技术领域Technical Field
本发明涉及竞技道具控制技术领域，尤其涉及一种击打识别方法、装置、设备、存储介质和比赛设备。The present invention relates to the field of competitive prop control technology, and in particular to a hitting recognition method, device, equipment, storage medium and competition equipment.
背景技术Background technique
在机器人竞技比赛或者游戏场景中常常布置一些比赛设备，这些道具可以根据需要设置成不同的角色，例如前哨站、防御塔、基地等。在机器人竞技比赛或者游戏中，机器人可以通过击打比赛设备的某些指定部位来达到比赛或者游戏设定的一些效果，例如使己方得分、使对方失分、使对方血量减少、获得某种游戏奖励等。这类比赛设备往往设置有检测装置来检测这些指定部位是否受到击打。但是在比赛或者游戏过程中，除了指定的有效击打部位外，比赛设备的其部位也可能受到撞击或者击打，从而对检测装置造成干扰，这时检测装置就无法准确识别出比赛设备的指定部位是否受到击打。In robot competitions or game scenes, some competition equipment is often arranged. These props can be set into different roles as needed, such as outposts, defense towers, bases, etc. In robot competitions or games, robots can achieve some effects set in the competition or game by hitting certain designated parts of the competition equipment, such as making the robot score points, making the opponent lose points, reducing the opponent's health, obtaining certain game rewards, etc. This type of competition equipment is often equipped with a detection device to detect whether these designated parts are hit. However, during the competition or game, in addition to the designated effective hitting parts, other parts of the competition equipment may also be hit or struck, thereby interfering with the detection device. At this time, the detection device cannot accurately identify whether the designated parts of the competition equipment are hit.
发明内容Summary of the invention
有鉴于此，本发明实施例提供了一种击打识别方法、装置、设备、存储介质和比赛设备，用以解决现有技术无法准确识别出指定部分是否受到击打的技术问题。In view of this, the embodiments of the present invention provide a hitting recognition method, device, equipment, storage medium and competition equipment to solve the technical problem that the prior art cannot accurately identify whether a specified part is hit.
本发明采用的技术方案是：The technical solution adopted by the present invention is:
第一方面，本发明提供了一种击打识别方法，应用于比赛设备，所述比赛设备包括相互之间柔性地连接的受击打件和支撑件，所述方法包括以下步骤：In a first aspect, the present invention provides a method for identifying a strike, which is applied to a competition device, wherein the competition device comprises a striked piece and a supporting piece flexibly connected to each other, and the method comprises the following steps:
获取第一运动参数，所述第一运动参数为受击打件的运动参数；Acquiring a first motion parameter, where the first motion parameter is a motion parameter of the struck member;
获取第二运动参数，所述第二运动参数为支撑件的运动参数；Acquire a second motion parameter, where the second motion parameter is a motion parameter of the support member;
分析第一运动参数和第二运动参数；analyzing the first motion parameter and the second motion parameter;
根据分析结果确定击打识别结果。The strike recognition result is determined based on the analysis result.
优选地，所述第一运动参数为第一瞬时加速度，所述第一瞬时加速度为包括击打件的瞬时加速度，所述第二运动参数包括第二瞬时加速度，所述第二瞬时加速度为支撑件的瞬时加速度，所述第一瞬时加速度和第二瞬时加速度为在同一时刻产生的瞬时加速度；Preferably, the first motion parameter is a first instantaneous acceleration, the first instantaneous acceleration includes the instantaneous acceleration of the striking member, the second motion parameter includes a second instantaneous acceleration, the second instantaneous acceleration is the instantaneous acceleration of the supporting member, and the first instantaneous acceleration and the second instantaneous acceleration are instantaneous accelerations generated at the same time;
所述分析第一运动参数和第二运动参数包括：比较所述第一瞬时加速度和第二瞬时加速度的大小；The analyzing the first motion parameter and the second motion parameter comprises: comparing the magnitudes of the first instantaneous acceleration and the second instantaneous acceleration;
所述根据分析结果确定击打识别结果还包括以下步骤：Determining the hit recognition result according to the analysis result also includes the following steps:
如果第一瞬时加速度大于第二瞬时加速度，则击打识别结果为击打有效；If the first instantaneous acceleration is greater than the second instantaneous acceleration, the hit recognition result is that the hit is valid;
如果第一瞬时加速度小于等于第二瞬时加速度，则击打识别结果为击打无效；If the first instantaneous acceleration is less than or equal to the second instantaneous acceleration, the hit recognition result is that the hit is invalid;
优选地，所述获取第一运动参数，所述第一运动参数为受击打件的运动参数还包括以下步骤：Preferably, the step of obtaining the first motion parameter, which is the motion parameter of the struck member, further comprises the following steps:
获取第一阈值；Obtaining a first threshold value;
监测受击打件的加速度是否大于第一阈值；monitoring whether the acceleration of the struck member is greater than a first threshold;
当监测到受击打件的加速度大于第一阈值时将该时刻记为第一时刻，并获取受击打件在第一时刻的瞬时加速度作为第一瞬时加速度；When it is monitored that the acceleration of the struck member is greater than a first threshold, the moment is recorded as a first moment, and the instantaneous acceleration of the struck member at the first moment is obtained as a first instantaneous acceleration;
所述获取第二运动参数，所述第二运动参数为支撑件的运动参数包括以下步骤：The obtaining of the second motion parameter, where the second motion parameter is a motion parameter of the support member, comprises the following steps:
获取第一时刻；Get the first moment;
根据第一时刻获取支撑件在第一时刻的瞬时加速度作为第二瞬时加速度；Acquire the instantaneous acceleration of the support member at the first moment as the second instantaneous acceleration according to the first moment;
优选地，所述获取第一运动参数，所述运动参数为受击打件的运动参数，包括以下步骤：Preferably, the step of obtaining the first motion parameter, which is a motion parameter of the struck member, comprises the following steps:
获取第一时间范围；Get the first time range;
根据第一时间范围获取受击打件在第一时间范围内的一系列加速度值作为第一运动参数；According to the first time range, a series of acceleration values of the struck member within the first time range are obtained as first motion parameters;
所述获取第二运动参数，所述第二运动参数为支撑件的运动参数，包括：根据第一时间范围获取支撑件在第一时间范围内的一系列加速度值作为第二运动参数；The obtaining of the second motion parameter, where the second motion parameter is a motion parameter of the support, comprises: obtaining a series of acceleration values of the support within the first time range as the second motion parameter according to the first time range;
所述分析第一运动参数和第二运动参数还包括：The analyzing the first motion parameter and the second motion parameter further comprises:
根据所述第一运动参数获取受击打件在第一时间范围内的加速度峰值得到第一加速度峰值；Acquire the acceleration peak value of the struck member within the first time range according to the first motion parameter to obtain a first acceleration peak value;
根据所述第二运动参数获取支撑件在第一时间范围内的加速度峰值得到第二加速度峰值；Acquire the acceleration peak value of the support member within the first time range according to the second motion parameter to obtain a second acceleration peak value;
比较第一加速度峰值和第二加速度峰值的大小；comparing the magnitudes of the first acceleration peak value and the second acceleration peak value;
所述根据分析结果确定击打识别结果还包括以下步骤：Determining the hit recognition result according to the analysis result also includes the following steps:
如果第一加速度峰值大于第二加速度峰值，则击打识别结果为击打有效；If the first acceleration peak value is greater than the second acceleration peak value, the hit recognition result is that the hit is valid;
如果第一加速度峰值小于等于第二加速度峰值，则击打识别结果为击打无效。If the first acceleration peak value is less than or equal to the second acceleration peak value, the hit recognition result is that the hit is invalid.
优选地，所述获取第一运动参数，所述运动参数为受击打件的运动参数，包括以下步骤：Preferably, the step of obtaining the first motion parameter, which is a motion parameter of the struck member, comprises the following steps:
获取第二时间范围；Get the second time range;
根据第二时间范围获取受击打件在第二时间范围内的一系列加速度值作为第一运动参数；According to the second time range, a series of acceleration values of the struck member within the second time range are obtained as the first motion parameter;
所述获取第二运动参数，所述第二运动参数为支撑件的运动参数，包括：根据第二时间范围获取支撑件在第二时间范围内的一系列加速度值作为第二运动参数；The obtaining of the second motion parameter, which is a motion parameter of the support, comprises: obtaining a series of acceleration values of the support within the second time range as the second motion parameter according to the second time range;
所述分析第一运动参数和第二运动参数还包括：The analyzing the first motion parameter and the second motion parameter further comprises:
根据所述第一运动参数获取受击打件在第二时间范围内的加速度绝对值的平均值得到第一平均值；Obtaining an average value of the absolute value of the acceleration of the struck member within a second time range according to the first motion parameter to obtain a first average value;
根据所述第二运动参数获取支撑件在第二时间范围内的加速度绝对值的平均值得到第二平均值；Obtaining an average value of the absolute value of the acceleration of the support member within a second time range according to the second motion parameter to obtain a second average value;
比较第一平均值和第二平均值的大小；Compare the first average value and the second average value;
所述根据分析结果确定击打识别结果还包括以下步骤：Determining the hit recognition result according to the analysis result also includes the following steps:
如果第一平均值大于第二平均值，则击打识别结果为击打有效；If the first average value is greater than the second average value, the hit recognition result is that the hit is valid;
如果第一平均值小于等于第二平均值，则击打识别结果为击打无效。If the first average value is less than or equal to the second average value, the strike recognition result is that the strike is invalid.
优选地，所述获取第一运动参数，所述运动参数为受击打件的运动参数，包括以下步骤：Preferably, the step of obtaining the first motion parameter, which is a motion parameter of the struck member, comprises the following steps:
获取第一时间参数；Get the first time parameters;
根据第一时间参数获取与第一时间参数对应的第一振动幅度，所述第一振动幅度为受击打件的振动幅度；Acquiring a first vibration amplitude corresponding to the first time parameter according to the first time parameter, wherein the first vibration amplitude is the vibration amplitude of the struck member;
所述获取第二运动参数，所述第二运动参数为支撑件的运动参数，包括：根据第一时间参数获取与第一时间参数对应的第二振动幅度，所述第二振动幅度为支撑件的振动幅度。The acquiring of the second motion parameter, where the second motion parameter is a motion parameter of the support, includes: acquiring, according to the first time parameter, a second vibration amplitude corresponding to the first time parameter, where the second vibration amplitude is a vibration amplitude of the support.
