An intelligent serving control method and system for basketball training

Abstract

The present invention discloses an intelligent serving control method and system for basketball training. The serving control method includes: determining the order in which multiple trainers assume the receiving posture; obtaining the facial information of each trainer assuming the receiving posture; tracking the position of each trainer according to the facial information; determining the serving information for serving each trainer according to the position, and serving the trainer. The control system of the present invention includes an order determination module, a facial information acquisition module, a tracking module, and a serving module. The serving control method and system of the present invention can be used for multi-person simultaneous training, achieve flexible serving through intelligent recognition, improve the intelligent level of basketball serving training, and improve the serving efficiency of basketball training.

Description

Technical Field

[0001] The present invention belongs to the technical field of basketball training mode control, and particularly relates to an intelligent serving control method and system for basketball training. Background Art

[0002] As one of the most popular ball games in the world, basketball is liked by more and more people. Shooting training is an essential training for every basketball player every day. In professional teams, there are special trainers to complete the work of picking up balls and passing balls. Or when training with teammates, teammates will help each other pick up balls and pass balls. However, when practicing shooting alone, since one needs to run over to pick up the ball frequently, a large amount of time and physical strength are wasted, which will greatly reduce the training effect. Therefore, a shooting training serving machine has emerged. However, the existing shooting training serving machines have the following problems, resulting in a low degree of intelligence:

[0003] (1) The serving distance cannot be adjusted at any time during the training process and cannot be adjusted in real time according to the position of the trainer.

[0004] (2) The serving interval time is fixed, and it is impossible to determine whether the trainer is ready to serve flexibly.

[0005] (3) It is only limited to single-person training and cannot train multiple people at the same time. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above-mentioned disadvantages of the existing shooting training serving machine that cannot determine whether the trainer is ready and cannot serve flexibly, and to provide an intelligent serving control method and system for basketball training.

[0007] The present invention first provides an intelligent serving control method for basketball training, including the following steps:

[0008] Step 1: Determine the order in which multiple trainers assume the receiving posture.

[0009] Step 2: Obtain the facial information of each trainer assuming the receiving posture.

[0010] Step 3: Track the position of each trainer according to the facial information.

[0011] Step 4: Determine the serving information for serving each trainer according to the position, and serve the trainer.

[0012] The serving order is the same as the order in which the receiving postures are assumed.

[0013] Preferably, the determining the order in which multiple trainers assume the receiving posture specifically includes:

[0014] Obtain the multiple joint angles of each trainer within a preset time period, and determine whether the trainer has assumed a catching posture based on the multiple joint angles;

[0015] If multiple trainers have assumed a catching posture, determine the order in which the multiple trainers assume the catching posture.

[0016] Preferably, obtaining the facial information of each trainer who has assumed a catching posture specifically includes:

[0017] Obtain the facial information of each trainer who is facing the serving machine and has assumed a catching posture.

[0018] Preferably, tracking the position of each trainer based on the facial information specifically includes:

[0019] Track the positions of the hands of each trainer based on the facial information.

[0020] Preferably, determining the serving information for serving the ball to each trainer based on the position specifically includes the angle, strength, path, and serving order for serving the ball to each trainer. The serving angle includes the left - right angle and the up - down angle.

[0021] Preferably, determining the left - right and up - down adjustment angles for serving the ball to each trainer based on the position specifically includes:

[0022] Determine the left - right angle of serving according to the first formula:

[0023] r1 = arccos{[∣cd∣ 2 - ∣ac∣ 2 - ∣ad∣ 2 / (2∣ac∣∣ad∣)}

[0024] In the formula, ∣ac∣ = [(x2 - x1) 2 +(y2 - y1) 2 +(z2 - z1) 2 0.5 , ∣ad∣ = [(x3 - x1) 2 +(y3 - y1) 2 +(z2 - z1) 2 0.5 , ∣cd∣ = [(x3 - x2) 2 +(y3 - y2) 2 0.5 ​​​; (x1, y1, z1) are the coordinates of the serving point a, (x2, y2, z2) are the coordinates of the center point c of the hands of the previous trainer, and (x3, y3, z2) are the coordinates of the point d at the same height as point c on the vertical line where the center of the current trainer's hands is located; r1 is the left - right angle of the serve, which is the angle between the line connecting points a and c and the line connecting points a and d. ac is the line connecting the serving point a and the center point c of the hands of the previous trainer, ad is the line connecting the serving point a and the point d at the same height as point c on the vertical line where the center of the current trainer's hands is located, and cd is the line connecting the center point c of the hands of the previous trainer and the point d at the same height as point c on the vertical line where the center of the current trainer's hands is located.

