsides of forward direction X-axis acceleration, are successively the convex line of apsides, the recessed line of apsides, the convex line of apsides of X-axis rises line segment acceleration most
Big value is greater than 5m/s2；
3. the convex line of apsides of X-axis is after the recessed line of apsides time shaft of Z axis.The convex line of apsides of Z axis is after the recessed line of apsides time shaft of X-axis.
It chops the chop before net and assert principle are as follows:
Draw bat downwards by third joint to horizontal position from preparation position, then quick rubbing forward retracts bat after success
Son, then draw bat upwards to preparation position.
Step 3: it includes following processing step that posture feature processing module, which carries out statistics to posture curvilinear characteristic table,
Cloud Server database posture curvilinear characteristic table includes iteration label field, a bulb separation process sequence number field, movement
Field, state pause judgments Time of Day field form record using a bulb separation process sequence number field as major key.Combat-type feather ball machine
After device people's gesture module uploads real time data block to cloud server system, by posture feature processing module according to step 2 step shape
It acts and assert at posture curve shuttlecock, by identification result write-in posture feature processing module to posture curvilinear characteristic table.
Wherein a bulb separation crosses program number and plays 65536 from 0 as one cycle, after circulation, automatically generates Cloud Server
Database posture another list of curvilinear characteristic table.
(1) iteration label movement total degree is accumulative to summarize:
Posture curvilinear characteristic table is gone through entirely marked as key assignments with iteration and forms iteration label movement total time, is served a ball total time
Number, low level toe lift total degree, prosposition kill total degree, high-order hanging ball total degree, high-order long service of total degree, a high position of pushing the ball are always secondary
Number, total degree query result of chopping the chop before netting.
Iteration label A08 acts 12 points of 5 hours total times, and service number is 280, low level toe lift number is 1200, prosposition
Number of blocking is 250, a high position is killed number is 120, high-order hanging ball number is 50, high-order long service number is 600.
(3) iteration label same day action frequencies summarize:
Using iteration marked as and the date as double bond value go through posture curvilinear characteristic table entirely to form the movement of the iteration label same day total
Time, total degree of serving a ball, low level toe lift total degree, prosposition push the ball total degree, a high position kill total degree, high-order hanging ball total degree,
It chops the chop before high-order long service total degree, net total degree query result.When action frequency it is all zero when, date key assignments is invalid；Only protect
Stay same day action frequency non-zero query result.
If iteration label A08 was on March 19th, 2018, number of serving a ball is 180, low level toe lift number is 400, prosposition is blocked
Number is 50, a high position is killed number is 20, high-order hanging ball number is 30, high-order long service number is 120.
Cloud server system database can be acted total time, be moved daily with iteration label list of results, predominantly iteration label
Summarize as number, whole action frequencies summarize.When posture curve determines that shuttlecock movement is for the combat-type feather ball machine of tracking
Device people fights heat, when being whether inspection measuring unit upload assessment result is authentic and valid, Cloud Server database list
In can also add measuring unit code field.
A kind of method for determining that shuttlecock acts from posture curve of the present invention serves combat-type shuttlecock robot iteration
Upgrading is shared to share research mode, and the real time data block sort uploaded to gesture module goes out each behavior, tests and ties in iteration label
Posture feature table is counted after beam and summarizes data, and thus the assessment result of independent exact p-value unit upload is authentic and valid, altogether
It enjoys sharing research mode and discloses just guarantee combat-type shuttlecock robot iteration upgrading orderly development aspect, the present invention has important
Effect.
Although preferred implementation of the invention is described above in conjunction with attached drawing, the invention is not limited to above-mentioned
Specific embodiment, above-mentioned specific embodiment be only illustrate, be not restrictive, the ordinary skill of this field
Personnel are under inspiration of the invention, without breaking away from the scope protected by the purposes and claims of the present invention, can also do
Many forms out, these all fall within the protection scope of the present invention.
Claims (6)
1. a kind of method for determining that shuttlecock is acted from posture curve, which comprises the following steps:
Step 1: combat-type shuttlecock robot pose module uploads real time data block to cloud server system；
Step 2: posture feature processing module carries out shuttlecock movement from posture curve and assert；
Step 3: posture feature processing module carries out statistics to Cloud Server database posture feature table and summarizes.
2. the method for determining shuttlecock movement from posture curve according to claim 1, it is characterised in that: step 1 packet
Include following processing step:
(1) when combat-type shuttlecock robot pose module identification seizes up process, rest and reorganization behavior is executed；
(2) when combat-type shuttlecock robot pose module identification is in a bulb separation process, real time data is acquired；
After (3) one bulb separation processes, real time data block is uploaded to cloud server system.