所述分析第一运动参数和第二运动参数包括：比较第一振动幅度和第二振动幅度的大小；The analyzing the first motion parameter and the second motion parameter comprises: comparing the magnitudes of the first vibration amplitude and the second vibration amplitude;
所述根据分析结果确定击打识别结果还包括以下步骤：Determining the hit recognition result according to the analysis result also includes the following steps:
如果第一振动幅度大于第二振动幅度，则击打识别结果为击打有效；If the first vibration amplitude is greater than the second vibration amplitude, the hit recognition result is that the hit is valid;
如果第一振动幅度小于等于第二振动幅度，则击打识别结果为击打无效。If the first vibration amplitude is less than or equal to the second vibration amplitude, the striking recognition result is that the striking is invalid.
有益效果：本发明的击打识别方法、装置、设备、存储介质和比赛设备充分利用了柔性连接对支撑件和受击打件之间的减震作用，先分别获取受击打件的运动参数和支撑件的运动参数，然后对受击打件的运动参数和支撑件的运动参数进行分析。由于柔性连接的减震作用，当受击打件受到击打的情况下受击打件的运动参数和支撑件的运动参数会产生差异。而当支撑件受到击打时的情况下受击打件的运动参数和支撑件的运动参数会产生也会产生差异。并且两种情况下的运动参数的差异也会有所不同。因此本发明通过对受击打件的运动参数和支撑件的运动参数的分析可以准确识别出受击打件是否受到击打。Beneficial effects: The strike identification method, device, equipment, storage medium and competition equipment of the present invention fully utilize the shock-absorbing effect of the flexible connection between the support member and the struck member, first respectively obtain the motion parameters of the struck member and the support member, and then analyze the motion parameters of the struck member and the support member. Due to the shock-absorbing effect of the flexible connection, when the struck member is struck, there will be a difference between the motion parameters of the struck member and the support member. And when the support member is struck, there will also be a difference between the motion parameters of the struck member and the support member. And the difference in motion parameters in the two cases will also be different. Therefore, the present invention can accurately identify whether the struck member is struck by analyzing the motion parameters of the struck member and the support member.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，这些均在本发明的保护范围内。In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment of the present invention will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.
图1为本发明实施例1中的击打识别方法的流程图；FIG1 is a flow chart of a method for identifying a blow in Embodiment 1 of the present invention;
图2为本发明实施例2中的击打识别方法的流程图；FIG2 is a flow chart of a strike recognition method in Embodiment 2 of the present invention;
图3为本发明的击打识别装置的结构框图；FIG3 is a block diagram of a strike recognition device according to the present invention;
图4为本发明的击打识别设备的结构框图；FIG4 is a block diagram of a hit recognition device according to the present invention;
图5为本发明的比赛设备的组装结构示意图；FIG5 is a schematic diagram of the assembly structure of the competition equipment of the present invention;
图6为本发明的比赛设备的结构分解示意图；FIG6 is a schematic diagram of the structure of the game equipment of the present invention;
图7为本发明的比赛设备的剖视图；FIG7 is a cross-sectional view of a competition device of the present invention;
图8为本发明的弹簧的主视图；FIG8 is a front view of a spring of the present invention;
图9为本发明的弹簧的三维结构示意图；FIG9 is a schematic diagram of a three-dimensional structure of a spring of the present invention;
图10为本发明的弹簧与第一连接件连接的示意图；FIG10 is a schematic diagram of the connection between the spring and the first connecting member of the present invention;
图11为本发明弹簧与第二连接件连接的示意图；FIG11 is a schematic diagram of the connection between the spring and the second connecting member of the present invention;
图12为本发明的固定件的三维结构图；FIG12 is a three-dimensional structural diagram of a fixing member of the present invention;
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。在本发明的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。如果不冲突，本发明实施例以及实施例中的各个特征可以相互结合，均在本发明的保护范围之内。In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of further restrictions, the elements defined by the phrase "comprising..." do not exclude the existence of other identical elements in the process, method, article or device comprising the elements. If there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.
实施例1Example 1
如图1所示，本发明实施例1公开了一种击打识别方法，该击打识别方法应用于比赛设备，所述比赛设备包括相互之间柔性地连接的受击打件和支撑件。其中柔性连接是指两个物体或者两个部件相互之间既存在连接，又可以产生相对位移或者产生不同步的运动。例如采用弹簧、硅胶件、橡胶件或者其它可以变形的连接件或者连接机构将两个物体或者部件之间连接起来，这时由于这些连接件和连接机构在受外力作用使可以变形，因此被连接的两个部件或者物体可以产生相对位移或者产生不同步的运动。受击打件和支撑件采用柔性连接后，当受击打件或者支撑件可以产生不同步的运动，本实施例的击打识别方法用于识别受击打件是否受到击打作用，该方法包括以下步骤：As shown in FIG1 , Embodiment 1 of the present invention discloses a strike recognition method, which is applied to competition equipment, wherein the competition equipment includes a struck piece and a supporting piece that are flexibly connected to each other. The flexible connection refers to that two objects or two parts are connected to each other and can produce relative displacement or asynchronous motion. For example, two objects or parts are connected by springs, silicone parts, rubber parts or other deformable connecting parts or connecting mechanisms. At this time, since these connecting parts and connecting mechanisms can be deformed under the action of external forces, the two connected parts or objects can produce relative displacement or asynchronous motion. After the struck piece and the supporting piece are flexibly connected, when the struck piece or the supporting piece can produce asynchronous motion, the strike recognition method of this embodiment is used to identify whether the struck piece is hit, and the method includes the following steps:
S1：获取第一运动参数，所述第一运动参数为受击打件的运动参数；S1: Acquire a first motion parameter, where the first motion parameter is a motion parameter of the struck member;
其中第一运动参数包括但不限于受击打件的瞬时加速度，预设时间范围内的一系列的加速度值、预设时间范围内的加速度峰值、预设时间范围内加速度绝对值的平均值，振动幅度。The first motion parameter includes but is not limited to the instantaneous acceleration of the struck part, a series of acceleration values within a preset time range, the peak value of acceleration within the preset time range, the average value of the absolute value of acceleration within the preset time range, and the vibration amplitude.
S2：获取第二运动参数，所述第二运动参数为支撑件的运动参数；S2: Acquire a second motion parameter, where the second motion parameter is a motion parameter of the support member;
其中第二运动参数包括但不限于支撑件的瞬时加速度，预设时间范围内的一系列的加速度值、预设时间范围内的减速度峰值、预设时间范围内加速度绝对值的平均值，振动幅度。The second motion parameter includes but is not limited to the instantaneous acceleration of the support, a series of acceleration values within a preset time range, a deceleration peak within a preset time range, an average value of the absolute value of acceleration within a preset time range, and a vibration amplitude.
S3：分析第一运动参数和第二运动参数；S3: analyzing the first motion parameter and the second motion parameter;
由于受击打件和支撑件采用了柔性连接，因此当受击打件受到击打的情况下受击打件的运动参数和支撑件的运动参数会产生差异。而当支撑件受到击打时的情况下受击打件的运动参数和支撑件的运动参数会产生也会产生差异。并且两种情况下的运动参数的差异也会有所不同。本实施例中对第一运动参数和第二运动参数的分析包括但不限于大小比较、求解均值、统计峰值、插值处理、曲线拟合。Since the struck member and the supporting member are flexibly connected, when the struck member is struck, the motion parameters of the struck member and the motion parameters of the supporting member will be different. When the supporting member is struck, the motion parameters of the struck member and the motion parameters of the supporting member will also be different. And the difference in motion parameters in the two cases will also be different. The analysis of the first motion parameter and the second motion parameter in this embodiment includes but is not limited to size comparison, solving the mean, statistical peak, interpolation processing, and curve fitting.
S4：根据分析结果确定击打识别结果。S4: Determine the impact recognition result according to the analysis result.
本步骤根据前一步对受击打件和支撑件运动参数的分析结果来确定击打识别的结果，其中击打识别结果至少包括击打有效和击打无效两种结果。当结果为击打有效时表明受击打件被单独击中，当结果为击打有效时标受击打结果为受击打件没有单独被击中。在机器人竞技比赛或者游戏场景前述可以根据前述识别结果来判断比赛各方或者参加游戏的各方是否达到了某些设定的比赛效果或者游戏效果以增加比赛或者游戏的趣味性。这些比赛效果或者游戏效果包括当不限于使己方得分、使对方失分、使对方血量减少、获得某种游戏奖励等。This step determines the result of the hit recognition based on the analysis results of the motion parameters of the hit piece and the support piece in the previous step, wherein the hit recognition results include at least two results: a valid hit and an invalid hit. When the result is a valid hit, it indicates that the hit piece is hit alone, and when the result is a valid hit, it indicates that the hit piece is not hit alone. In a robot competition or game scenario, the aforementioned recognition results can be used to determine whether the parties to the competition or the parties participating in the game have achieved certain set competition effects or game effects to increase the fun of the competition or game. These competition effects or game effects include but are not limited to making one's own side score, making the opponent lose points, reducing the opponent's health, obtaining certain game rewards, etc.
实施例2Example 2
在本实施例中，所述第一运动参数为第一瞬时加速度，所述第一瞬时加速度为受击打件的瞬时加速度，所述第二运动参数为第二瞬时加速度，所述第二瞬时加速度为支撑件的瞬时加速度，所述第一瞬时加速度和第二瞬时加速度为在同一时刻产生的瞬时加速度。前述瞬时加速度是指物体在某一时刻的加速度的值。In this embodiment, the first motion parameter is the first instantaneous acceleration, which is the instantaneous acceleration of the struck member, the second motion parameter is the second instantaneous acceleration, which is the instantaneous acceleration of the supporting member, and the first instantaneous acceleration and the second instantaneous acceleration are instantaneous accelerations generated at the same time. The aforementioned instantaneous acceleration refers to the value of the acceleration of an object at a certain moment.