[0025] Preferably, determine the up - down angle of the serve according to the second formula:

[0026] r2 = arccos{[|bd| 2 - |ab| 2 - |ad| 2 / (2|ab||ad|)}

[0027] In the formula, |bd| = z3 - z2, |ab| = [|ad| 2 + |bd| 2 0.5 = [(x3 - x1) 2 + (y3 - y1) 2 + (z2 - z1) 2 + (z3 - z2) 2 0.5 ; (x1, y1, z1) are the coordinates of the serving point a, (x3, y3, z2) are the coordinates of the point d at the same height as point c on the vertical line where the center of the current trainer's hands is located, (x4, y4, z3) are the coordinates of the center point b of the current trainer's hands; bd is the line connecting the center point b of the current trainer's hands and the point d at the same height as the center point c of the hands of the previous trainer on the vertical line where the center of the current trainer's hands is located, ab is the line connecting the serving point a and the center point b of the current trainer's hands; r2 is the up - down angle of the serve, which is the angle between the line connecting points a and b and the line connecting points b and d.

[0028] Preferably, determine the serving force for each trainer according to the position, specifically including:

[0029] Determine the serving force according to the third formula, and the third formula is:

[0030] F = (mv1 - mv2) / Δt,

[0031] In the formula, F is the serving force, m is the weight of the basketball, v1 is the initial velocity of the basketball launched from the serving point, and ​​v2 is the speed at which the trainer catches the ball, s and Δt are respectively the straight-line distance and time for the basketball to be passed from the serving point to the center of the trainer's hands.

[0032] Preferably, the path is a flat pass path or a bounce pass path.

[0033] Preferably, serving the ball to the trainer specifically includes:

[0034] Serving the ball to the trainer through a serving machine with a left-right swing angle of 180°.

[0035] The second aspect of the present invention provides an intelligent serving control system for basketball training, including:

[0036] An order determination module, which is used to determine the order in which multiple trainers assume the ball-catching posture;

[0037] A facial information acquisition module, which is used to acquire the facial information of each trainer assuming the ball-catching posture;

[0038] A tracking module, which is used to track the position of each trainer according to the facial information;

[0039] A serving module, which is used to determine the serving information for serving the ball to each trainer according to the position, and serve the ball to the trainer.

[0040] The intelligent serving control method and system for basketball training of the present invention have the following beneficial effects:

[0041] (1) Tracking serving: Combining with the real-time position of the trainer, real-time tracking serving is realized, and the serving frequency and serving distance can be adjusted at any time to achieve accurate serving.

[0042] (2) Support for multiple people to train simultaneously: When multiple people appear in the training area for shooting training at the same time, it can sort the trainers in order according to the time when each trainer makes the ball-catching action, and the control system serves the ball in order, and the serving process is logically orderly.

[0043] (3) The interval time of serving is more reasonable: It can serve the ball as long as it is confirmed that the trainer faces the basket and assumes the ball-catching posture.

[0044] (4) Ensure the stability of the trainer's catching the ball: Preset the catching speed, and determine the serving force in combination with the preset catching speed, taking into account the bearing capacity of the human body. Description of the Drawings

[0045] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0046] Figure 1 Schematic flow diagram of an intelligent serving control method for basketball training according to an embodiment of the present invention;

[0047] Figure 2 Schematic structural diagram of an intelligent serving control system for basketball training according to an embodiment of the present invention;

[0048] Figure 3 Schematic diagram of the included angles of multiple joints of the body when the trainer makes a catching posture.

[0049] In the figure, 2-1 is the sequence determination module; 2-2 is the facial information acquisition module; 2-3 is the tracking module; 2-4 is the serving module;

[0050] 3-1 is the wrist joint angle; 3-2 is the elbow joint angle; 3-3 is the shoulder joint angle; 3-4 is the upper body inclination angle; 3-5 is the horizontal line where the hip joint is located; 3-6 is the hip joint angle; 3-7 is the knee joint angle; 3-8 is the ankle joint angle. Specific embodiments

[0051] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0052] This intelligent serving control method for basketball training, as Figure 1 shown, includes the following steps:

[0053] Step 1: Determine the order in which multiple trainers assume the catching posture. Specifically: Obtain the included angles of multiple joints of each trainer within a preset time period, and determine whether the trainer has assumed the catching posture based on the included angles of multiple joints;

[0054] If multiple trainers have assumed the catching posture, determine the order in which multiple trainers assume the catching posture.