3. the method according to claim 1 or claim 2 for determining that shuttlecock is acted from posture curve, it is characterised in that: combat-type plumage
It includes beginning flag byte, iteration label, initial time, successively six number axis that ball top robot pose module, which uploads real time data block,
Data terminate time, termination flag byte, and the beginning flag byte is 00, FF, 00, FF, 00, FF；The termination flag word
Section is FF, FF, FF, FF, FF, FF.
4. determining the methods that shuttlecock acts from posture curve according to claim 1 or described in 3, it is characterised in that: the step 2
Including following processing step:
(1) service behavior identification,
(2) low level toe lift behavior identification,
(3) prosposition is pushed the ball behavior identification,
(4) high position is killed behavior identification,
(5) high-order hanging ball behavior identification,
(6) high-order long service behavior identification,
(7) it chops the chop before net behavior identification.
5. the method for determining shuttlecock movement from posture curve according to claim 4, it is characterised in that:
Step (1) the service behavior confirmative rules are:
1. front is less than 0.5m/s2 for 30 above 3-axis accelerations in interval simultaneously；
2. successively two convex lines of apsides, first convex line of apsides rise line segment acceleration and are greater than 3m/s2 less than 10m/ vertical Z axis acceleration
s2；
3. vertical Z axis acceleration, according to next convex line of apsides, a recessed line of apsides, the convex line of apsides rises line segment acceleration maximum value and is greater than
20m/s2；
2. 1. being 1. 3. deep high service for hair bead；
Step (2) the low level toe lift behavior confirmative rules are:
1. three lines of apsides of vertical Z axis acceleration, are followed successively by the recessed line of apsides, the convex line of apsides, the recessed line of apsides；
2. convex line of apsides ascent stage acceleration maximum value is greater than 20m/s2；
Step (3) prosposition behavior confirmative rules of pushing the ball are:
1. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides；It is big that the convex line of apsides rises line segment acceleration maximum value
In 10m/s2；
2. vertical Z axis acceleration is less than 0.5m/s2, fluctuated in horizontal line；
Step (4) high position behavior confirmative rules of killing are:
1. three lines of apsides of vertical Z axis acceleration, are followed successively by the convex line of apsides, the recessed line of apsides, the convex line of apsides；
2. recessed line of apsides decline line segment acceleration absolute value maximum value is greater than 30m/s2；
The high-order hanging ball behavior confirmative rules of the step (5) are:
1. three lines of apsides of vertical Z axis acceleration are successively the convex line of apsides, the recessed line of apsides, the recessed line of apsides
2. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides, it is small that the convex line of apsides rises line segment acceleration maximum value
In 5m/s2；
The high-order long service behavior confirmative rules of the step (6) are:
1. two lines of apsides of vertical Z axis acceleration are successively the convex line of apsides, the recessed line of apsides；
2. two lines of apsides of forward direction X-axis acceleration are successively the convex line of apsides, the recessed line of apsides, it is big that the convex line of apsides rises line segment acceleration maximum value
In 10m/s2；
3. the convex line of apsides of X-axis is after the convex line of apsides time shaft of Z axis, the recessed line of apsides of Z axis is after the time shaft of the recessed line of apsides of X-axis；
Behavior confirmative rules of chopping the chop before step (7) net are:
1. two lines of apsides of vertical Z axis acceleration are successively the recessed line of apsides, the convex line of apsides
2. two lines of apsides of forward direction X-axis acceleration, are successively the convex line of apsides, the recessed line of apsides, the convex line of apsides of X-axis rises line segment acceleration maximum value
Greater than 5m/s2；
3. the convex line of apsides of X-axis is after the recessed line of apsides time shaft of Z axis.The convex line of apsides of Z axis is after the recessed line of apsides time shaft of X-axis.
6. the method that posture curve determines behavior according to claim 1, it is characterised in that: the posture feature processing module
Carrying out statistics to posture curvilinear characteristic table includes following processing step:
(1) iteration label movement total degree is accumulative to summarize:
(2) iteration label same day action frequencies summarize.
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| CN201810344326.4A CN110152263A (en) | 2018-04-17 | 2018-04-17 | A method of determining that shuttlecock acts from posture curve |
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| CN201810344326.4A CN110152263A (en) | 2018-04-17 | 2018-04-17 | A method of determining that shuttlecock acts from posture curve |
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