由于前一步骤中所获取的运动参数为物体的瞬时加速度，因此在S3：对第一运动参数和第二运动参数分析方法采用比较所述第一瞬时加速度和第二瞬时加速度的大小；Since the motion parameter obtained in the previous step is the instantaneous acceleration of the object, in S3: the first motion parameter and the second motion parameter analysis method adopts the comparison of the magnitude of the first instantaneous acceleration and the second instantaneous acceleration;
所述S4：根据分析结果确定击打识别结果还包括以下步骤：The step S4: determining the hit recognition result according to the analysis result further comprises the following steps:
S41：如果第一瞬时加速度大于第二瞬时加速度，则击打识别结果为击打有效；S41: If the first instantaneous acceleration is greater than the second instantaneous acceleration, the hit recognition result is that the hit is valid;
由于受击打件和支撑件采用了柔性连接的方式，因此当受击打件受到打击后，受击打件的震动减弱后传递给支撑件，这时在同一时刻受击打件的瞬时加速度将大于支撑件的瞬时加速度。因此如果第一瞬时加速度大于第二瞬时加速度就可以准确判断出受击打件被单独击中。Since the struck piece and the supporting piece are connected in a flexible manner, when the struck piece is struck, the vibration of the struck piece is weakened and then transmitted to the supporting piece. At this time, the instantaneous acceleration of the struck piece will be greater than the instantaneous acceleration of the supporting piece at the same time. Therefore, if the first instantaneous acceleration is greater than the second instantaneous acceleration, it can be accurately determined that the struck piece is hit alone.
S42：如果第一瞬时加速度小于等于第二瞬时加速度，则击打识别结果为击打无效；S42: If the first instantaneous acceleration is less than or equal to the second instantaneous acceleration, the hit recognition result is that the hit is invalid;
由于受击打件和支撑件采用了柔性连接的方式，因此当支撑件受到打击后，支撑件的震动减弱后传递给受击打件，这时在同一时刻受击打件的瞬时加速度不会打印支撑件的瞬时加速度。因此如果第一瞬时加速度小于等于第二瞬时加速度就可以准确判断出受击打件没有被单独击中。Since the struck member and the supporting member are flexibly connected, when the supporting member is struck, the vibration of the supporting member is weakened and then transmitted to the struck member. At this time, the instantaneous acceleration of the struck member will not print the instantaneous acceleration of the supporting member at the same time. Therefore, if the first instantaneous acceleration is less than or equal to the second instantaneous acceleration, it can be accurately determined that the struck member has not been hit alone.
本实施例通过对同一时刻受击打件和支撑件的瞬时加速度的大小比较来判断受击打件是否被单独击中，无论受击打件的那个部位被击中，在被击中的一瞬间，受击打件和支撑件都会产生大小不同的瞬时加速度，因此本实施例可以准确检测出受击打件在各个方向和各个部位受到的击打。同时，由于瞬时加速度的数据量较小，数据传输快，且瞬时加速度容易检测，因此本实施例的识别方法简单快速，便于处理，时间延迟小。This embodiment determines whether the struck member is hit alone by comparing the magnitude of the instantaneous acceleration of the struck member and the supporting member at the same time. Regardless of which part of the struck member is hit, at the moment of being hit, the struck member and the supporting member will generate instantaneous accelerations of different magnitudes. Therefore, this embodiment can accurately detect the strikes on the struck member in various directions and at various parts. At the same time, since the data volume of the instantaneous acceleration is small, the data transmission is fast, and the instantaneous acceleration is easy to detect, the identification method of this embodiment is simple and fast, easy to process, and has a small time delay.
如图2所示，在本实施例中，所述S1：获取第一运动参数，所述第一运动参数为受击打件的运动参数还包括以下步骤：As shown in FIG. 2 , in this embodiment, the step S1: obtaining a first motion parameter, wherein the first motion parameter is a motion parameter of the struck member, further comprises the following steps:
S11：获取第一阈值；S11: Obtain a first threshold;
S12：监测受击打件的加速度是否大于第一阈值；S12: monitoring whether the acceleration of the struck member is greater than a first threshold;
S13：当监测到受击打件的加速度大于第一阈值时将该时刻记为第一时刻，并获取受击打件在第一时刻的瞬时加速度作为第一瞬时加速度；S13: when it is monitored that the acceleration of the struck member is greater than the first threshold, the moment is recorded as the first moment, and the instantaneous acceleration of the struck member at the first moment is obtained as the first instantaneous acceleration;
本步骤对可以先设置一个加速度的阈值作为第一阈值。当受击打件上的加速度值大于该阈值时才启动对击打的识别。以避免因为相关器件的轻微扰动对识别造成影响。本步骤还可以对受击打件的加速度值进行监测，当到受击打件的加速度大于前述第一阈值时就可以启动对击打的识别。In this step, a threshold value of acceleration can be set as the first threshold value. The recognition of the impact is initiated only when the acceleration value of the impacted part is greater than the threshold value. This is to avoid the impact of slight disturbances on the related components on the recognition. In this step, the acceleration value of the impacted part can also be monitored. When the acceleration of the impacted part is greater than the aforementioned first threshold value, the recognition of the impact can be initiated.
所述S2：获取第二运动参数，所述第二运动参数为支撑件的运动参数包括以下步骤：The step S2: obtaining a second motion parameter, where the second motion parameter is a motion parameter of the support member, comprises the following steps:
S21：获取第一时刻；S21: Get the first moment;
S22：根据第一时刻获取支撑件在第一时刻的瞬时加速度作为第二瞬时加速度；S22: acquiring the instantaneous acceleration of the support member at the first moment as the second instantaneous acceleration according to the first moment;
本实施例在对击打进行识别时，可以先选取监测到受击打件的加速度大于第一阈值的时刻做的第一时刻，然后分别获取第一时刻时受击打件的瞬时加速度和支撑件的瞬时加速度，以保证对击打识别的准确性。When identifying a blow, this embodiment can first select the first moment when the acceleration of the struck part is monitored to be greater than the first threshold, and then obtain the instantaneous acceleration of the struck part and the instantaneous acceleration of the supporting part at the first moment respectively to ensure the accuracy of the blow identification.
实施例3Example 3
在本实施例的击打识别方法中，所述S1：获取第一运动参数，所述运动参数为受击打件的运动参数，包括以下步骤：In the striking recognition method of this embodiment, the step S1: obtaining a first motion parameter, which is a motion parameter of the struck member, comprises the following steps:
S14：获取第一时间范围；S14: Obtain a first time range;
S15：根据第一时间范围获取受击打件在第一时间范围内的一系列加速度值作为第一运动参数。S15: According to the first time range, a series of acceleration values of the struck member within the first time range are obtained as the first motion parameter.
其中第一时间范围是指一段连续的时间，第一时间范围包括了起始时间和结束时间。本步骤可以在前述第一时间范围内对受击打件的加速度进行采样得到一系列的加速度值，并将这一系列的加速度值作为第一运动参数。The first time range refers to a continuous period of time, including a start time and an end time. In this step, the acceleration of the struck member can be sampled within the first time range to obtain a series of acceleration values, and the series of acceleration values are used as the first motion parameter.
所述S2：获取第二运动参数，所述第二运动参数为支撑件的运动参数，包括：根据第一时间范围获取支撑件在第一时间范围内的一系列加速度值作为第二运动参数；S2: obtaining a second motion parameter, where the second motion parameter is a motion parameter of the support, including: obtaining a series of acceleration values of the support within the first time range as the second motion parameter according to the first time range;
本步骤可以在前述第一时间范围内对支撑件的加速度进行采样得到一系列的加速度值，并将这一系列的加速度值作为第二运动参数。In this step, the acceleration of the support member can be sampled within the aforementioned first time range to obtain a series of acceleration values, and the series of acceleration values can be used as the second motion parameter.
所述S3：分析第一运动参数和第二运动参数还包括：The S3: analyzing the first motion parameter and the second motion parameter further comprises:
S31:根据所述第一运动参数获取受击打件在第一时间范围内的加速度峰值得到第一加速度峰值；S31: obtaining a first acceleration peak value of the struck member within a first time range according to the first motion parameter;
其中第一加速度峰值为第一运动参数中绝对值最大的加速度的绝对值。The first acceleration peak value is the absolute value of the acceleration with the largest absolute value in the first motion parameter.
S32:根据所述第二运动参数获取支撑件在第一时间范围内的加速度峰值得到第二加速度峰值；S32: acquiring the acceleration peak value of the support member within the first time range according to the second motion parameter to obtain a second acceleration peak value;
其中第二加速度峰值为第二运动参数中绝对值最大的加速度的绝对值。The second acceleration peak value is the absolute value of the acceleration with the largest absolute value in the second motion parameter.
S33:比较第一加速度峰值和第二加速度峰值的大小；S33: comparing the first acceleration peak value and the second acceleration peak value;
所述S4：根据分析结果确定击打识别结果还包括以下步骤：The step S4: determining the hit recognition result according to the analysis result further comprises the following steps:
S43：如果第一加速度峰值大于第二加速度峰值，则击打识别结果为击打有效；S43: If the first acceleration peak value is greater than the second acceleration peak value, the hit recognition result is that the hit is valid;
由于受击打件和支撑件采用了柔性连接的方式，因此当受击打件受到打击后，受击打件的震动减弱后传递给支撑件，在同一段时间中受击打件的加速度峰值将大于支撑件的加速度峰值。因此可以通过第一加速度峰值大于第二瞬时加速度峰值来准确判断出受击打件被单独击中。Since the struck member and the supporting member are flexibly connected, when the struck member is struck, the vibration of the struck member is weakened and then transmitted to the supporting member, and the peak acceleration of the struck member will be greater than the peak acceleration of the supporting member during the same period of time. Therefore, it can be accurately determined that the struck member is hit alone by the first acceleration peak being greater than the second instantaneous acceleration peak.
S44：如果第一加速度峰值小于等于第二加速度峰值，则击打识别结果为击打无效。S44: If the first acceleration peak value is less than or equal to the second acceleration peak value, the hit recognition result is that the hit is invalid.
由于受击打件和支撑件采用了柔性连接的方式，因此当支撑件受到打击后，支撑件的震动减弱后传递给受击打件，在同一段时间中受击打件的瞬时加速度不会大于支撑件的瞬时加速度。因此可以通过第一峰值加速度小于等于第二峰值加速度来准确判断出受击打件没有被单独击中。Since the struck member and the supporting member are flexibly connected, when the supporting member is struck, the vibration of the supporting member is weakened and then transmitted to the struck member, and the instantaneous acceleration of the struck member will not be greater than the instantaneous acceleration of the supporting member during the same period of time. Therefore, it can be accurately determined that the struck member has not been struck alone by the first peak acceleration being less than or equal to the second peak acceleration.
实施例4Example 4
在本实施例的击打识别方法中，所述S1：获取第一运动参数，所述运动参数为受击打件的运动参数，包括以下步骤：In the striking recognition method of this embodiment, the step S1: obtaining a first motion parameter, which is a motion parameter of the struck member, comprises the following steps:
S104：获取第二时间范围；S104: Acquire a second time range;
S105：根据第二时间范围获取受击打件在第二时间范围内的一系列加速度值作为第一运动参数；S105: acquiring a series of acceleration values of the struck member within the second time range as a first motion parameter according to the second time range;
其中第二时间范围是指一段连续的时间，第二时间范围包括了起始时间和结束时间。本步骤可以在前述第二时间范围内对受击打件的加速度进行采样得到一系列的加速度值，并将这一系列的加速度值作为第一运动参数。The second time range refers to a continuous period of time, including a start time and an end time. In this step, the acceleration of the struck member can be sampled within the second time range to obtain a series of acceleration values, and the series of acceleration values are used as the first motion parameter.
所述S2：获取第二运动参数，所述第二运动参数为支撑件的运动参数，包括：根据第二时间范围获取支撑件在第二时间范围内的一系列加速度值作为第二运动参数；The step S2: obtaining a second motion parameter, where the second motion parameter is a motion parameter of the support, includes: obtaining a series of acceleration values of the support within the second time range as the second motion parameter according to the second time range;
本步骤可以在前述第二时间范围内对支撑打件的加速度进行采样得到一系列的加速度值，并将这一系列的加速度值作为第二运动参数。In this step, the acceleration of the supporting member can be sampled within the aforementioned second time range to obtain a series of acceleration values, and the series of acceleration values can be used as the second motion parameter.
所述S3：分析第一运动参数和第二运动参数还包括：The S3: analyzing the first motion parameter and the second motion parameter further comprises:
S301:根据所述第一运动参数获取受击打件在第二时间范围内的加速度绝对值的平均值得到第一平均值；S301: obtaining an average value of the absolute value of the acceleration of the struck member within a second time range according to the first motion parameter to obtain a first average value;
本步骤对第一运动参数中的所用加速度的绝对值求平均得到第一平均值。This step averages the absolute values of the accelerations used in the first motion parameter to obtain a first average value.
S302:根据所述第二运动参数获取支撑件在第二时间范围内的加速度绝对值的平均值得到第二平均值；S302: Obtaining an average value of the absolute value of the acceleration of the support member within a second time range according to the second motion parameter to obtain a second average value;
本步骤对第一运动参数中的所用加速度的绝对值求平均得到第一平均值。This step averages the absolute values of the accelerations used in the first motion parameter to obtain a first average value.
S303:比较第一平均值和第二平均值的大小；S303: Compare the first average value with the second average value;
所述S4：根据分析结果确定击打识别结果还包括以下步骤：The step S4: determining the hit recognition result according to the analysis result further comprises the following steps:
S403：如果第一平均值大于第二平均值，则击打识别结果为击打有效；S403: If the first average value is greater than the second average value, the hit recognition result is that the hit is valid;
由于受击打件和支撑件采用了柔性连接的方式，因此当受击打件受到打击后，受击打件的震动减弱后传递给支撑件，在同一段时间中受击打件的加速度绝对值的平均值将大于支撑件的加速度绝对值的平均值。因此可以通过第一加平均值大于第二平均值来准确判断出受击打件被单独击中。Since the struck member and the support member are flexibly connected, when the struck member is struck, the vibration of the struck member is weakened and then transmitted to the support member, and the average value of the absolute value of the acceleration of the struck member in the same period of time will be greater than the average value of the absolute value of the acceleration of the support member. Therefore, it can be accurately determined that the struck member is hit alone by the first average value being greater than the second average value.
S404：如果第一平均值小于等于第二平均值，则击打识别结果为击打无效。S404: If the first average value is less than or equal to the second average value, the strike recognition result is that the strike is invalid.
由于受击打件和支撑件采用了柔性连接的方式，因此当支撑件受到打击后，支撑件的震动减弱后传递给受击打件，在同一段时间中受击打件的加速度绝对值的平均值不会大于支撑件的加速度绝对值的平均值。因此通过第一平均值小于等于第二平均值的情况就可以准确判断出受击打件没有被单独击中。Since the struck member and the supporting member are flexibly connected, when the supporting member is struck, the vibration of the supporting member is weakened and then transmitted to the struck member, and the average value of the absolute value of the acceleration of the struck member in the same period of time will not be greater than the average value of the absolute value of the acceleration of the supporting member. Therefore, when the first average value is less than or equal to the second average value, it can be accurately determined that the struck member has not been struck alone.
实施例5Example 5
在本所述的击打识别方法中，所述S1：获取第一运动参数，所述运动参数为受击打件的运动参数，包括以下步骤：In the striking recognition method described herein, the step S1: obtaining a first motion parameter, wherein the motion parameter is a motion parameter of the struck member, comprises the following steps:
S16：获取第一时间参数；S16: Obtaining first time parameters;
S17：根据第一时间参数获取与第一时间参数对应的第一振动幅度，所述第一振动幅度为受击打件的振动幅度；S17: acquiring a first vibration amplitude corresponding to the first time parameter according to the first time parameter, wherein the first vibration amplitude is a vibration amplitude of the struck member;
其中第一时间参数可以是第二时刻也可以是第三时间范围。当第一时间参数为第二时刻时，第一振动幅度为受击打件在第二时刻的振动幅度；当第一时间参数为第三时间范围时，第一振动幅度为受击打件在第三时间范围内的振动幅度的平均值或者受击打件在第三时间范围内的振动幅度对时间的积分；The first time parameter can be the second moment or the third time range. When the first time parameter is the second moment, the first vibration amplitude is the vibration amplitude of the struck member at the second moment; when the first time parameter is the third time range, the first vibration amplitude is the average value of the vibration amplitude of the struck member within the third time range or the integral of the vibration amplitude of the struck member within the third time range over time;
所述S2：获取第二运动参数，所述第二运动参数为支撑件的运动参数，包括：根据第一时间参数获取与第一时间参数对应的第二振动幅度，所述第二振动幅度为支撑件的振动幅度。The step S2: acquiring a second motion parameter, where the second motion parameter is a motion parameter of the support, includes: acquiring a second vibration amplitude corresponding to the first time parameter according to the first time parameter, where the second vibration amplitude is the vibration amplitude of the support.
当第一时间参数为第二时刻时，第二振动幅度为支撑件在第二时刻的振动幅度；当第一时间参数为第三时间范围时，第一振动幅度为支撑件在第三时间范围内的振动幅度的平均值或者支撑件在第三时间范围内的振动幅度对时间的积分；When the first time parameter is the second moment, the second vibration amplitude is the vibration amplitude of the support at the second moment; when the first time parameter is the third time range, the first vibration amplitude is the average value of the vibration amplitude of the support within the third time range or the integral of the vibration amplitude of the support within the third time range over time;
所述S3：分析第一运动参数和第二运动参数包括：比较第一振动幅度和第二振动幅度的大小；The S3: analyzing the first motion parameter and the second motion parameter includes: comparing the first vibration amplitude and the second vibration amplitude;
所述S4：根据分析结果确定击打识别结果还包括以下步骤：The step S4: determining the hit recognition result according to the analysis result further comprises the following steps:
S45：如果第一振动幅度大于第二振动幅度，则击打识别结果为击打有效；S45: If the first vibration amplitude is greater than the second vibration amplitude, the striking recognition result is that the striking is valid;
由于受击打件和支撑件采用了柔性连接的方式，因此当受击打件受到打击后，受击打件的震动减弱后传递给支撑件，受击打件的振动幅度大于支撑件的振动幅度。因此可以通过第一振动幅度大于第二振动幅度来准确判断出受击打件被单独击中。Since the struck member and the supporting member are flexibly connected, when the struck member is struck, the vibration of the struck member is weakened and then transmitted to the supporting member, and the vibration amplitude of the struck member is greater than the vibration amplitude of the supporting member. Therefore, it can be accurately determined that the struck member is hit alone by the first vibration amplitude being greater than the second vibration amplitude.
S46：如果第一振动幅度小于等于第二振动幅度，则击打识别结果为击打无效。S46: If the first vibration amplitude is less than or equal to the second vibration amplitude, the striking recognition result is that the striking is invalid.
由于受击打件和支撑件采用了柔性连接的方式，因此当支撑件受到打击后，支撑件的震动减弱后传递给受击打件，受击打件的振动幅度不会大于支撑件的振动幅度。因此可以通过第一振动幅度小于等于第二振动幅度来准确判断出受击打件没有被单独击中。Since the struck member and the supporting member are flexibly connected, when the supporting member is struck, the vibration of the supporting member is weakened and then transmitted to the struck member, and the vibration amplitude of the struck member will not be greater than the vibration amplitude of the supporting member. Therefore, it can be accurately determined that the struck member has not been struck alone by the first vibration amplitude being less than or equal to the second vibration amplitude.
实施例6Example 6
如图3所示，本实施例提供一种击打识别装置，该击打识别装置应用于比赛设备，所述比赛设备包括柔性连接地受击打件和支撑件，所述击打识别装置包括：As shown in FIG3 , this embodiment provides a striking recognition device, which is applied to a competition device, wherein the competition device includes a flexibly connected striking member and a supporting member, and the striking recognition device includes:
第一检测器，所述第一检测器用于获取第一运动参数，所述运动参数为受击打件的运动参数；a first detector, the first detector being used to obtain a first motion parameter, the motion parameter being a motion parameter of the struck member;
其中第一检测器包括但不限于加速度传感器、加速度计、三轴加速度计、惯性测量单元、位移传感器。当第一检测器为速度传感器、加速度计、三轴加速度计、惯性测量单元时可以安装在受击打件上使之与受击打件同步运动。The first detector includes but is not limited to an acceleration sensor, an accelerometer, a triaxial accelerometer, an inertial measurement unit, and a displacement sensor. When the first detector is a velocity sensor, an accelerometer, a triaxial accelerometer, or an inertial measurement unit, it can be installed on the struck piece so that it moves synchronously with the struck piece.
第二检测器，所述第二检测器用于获取第二运动参数，所述第二运动参数为支撑件的运动参数；a second detector, the second detector being used to obtain a second motion parameter, the second motion parameter being a motion parameter of the support member;
其中第二检测器包括但不限于加速度传感器、加速度计、三轴加速度计、惯性测量单元、位移传感器。当第二检测器为速度传感器、加速度计、三轴加速度计、惯性测量单元时可以安装在支撑件上使之与支撑件同步运动。The second detector includes but is not limited to an acceleration sensor, an accelerometer, a triaxial accelerometer, an inertial measurement unit, and a displacement sensor. When the second detector is a velocity sensor, an accelerometer, a triaxial accelerometer, or an inertial measurement unit, it can be installed on the support so that it moves synchronously with the support.
控制电路，所述控制电路用于分析第一运动参数和第二运动参数并根据分析结果确定击打识别结果。A control circuit is used to analyze the first motion parameter and the second motion parameter and determine a striking recognition result according to the analysis result.
其中控控制电路可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、单片机、ARM、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)、或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。The control circuit can be a central processing unit (CPU), or other general-purpose processors, single-chip microcomputers, ARM, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
实施例7Example 7
另外，结合图4描述的本发明实施例的击打识别方法可以由击打识别设备来实现。图4示出了本发明实施例提供的击打识别设备的硬件结构示意图。In addition, the strike recognition method of the embodiment of the present invention described in conjunction with Figure 4 can be implemented by a strike recognition device. Figure 4 shows a schematic diagram of the hardware structure of the strike recognition device provided by the embodiment of the present invention.
击打识别设备可以包括处理器401以及存储有计算机程序指令的存储器402。The strike recognition device may include a processor 401 and a memory 402 storing computer program instructions.
具体地，上述处理器401可以包括中央处理器(CPU)，或者特定集成电路(Application Specific Integrated Circuit，ASIC)，或者可以被配置成实施本发明实施例的一个或多个集成电路。Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.
存储器402可以包括用于数据或指令的大容量存储器。举例来说而非限制，存储器402可包括硬盘驱动器(Hard Disk Drive，HDD)、软盘驱动器、闪存、光盘、磁光盘、磁带或通用串行总线(Universal Serial Bus，USB)驱动器或者两个或更多个以上这些的组合。在合适的情况下，存储器402可包括可移除或不可移除(或固定)的介质。在合适的情况下，存储器402可在数据处理装置的内部或外部。在特定实施例中，存储器402是非易失性固态存储器。在特定实施例中，存储器402包括只读存储器(ROM)。在合适的情况下，该ROM可以是掩模编程的ROM、可编程ROM(PROM)、可擦除PROM(EPROM)、电可擦除PROM(EEPROM)、电可改写ROM(EAROM)或闪存或者两个或更多个以上这些的组合。Memory 402 may include a large capacity memory for data or instructions. For example, but not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside a data processing device. In a specific embodiment, memory 402 is a non-volatile solid-state memory. In a specific embodiment, memory 402 includes a read-only memory (ROM). In appropriate cases, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.
处理器401通过读取并执行存储器402中存储的计算机程序指令，以实现上述实施例中的任意一种区域随机打印的数据寻址方法。The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any one of the data addressing methods for random area printing in the above embodiments.
在一个示例中击打识别设备还可包括通信接口403和总线410。其中，如图6所示，处理器401、存储器402、通信接口403通过总线410连接并完成相互间的通信。In one example, the strike recognition device may further include a communication interface 403 and a bus 410. As shown in Fig. 6, the processor 401, the memory 402, and the communication interface 403 are connected via the bus 410 and communicate with each other.
通信接口403，主要用于实现本发明实施例中各模块、装置、单元和/或设备之间的通信。The communication interface 403 is mainly used to implement the communication between the modules, devices, units and/or equipment in the embodiment of the present invention.
总线410包括硬件、软件或两者，将用于小数倍墨量输出的部件彼此耦接在一起。举例来说而非限制，总线可包括加速图形端口(AGP)或其他图形总线、增强工业标准架构(EISA)总线、前端总线(FSB)、超传输(HT)互连、工业标准架构(ISA)总线、无限带宽互连、低引脚数(LPC)总线、存储器总线、微信道架构(MCA)总线、外围组件互连(PCI)总线、PCI-Express(PCI-X)总线、串行高级技术附件(SATA)总线、视频电子标准协会局部(VLB)总线或其他合适的总线或者两个或更多个以上这些的组合。在合适的情况下，总线410可包括一个或多个总线。尽管本发明实施例描述和示出了特定的总线，但本发明考虑任何合适的总线或互连。Bus 410 includes hardware, software or both, and the components for the output of small multiples of ink volume are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-side bus (FSB), hypertransmission (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.
实施例8Example 8
另外，结合上述实施例中的击打识别方法，本发明实施例可提供一种计算机可读存储介质来实现。该计算机可读存储介质上存储有计算机程序指令；该计算机程序指令被处理器执行时实现上述实施例中的任意一种击打识别方法。In addition, in combination with the strike recognition method in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any strike recognition method in the above embodiment is implemented.
实施例9Embodiment 9
本实施例提供一种比赛设备，该比赛设备主要用于机器人竞技比赛或者游戏中。在机器人竞技比赛或者游戏中比赛设备根据不同的角色设置可以有不同的名称，例如基地、防御塔、前哨站等，具体名称这里不做限制。所述比赛设备可以在比赛或者游戏中感应出其指定部位所受到的击打。该比赛包括受击打件、支撑件和实施例6中所述的击打识别装置，所述受击打件和所述支撑件为柔性连接。本实施例的比赛设备还包括弹簧，即受击打件和所述支撑件可以通过弹簧来形成柔性连接。在其它实施例中也可以再用其它部件或者机构来形成柔性连接，这里不做限制。The present embodiment provides a competition device, which is mainly used in robot competitions or games. In robot competitions or games, the competition equipment may have different names according to different role settings, such as bases, defense towers, outposts, etc., and the specific names are not limited here. The competition equipment can sense the blows received by its designated parts during the competition or game. The competition includes a struck piece, a support piece, and the blow identification device described in Example 6, and the struck piece and the support piece are flexibly connected. The competition equipment of this embodiment also includes a spring, that is, the struck piece and the support piece can form a flexible connection through a spring. In other embodiments, other parts or mechanisms can also be used to form a flexible connection, which is not limited here.
如图5和图6所示，所述受击打件50位于所述支撑件40的一端，所述受击打件50用于接受目标物体的击打。在本实施例中受击打件50可以作为比赛或者游戏规则中指定的比赛设备的有效击打部位。As shown in Figures 5 and 6, the struck member 50 is located at one end of the support member 40, and is used to receive the strike of the target object. In this embodiment, the struck member 50 can be used as an effective striking part of the competition equipment specified in the competition or game rules.
为了避免比赛设备上除开受击打件50的其它部位所受到的撞击或者击打传递至受击打件50而被所述第一检测器90检测到，本实施例利用弹簧10使比赛设备的支撑件40和受击打件50之间形成可以分离的柔性连接，即支撑件40和受击打件50可以产生不同步的位移。由于弹簧10具有的弹性特征，当比赛设备的支撑件40受到击打或者撞击时所产生的震动不会直接传递给受击打件50，从而对作用在支撑件40上的击打或者撞击形成有效地阻隔。这样作用在支撑件40上的击打或者撞击不会直接传递至受击打件50而被安装在受击打件50上的第一检测器90所检测到。In order to prevent the impact or blow received by other parts of the game equipment except the struck piece 50 from being transmitted to the struck piece 50 and detected by the first detector 90, the present embodiment uses the spring 10 to form a detachable flexible connection between the supporting member 40 and the struck piece 50 of the game equipment, that is, the supporting member 40 and the struck piece 50 can produce asynchronous displacement. Due to the elastic characteristics of the spring 10, the vibration generated when the supporting member 40 of the game equipment is hit or struck will not be directly transmitted to the struck piece 50, thereby effectively blocking the impact or blow on the supporting member 40. In this way, the impact or blow on the supporting member 40 will not be directly transmitted to the struck piece 50 and detected by the first detector 90 installed on the struck piece 50.
如图10所示，在本实施例中，所述弹簧10包括弹性段13和第一连接部11，所述第一连接部11与所述弹性段13朝向所述支撑件40的一端相连的，如图5所示，所述第一连接部11包括第一子部111和第二子部112，所述第一子部111和第二子部112沿所述弹性段13的径向方向设置在弹性段13的两侧，所述第一子部111和第二子部112分别与所述支撑件40形成连接。As shown in Figure 10, in this embodiment, the spring 10 includes an elastic segment 13 and a first connecting portion 11, and the first connecting portion 11 is connected to one end of the elastic segment 13 facing the support member 40. As shown in Figure 5, the first connecting portion 11 includes a first sub-portion 111 and a second sub-portion 112, and the first sub-portion 111 and the second sub-portion 112 are arranged on both sides of the elastic segment 13 along the radial direction of the elastic segment 13, and the first sub-portion 111 and the second sub-portion 112 are respectively connected to the support member 40.
本实施例的弹簧10在现有弹簧10弹性段13的基础上还增设了第一连接部11。其中弹簧10的弹性段13具有一定的弹性，受外力作用时产生相应的变形，例如压缩变形、拉伸变形等，当外力去除后又可以恢复原来的形状。本实施例利用弹簧10的前述特性来缓冲以及阻隔作用在支撑件40上的击打或者撞击等外界冲击。The spring 10 of this embodiment is further provided with a first connecting portion 11 on the basis of the elastic section 13 of the existing spring 10. The elastic section 13 of the spring 10 has a certain elasticity, and produces corresponding deformation when subjected to external force, such as compression deformation, tensile deformation, etc., and can restore the original shape when the external force is removed. This embodiment utilizes the aforementioned characteristics of the spring 10 to buffer and block external impacts such as hitting or collision acting on the support member 40.
为了不影响弹簧10缓冲和阻隔外界冲击的效果，又能起到连接作用，本实施例在弹性段13的端部设置第一连接部11。在连接时可以只采用第一连接部11与支撑件40接触，而弹性段13可以不受支撑件40干扰，这样即实现了弹簧10与支撑件40的柔性连接，又避免了与支撑件40连接对弹簧10缓冲和阻隔性能地所造成的影响。In order not to affect the effect of the spring 10 in buffering and blocking external impacts, and to play a connecting role, the first connecting portion 11 is provided at the end of the elastic section 13 in this embodiment. During connection, only the first connecting portion 11 can be used to contact the support member 40, and the elastic section 13 can be free from interference from the support member 40, so that the flexible connection between the spring 10 and the support member 40 is achieved, and the influence of the connection with the support member 40 on the buffering and blocking performance of the spring 10 is avoided.
在本实施例中，第一连接部11又可以分为第一子部111和第二子部112两个部分，且两个部分分别位于弹性段13的径向方向的两侧，这样可以使第一子部111和第二子部112与弹性段13在与弹簧10轴向方向垂直的参考面上的投影互不重合。其中第一子部111和第二子部112在不同的位置与支撑件40形成连接。由于第一子部111和第二子部112位于弹性段13的两侧，因此可以在弹性段13的两侧来实现弹簧10和支撑件40之间的连接，这样的连接方式更加稳定，可以有效避免弹簧10朝一侧偏移。并且由于两个子部没有与弹性段13重合，因此连接部分和弹性部分不会相互干扰，这样既不会影响连接也不会影响弹簧10的缓冲和阻隔性能。In this embodiment, the first connecting portion 11 can be divided into two parts, a first sub-portion 111 and a second sub-portion 112, and the two parts are respectively located on both sides of the radial direction of the elastic section 13, so that the projections of the first sub-portion 111 and the second sub-portion 112 on the reference plane perpendicular to the axial direction of the spring 10 do not overlap with each other. The first sub-portion 111 and the second sub-portion 112 are connected to the support member 40 at different positions. Since the first sub-portion 111 and the second sub-portion 112 are located on both sides of the elastic section 13, the connection between the spring 10 and the support member 40 can be realized on both sides of the elastic section 13. Such a connection method is more stable and can effectively prevent the spring 10 from deflecting to one side. And since the two sub-portions do not overlap with the elastic section 13, the connecting part and the elastic part will not interfere with each other, which will neither affect the connection nor the buffering and barrier properties of the spring 10.
为了实现支撑件40与弹簧10的连接，在本实施例中所述比赛设备还包括第一连接件20，所述第一子部111或者第二子部112通过第一连接件20与所述支撑件40形成连接。In order to achieve the connection between the support member 40 and the spring 10 , the competition device in this embodiment further includes a first connecting member 20 , and the first sub-portion 111 or the second sub-portion 112 is connected to the support member 40 via the first connecting member 20 .
由于第一连接部11包括了两个子部，因此在同一个弹簧10与所述支撑件40形成连接时也相应采用两个第一连接件20。两个第一连接件20中的其中一个用于支撑件40与弹簧10的第一子部111形成连接，另一个用于支撑件40与弹簧10的第二子部112形成连接。Since the first connecting portion 11 includes two sub-portions, two first connecting members 20 are also used when the same spring 10 is connected to the support member 40. One of the two first connecting members 20 is used to connect the support member 40 to the first sub-portion 111 of the spring 10, and the other is used to connect the support member 40 to the second sub-portion 112 of the spring 10.
本实施例通过第一连接件20的辅助可以使第一连接部11与支撑件40的连接更加方便，且更加可靠。In this embodiment, with the assistance of the first connecting member 20, the connection between the first connecting portion 11 and the supporting member 40 can be made more convenient and more reliable.
为了实现弹簧10和受击打件50的连接，在本实施例中，所述弹簧10还包括第二连接部12，所述第二连接部12与所述弹性段13朝向所述受击打件50的一端相连的，所述第二连接部12包括第三子部121和第四子部122，所述第三子部121和第四子部122沿所述弹性段13的径向方向设置在弹性段13的两侧，所述第三子部121和第四子部122分别与所述受击打件50形成连接。In order to realize the connection between the spring 10 and the struck member 50, in the present embodiment, the spring 10 further includes a second connecting portion 12, which is connected to one end of the elastic segment 13 facing the struck member 50, and the second connecting portion 12 includes a third sub-portion 121 and a fourth sub-portion 122, and the third sub-portion 121 and the fourth sub-portion 122 are arranged on both sides of the elastic segment 13 along the radial direction of the elastic segment 13, and the third sub-portion 121 and the fourth sub-portion 122 are respectively connected to the struck member 50.
如图8所示，所述比赛设备还包括第二连接件30，所述第三子部121或者第四子部122通过第二连接件30与所述支撑件40形成连接。所述第三子部121形成有供所述第三端穿过的第三空腔123，所述第四子部122形成有供所述第三端穿过的第四空腔124。As shown in Fig. 8, the game device further includes a second connecting member 30, and the third sub-section 121 or the fourth sub-section 122 is connected to the support member 40 via the second connecting member 30. The third sub-section 121 is formed with a third cavity 123 for the third end to pass through, and the fourth sub-section 122 is formed with a fourth cavity 124 for the third end to pass through.
本实施例通过在弹簧10的弹性段13两端设置的第一连接部11和第二连接部12，以及与第一连接部11配合使用的第一连接件20和与第二连接部12配合使用的第二连接件30，使支撑件40、受击打件50和弹簧10可以自下而上方便快速的安装，并使安装后的支撑件40和受击打件50通过弹簧10形成柔性连接。采用前述方式可以使弹簧10的两端与支撑件40和受击打件50可靠锁定，在实现连接的同时避免的连接部分和弹簧10弹性段13的相互干扰，因此连接后支撑件40和受击打件50之间既不会完全脱离，又能有效阻隔相互之间的震动。In this embodiment, the first connecting portion 11 and the second connecting portion 12 are provided at both ends of the elastic section 13 of the spring 10, and the first connecting member 20 used in conjunction with the first connecting portion 11 and the second connecting member 30 used in conjunction with the second connecting portion 12, so that the support member 40, the struck member 50 and the spring 10 can be conveniently and quickly installed from bottom to top, and the installed support member 40 and the struck member 50 form a flexible connection through the spring 10. The above-mentioned method can reliably lock the two ends of the spring 10 with the support member 40 and the struck member 50, and avoid mutual interference between the connecting part and the elastic section 13 of the spring 10 while achieving the connection, so that after the connection, the support member 40 and the struck member 50 will not be completely separated, and the vibration between them can be effectively blocked.
如图9所示，在本实施例中第一子部111包括首尾相连的第一分段1111、第二分段1112和第三分段1113。其中第一分段1111为直线段、第二分段1112为圆弧段，第三分段1113为直线段。其中第一分段1111和第三分段1113沿与弹簧10径向方向平行的方向延伸。第一分段1111、第二分段1112和第三分段1113围成一个可供第一连接件20的第一端21穿过的空间。当第一连接件20的第一端21从该空间穿过后，第一分段1111、第二分段1112和第三分段1113在第一端21的限位作用下不能在径向方向上任意移动，从而实现第一连接件20对第一子部111的径向定位。As shown in FIG9 , in this embodiment, the first sub-section 111 includes a first segment 1111, a second segment 1112 and a third segment 1113 connected end to end. The first segment 1111 is a straight segment, the second segment 1112 is an arc segment, and the third segment 1113 is a straight segment. The first segment 1111 and the third segment 1113 extend in a direction parallel to the radial direction of the spring 10. The first segment 1111, the second segment 1112 and the third segment 1113 enclose a space through which the first end 21 of the first connecting member 20 can pass. When the first end 21 of the first connecting member 20 passes through the space, the first segment 1111, the second segment 1112 and the third segment 1113 cannot move arbitrarily in the radial direction under the limiting action of the first end 21, thereby realizing the radial positioning of the first sub-section 111 by the first connecting member 20.
同理在本实施例中第二子部112包括首尾相连的第四分段1121、第五分段1122和第六分段1123。其中第三分段1113为直线段、第四分段1121为圆弧段，第五分段1122为直线段。其中第四分段1121和第六分段1123沿与弹簧10径向方向平行的方向延伸。第四分段1121、第五分段1122和第六分段1123段围成一个可供第一连接件20的第一端21穿过的空间。当第一连接件20的第一端21从该空间穿过后，第四分段1121、第五分段1122和第六分段1123在第一端21的限位作用下不能在径向方向上任意移动，从而实现第一连接件20对第二子部112的径向定位。Similarly, in this embodiment, the second sub-section 112 includes a fourth segment 1121, a fifth segment 1122 and a sixth segment 1123 connected end to end. The third segment 1113 is a straight segment, the fourth segment 1121 is an arc segment, and the fifth segment 1122 is a straight segment. The fourth segment 1121 and the sixth segment 1123 extend in a direction parallel to the radial direction of the spring 10. The fourth segment 1121, the fifth segment 1122 and the sixth segment 1123 enclose a space through which the first end 21 of the first connecting member 20 can pass. When the first end 21 of the first connecting member 20 passes through the space, the fourth segment 1121, the fifth segment 1122 and the sixth segment 1123 cannot move arbitrarily in the radial direction under the limiting action of the first end 21, thereby realizing the radial positioning of the second sub-section 112 by the first connecting member 20.
其中，第一子部111的第三分段1113和第二子部112的第四分段1121相连以使第一子和第二子部112形成一个整体，该整体即为第一连接部11，并且第二分段1112和第五分段1122的这两段圆弧相互朝向对方。这时第一连接部11的形状为一个半封闭的跑道的形状。两个第一连接件20分别穿过第一子部111和第二子部112。采用前述结构使第一子部111和第二子部112在实现连接定位时可以相互协作。The third segment 1113 of the first sub-section 111 and the fourth segment 1121 of the second sub-section 112 are connected so that the first sub-section and the second sub-section 112 form a whole, which is the first connecting portion 11, and the two arcs of the second segment 1112 and the fifth segment 1122 face each other. At this time, the shape of the first connecting portion 11 is a semi-closed runway. The two first connecting members 20 pass through the first sub-section 111 and the second sub-section 112 respectively. The above structure allows the first sub-section 111 and the second sub-section 112 to cooperate with each other when achieving connection positioning.
如图11所示，当弹簧10出现朝图中w1方向移动的趋势时，第一子部111的第一分段1111和第二子部112的第六分段1123可以从弹簧10两侧同时阻止弹簧10朝w1方向偏移。当弹簧10出现朝图中w2方向移动的趋势时，第一子部111的第三分段1113和第二子部112的第四分段1121可以从弹簧10两侧同时阻止弹簧10朝w2方向偏移。当弹簧10出现朝图中w3方向移动的趋势时，第一子部111的第二分段1112可以阻止弹簧10朝w3方向偏移时。当弹簧10出现朝图中w4方向移动的趋势时，第二子部112的第五分段1122可以阻止弹簧10朝w4方向偏移时。As shown in FIG11 , when the spring 10 shows a tendency to move toward the w1 direction in the figure, the first segment 1111 of the first sub-portion 111 and the sixth segment 1123 of the second sub-portion 112 can simultaneously prevent the spring 10 from deflecting toward the w1 direction from both sides of the spring 10. When the spring 10 shows a tendency to move toward the w2 direction in the figure, the third segment 1113 of the first sub-portion 111 and the fourth segment 1121 of the second sub-portion 112 can simultaneously prevent the spring 10 from deflecting toward the w2 direction from both sides of the spring 10. When the spring 10 shows a tendency to move toward the w3 direction in the figure, the second segment 1112 of the first sub-portion 111 can prevent the spring 10 from deflecting toward the w3 direction. When the spring 10 shows a tendency to move toward the w4 direction in the figure, the fifth segment 1122 of the second sub-portion 112 can prevent the spring 10 from deflecting toward the w4 direction.
因此连接部采用本实施例的结构可以从前述各个方向限制弹簧10的偏移，并且在第二分段1112和第五分段1122之间可以留下足够的空间，以方便第一连接件20或者其它部件沿弹簧10的轴向穿过，既方便了装配又可以实现可靠的连接。Therefore, the connecting portion adopts the structure of this embodiment to limit the displacement of the spring 10 from the aforementioned directions, and sufficient space can be left between the second segment 1112 and the fifth segment 1122 to facilitate the axial passage of the first connecting member 20 or other components along the spring 10, which facilitates assembly and achieves reliable connection.
同理，第二连接部12的第三子部121和第四子部122也可以采用两个直线段与一个圆弧段首尾相连接的结构，其形状可以与前述第一连接部11的第一子部111和第二子部112完全相同，其效果也相同，这里不做赘述Similarly, the third sub-section 121 and the fourth sub-section 122 of the second connecting portion 12 may also adopt a structure in which two straight line segments are connected end to end with an arc segment, and their shapes may be completely the same as the first sub-section 111 and the second sub-section 112 of the first connecting portion 11, and their effects are also the same, which will not be described in detail here.
当第一连接部11和第二连接部12采用相同的形状时，第一连接部11和第二连接部12在周向位置的角度可以错开，错开的角度范围为85度至95度。将第一连接部11和第二连接部12的角度错开设置可以增加装配时操作的空间，从而使装配更加方便。同时可以使弹簧四个连接点的位置可以分散开来，以提高连接的稳定性。When the first connection portion 11 and the second connection portion 12 adopt the same shape, the angles of the first connection portion 11 and the second connection portion 12 in the circumferential position can be staggered, and the staggered angle range is 85 degrees to 95 degrees. The staggered angles of the first connection portion 11 and the second connection portion 12 can increase the space for assembly operation, thereby making assembly more convenient. At the same time, the positions of the four connection points of the spring can be dispersed to improve the stability of the connection.
所述第一连接件20可以包括相对设置的第一端21和第二端22，所述第一子部111形成有供所述第一端21穿过的第一空腔113，所述第二子部112形成有供所述第一端21穿过的第二空腔114，所述第一端21穿过所述第一空腔113或者第二空腔114后与所述支撑件40连接，所述第一子部111或者第二子部112被限位在所述支撑件40和所述第二端22之间。The first connecting member 20 may include a first end 21 and a second end 22 arranged opposite to each other, the first sub-portion 111 forms a first cavity 113 for the first end 21 to pass through, the second sub-portion 112 forms a second cavity 114 for the first end 21 to pass through, the first end 21 passes through the first cavity 113 or the second cavity 114 and is connected to the support member 40, and the first sub-portion 111 or the second sub-portion 112 is limited between the support member 40 and the second end 22.
其中第一端21和第二端22可以沿弹性段13的轴向方向设置在第一连接件20的两端，即第一端21位于第一连接件20朝向击打件的位置，第二端22位于第一连接件20朝向支撑件40的位置。当第一子部111通过第一连接件20与支撑件40形成连接时，第一连接件20的第一端21从第一空腔113中穿过，其中第一端21的一部分从第一空腔113中穿出，穿出的部分可以用于与所述支撑件40形成连接。第一连接件20的第二端22可以采用比第一端21覆盖范围更大的截面。例如使第一端21在参考平面上的投影位于第一空腔113中，以使第一端21可以竖向穿过第一空腔113，并使第二端22在参考平面上的投影至少部分与所述第一子部111重合，以使第二端22可以限制第一子部111沿弹性段13轴向方向相对支撑件40移动。The first end 21 and the second end 22 can be arranged at both ends of the first connecting member 20 along the axial direction of the elastic section 13, that is, the first end 21 is located at the position of the first connecting member 20 facing the striking member, and the second end 22 is located at the position of the first connecting member 20 facing the supporting member 40. When the first sub-portion 111 is connected to the supporting member 40 through the first connecting member 20, the first end 21 of the first connecting member 20 passes through the first cavity 113, wherein a part of the first end 21 passes through the first cavity 113, and the part that passes through can be used to form a connection with the supporting member 40. The second end 22 of the first connecting member 20 can adopt a cross-section with a larger coverage range than the first end 21. For example, the projection of the first end 21 on the reference plane is located in the first cavity 113, so that the first end 21 can vertically pass through the first cavity 113, and the projection of the second end 22 on the reference plane at least partially overlaps with the first sub-portion 111, so that the second end 22 can limit the movement of the first sub-portion 111 relative to the supporting member 40 along the axial direction of the elastic section 13.
采用前述方式可以方便快速地使第一子部111和第二子部112分别与所述支撑件40形成连接。第一连接件20的第一端21利用穿过第一空腔113或者第二空腔114的方式对第一子部111或者第二子部112的径向位置进行了可靠的限制，同时利用位于第一空腔113或者第二空腔114外的第二端22对第一子部111或者第二子部112的轴向位置进行了可靠的限制。本实施例通过第一连接件20的第一端21和第二端22从不同位置和不同方向对第一子部111和第二子部112同时进行限位，使第一子部111和第二子部112与支撑件40形成稳定可靠的连接。且第一连接件20只与弹簧10的第一子部111或第二子部112接触就可以实现弹簧10与支撑件40的可靠连接，因此不会影响弹性段13的性能。The above-mentioned method can be used to conveniently and quickly connect the first sub-section 111 and the second sub-section 112 to the support member 40 respectively. The first end 21 of the first connecting member 20 reliably limits the radial position of the first sub-section 111 or the second sub-section 112 by passing through the first cavity 113 or the second cavity 114, and at the same time, the second end 22 located outside the first cavity 113 or the second cavity 114 reliably limits the axial position of the first sub-section 111 or the second sub-section 112. In this embodiment, the first end 21 and the second end 22 of the first connecting member 20 simultaneously limit the first sub-section 111 and the second sub-section 112 from different positions and different directions, so that the first sub-section 111 and the second sub-section 112 form a stable and reliable connection with the support member 40. And the first connecting member 20 can achieve a reliable connection between the spring 10 and the support member 40 by only contacting the first sub-section 111 or the second sub-section 112 of the spring 10, so that the performance of the elastic section 13 will not be affected.
如图12所示，在本实施例中，所述支撑件40还包括固定件60，所述固定件60位于所述支撑件40朝向所述受击打件50的一端，所述固定件60上设置有限位部61，所述限位部61沿弹簧10轴向方向穿过所述弹簧10和第二连接件30。As shown in FIG. 12 , in this embodiment, the support member 40 further includes a fixing member 60 , which is located at one end of the support member 40 facing the struck member 50 , and a limiting portion 61 is provided on the fixing member 60 , and the limiting portion 61 passes through the spring 10 and the second connecting member 30 along the axial direction of the spring 10 .
本实施例利用设置在固定件60上的限位部61穿过弹簧10和第二连接件30的方式来对应弹簧10和第二连接件30的径向方向的位置进行限位，既不会影响弹簧10的伸缩性能，有可以实现有效地限位。在本实施例中限位部61轴向方向的长度可以大于弹簧10和第二连接件30的长度之和，这样限位部61可以对应弹簧10和第二连接件30上各个轴向位置都进行限位，从而使弹簧10和支撑件40之间形成更加稳定可靠的连接。In this embodiment, the limiting portion 61 provided on the fixing member 60 passes through the spring 10 and the second connecting member 30 to limit the position of the spring 10 and the second connecting member 30 in the radial direction, which does not affect the expansion and contraction performance of the spring 10 and can achieve effective limiting. In this embodiment, the length of the limiting portion 61 in the axial direction can be greater than the sum of the lengths of the spring 10 and the second connecting member 30, so that the limiting portion 61 can limit the position of each axial position on the spring 10 and the second connecting member 30, thereby forming a more stable and reliable connection between the spring 10 and the support member 40.
作为一种优选的实施方式，限位部61为圆台状，且限位部61靠近固定件60的一端的横截面的直径大于限位部61远离固定件60的一端的横截面的直径。在限位部61的四周还设置有限位条62，所述限位条62由圆台的周壁朝圆台的外侧延伸，所述限位条62的底部与所述圆台直径较大的那一端平齐，所述限位条62的长度小于所述圆台的长度。本所述通过前述限位条62的设置可以增加限位部61的结构强度，提高限位部61定位的可靠性。限位条62的底部还可以和与第一连接件20配合使用，可以分别从弹簧10中心部分和弹簧10外周同时对弹簧10进行径向位置的限位，使安装后的弹簧10与支撑件40之间的连接更加稳定可靠。As a preferred embodiment, the limiting portion 61 is in the shape of a truncated cone, and the diameter of the cross section of the limiting portion 61 at one end close to the fixing member 60 is larger than the diameter of the cross section of the limiting portion 61 at one end away from the fixing member 60. A limiting strip 62 is also arranged around the limiting portion 61, and the limiting strip 62 extends from the peripheral wall of the truncated cone toward the outside of the truncated cone, and the bottom of the limiting strip 62 is flush with the end of the truncated cone with a larger diameter, and the length of the limiting strip 62 is less than the length of the truncated cone. The above-mentioned setting of the limiting strip 62 can increase the structural strength of the limiting portion 61 and improve the reliability of the positioning of the limiting portion 61. The bottom of the limiting strip 62 can also be used in conjunction with the first connecting member 20, and the radial position of the spring 10 can be limited from the central part of the spring 10 and the outer periphery of the spring 10 at the same time, so that the connection between the installed spring 10 and the support member 40 is more stable and reliable.
如图6和图7所示，作为一种改进的实施方式，在本实施例中，所述比赛设备还包括防脱件70，所述防脱件70在弹簧10沿轴向方向与所述第二连接件30相距预设距离的位置与所述固定件60连接，且防脱件70位于所述第二连接件30朝向所述受击打件50的一侧。As shown in Figures 6 and 7, as an improved implementation, in this embodiment, the competition equipment also includes an anti-slip component 70, which is connected to the fixing component 60 at a position where the spring 10 is a preset distance away from the second connecting component 30 along the axial direction, and the anti-slip component 70 is located on the side of the second connecting component 30 facing the struck component 50.
前述预设距离的范围为1.3mm至2.7mm。当受击打件50受到向上的拉扯时容易损坏弹簧10，本实施在第二连接件30的上方设置防脱件70来对第二连接件30进行限位，当受击打件50被向上拉扯时，弹簧10随第二连接件30移动至第二连接件30与所述防脱件70抵接的位置时，第二连接件30受到防脱件70的阻挡，无法继续向上移动，这时弹簧10也不会被继续拉伸，从而有效避免了弹簧10损坏。The preset distance ranges from 1.3 mm to 2.7 mm. When the struck member 50 is pulled upward, the spring 10 is easily damaged. In this embodiment, an anti-slip member 70 is provided above the second connecting member 30 to limit the second connecting member 30. When the struck member 50 is pulled upward, the spring 10 moves with the second connecting member 30 to the position where the second connecting member 30 abuts against the anti-slip member 70. The second connecting member 30 is blocked by the anti-slip member 70 and cannot continue to move upward. At this time, the spring 10 will not be stretched further, thereby effectively avoiding damage to the spring 10.
本实施例还可以在支撑件40内部设置控制电路100，该控制电路100可以接收第一检测器90发送的检测信号，并将检测信号发送给比赛系统进行计分。In this embodiment, a control circuit 100 may be provided inside the support member 40 , and the control circuit 100 may receive the detection signal sent by the first detector 90 , and send the detection signal to the game system for scoring.
在本实施例中，所述比赛设备还包括防撞装置，所述防撞装置包围在所述主体40远离所述受击打件50一端的四周。In this embodiment, the competition equipment further includes an anti-collision device, which surrounds the end of the main body 40 away from the struck member 50 .
在本实施例中，所述防撞装置包括防撞件81和减震件82，所述防撞件81为设置空腔的框体结构，所述减震件82包围在所述主体40远离所述受击打件50一端的四周，且位于所述框体和所述主体40之间。In this embodiment, the anti-collision device includes an anti-collision component 81 and a shock absorbing component 82. The anti-collision component 81 is a frame structure with a cavity. The shock absorbing component 82 surrounds the end of the main body 40 away from the striking component 50 and is located between the frame and the main body 40.
防撞件81可以增加比赛设备底部的稳定性。当比赛设备的底部收到撞击或者冲击时，减震件82可以及时起到缓冲作用，使最终传递给减震件82的震动大大减小。The anti-collision member 81 can increase the stability of the bottom of the game equipment. When the bottom of the game equipment receives a collision or impact, the shock absorbing member 82 can play a buffering role in time, so that the vibration finally transmitted to the shock absorbing member 82 is greatly reduced.
所述受击打件50包括上壳51和下壳52，上壳51设置有空腔，空腔的底部设置有开口，下壳52在上壳51的底部与上壳51连接。The struck member 50 includes an upper shell 51 and a lower shell 52 . The upper shell 51 is provided with a cavity, and the bottom of the cavity is provided with an opening. The lower shell 52 is connected to the upper shell 51 at the bottom of the upper shell 51 .
如图6和图7所示，本实施例的比赛设备在组装时先将弹簧10直接放入固定件60的定位槽内，扣上第一连接件20即可；再将下壳52竖直的放下，使弹簧10第二连接部12穿过下壳52，然后把弹簧10的第二连接部12扣入第二连接件30底部的卡槽内，再固定好第二连接件30和下壳52即可，然后依次安装受击打件50内的PCB板和上壳51。As shown in Figures 6 and 7, when assembling the competition equipment of this embodiment, first put the spring 10 directly into the positioning groove of the fixing member 60, and then buckle the first connecting member 20; then put the lower shell 52 vertically down, so that the second connecting portion 12 of the spring 10 passes through the lower shell 52, and then buckle the second connecting portion 12 of the spring 10 into the groove at the bottom of the second connecting member 30, and then fix the second connecting member 30 and the lower shell 52, and then install the PCB board in the struck member 50 and the upper shell 51 in sequence.
以上是对本发明实施例提供的击打识别方法、装置、设备及存储介质的详细介绍。The above is a detailed introduction to the strike recognition method, device, equipment and storage medium provided by the embodiments of the present invention.
需要明确的是，本发明并不局限于上文所描述并在图中示出的特定配置和处理。为了简明起见，这里省略了对已知方法的详细描述。在上述实施例中，描述和示出了若干具体的步骤作为示例。但是，本发明的方法过程并不限于所描述和示出的具体步骤，本领域的技术人员可以在领会本发明的精神后，作出各种改变、修改和添加，或者改变步骤之间的顺序。It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.
以上所述的结构框图中所示的功能块可以实现为硬件、软件、固件或者它们的组合。当以硬件方式实现时，其可以例如是电子电路、专用集成电路(ASIC)、适当的固件、插件、功能卡等等。当以软件方式实现时，本发明的元素是被用于执行所需任务的程序或者代码段。程序或者代码段可以存储在机器可读介质中，或者通过载波中携带的数据信号在传输介质或者通信链路上传送。“机器可读介质”可以包括能够存储或传输信息的任何介质。机器可读介质的例子包括电子电路、半导体存储器设备、ROM、闪存、可擦除ROM(EROM)、软盘、CD-ROM、光盘、硬盘、光纤介质、射频(RF)链路，等等。代码段可以经由诸如因特网、内联网等的计算机网络被下载。The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.
还需要说明的是，本发明中提及的示例性实施例，基于一系列的步骤或者装置描述一些方法或系统。但是，本发明不局限于上述步骤的顺序，也就是说，可以按照实施例中提及的顺序执行步骤，也可以不同于实施例中的顺序，或者若干步骤同时执行。It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.
以上所述，仅为本发明的具体实施方式，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。应理解，本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110475768.4ACN113188645B (en) | 2021-04-29 | 2021-04-29 | Hit recognition method, device, equipment, storage medium and competition equipment |
| Application Number | Priority Date | Filing Date | Title |
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| CN202110475768.4ACN113188645B (en) | 2021-04-29 | 2021-04-29 | Hit recognition method, device, equipment, storage medium and competition equipment |
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| CN113188645A CN113188645A (en) | 2021-07-30 |
| CN113188645Btrue CN113188645B (en) | 2024-07-23 |
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| CN202110475768.4AActiveCN113188645B (en) | 2021-04-29 | 2021-04-29 | Hit recognition method, device, equipment, storage medium and competition equipment |
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