[0055] In the embodiment of the present invention, multiple joint angles marked on the trainer's body are used to identify the trainer's catching posture. Theoretically, the more the number of marked joint angles, the more accurate the calculation will be, but more computational effort will also be generated. Therefore, in this embodiment, partial key part joint angles are selected for the joint angles. Figure 3 It is a schematic diagram of multiple joint angles of the trainer. The captured shooting actions are sorted in sequence to determine the serving order.

[0056] In the embodiment of the present invention, within a preset time period, multiple joint angles of each trainer are obtained. Whether the trainer has assumed a catching posture is judged according to whether multiple joint angles of the trainer are simultaneously within a preset range. The ranges of multiple joint angles specifically include:

[0057] The range of the wrist joint angle 3-1 is 236.6°±8.3°,

[0058] The range of the elbow joint angle 3-2 is 56.6°±6.1°,

[0059] The range of the shoulder joint angle 3-3 is 24.8°±10.2°,

[0060] The range of the hip joint angle 3-6 is 175.5°±3.3°,

[0061] The range of the knee joint angle 3-7 is 168.1°±8.3°,

[0062] The range of the ankle joint angle 3-8 is 143.5°±12.1°.

[0063] Such as Figure 3 As shown, the wrist joint angle 3-1 is the angle between the wrist and the lower end of the arm; the elbow joint angle 3-2 is the angle between the upper arm and the lower arm, the shoulder joint angle 3-3 is the angle between the upper arm and the chest cavity, the hip joint angle 3-6 is the angle between the horizontal line 3-5 where the hip joint is located and the thigh, the knee joint angle 3-7 is the angle between the thigh and the calf, and the ankle joint angle 3-8 is the angle between the calf and the instep.

[0064] In the embodiment of the present invention, the way to obtain the joint angle is to set an image acquisition device on the side of the basketball hoop.

[0065] In an improved example, judging the trainer's catching posture further includes judging the height by which the trainer's head drops relative to the ground and the upper body inclination angle 3-4. Specifically, the head drops 8-12 cm relative to the ground; the upper body inclination angle 3-4 is 87.5°±2°.

[0066] In the embodiment of the present invention, if multiple trainers have assumed a catching posture, the order in which multiple trainers assume the catching posture is determined. Specifically:

[0067] Obtain the videos collected by the acquisition device within a preset time period, and sort them according to the time sequence of the trainer assuming the ball-catching posture in the videos.

[0068] Step 2: Obtain the facial information of each trainer assuming the ball-catching posture. Specifically, obtain the facial information of each trainer facing the ball serving machine and assuming the ball-catching posture, so as to filter out the trainers during the movement process and determine the ball-serving objects.

[0069] Step 3: Track the positions of each trainer according to the facial information;

[0070] The acquisition device tracks the trainer according to the facial information of the trainer assuming the ball-catching posture, and simultaneously captures the real-time position of each trainer. Further determine the position of the center of the hands of the trainer according to the real-time position of the trainer.

[0071] Step 4: Determine the serving angle, strength, path and serving order for each trainer according to the position, and serve the ball to the trainer. The serving angle includes the left-right angle and the up-down angle.

[0072] In the embodiment of the present invention, the left-right angle of serving the ball is determined according to the first formula, specifically including:

[0073] Determine the left-right angle of serving the ball according to the first formula:

[0074] r1 = arccos{[∣cd∣ 2 - ∣ac∣ 2 - ∣ad∣ 2 / 2∣ac∣∣ad∣}

[0075] In the formula, ∣ac∣ = [(x2 - x1) 2 + (y2 - y1) 2 + (z2 - z1) 2 0.5 , ∣ad∣ = [(x3 - x1) 2 + (y3 - y1) 2 + (z2 - z1) 2 0.5 , ∣cd∣ = [(x3 - x2) 2 + (y3 - y2) 2 0.5; (x1, y1, z1) are the coordinates of the serving point a, (x2, y2, z2) are the coordinates of the center point c of the hands of the previous trainer, and (x3, y3, z2) are the coordinates of the point d on the vertical line where the center of the current trainer's hands is located and at the same height as point c; r1 is the left - right angle of the serve, which is the included angle between the line connecting points a and c and the line connecting points a and d. ac is the line connecting the serving point a and the center c of the hands of the previous trainer, ad is the line connecting the serving point a and the point d on the vertical line where the center of the current trainer's hands is located and at the same height as point c, and cd is the line connecting the center c of the hands of the previous trainer and the point d on the vertical line where the center of the current trainer's hands is located and at the same height as point c.

[0076] Preferably, the up - down angle of the serve is determined according to the second formula:

[0077] r2 = arccos{[|bd| 2 - |ab| 2 - |ad| 2 / (2|ab||ad|)}

[0078] In the formula, |bd| = z3 - z2, |ab| = [|ad| 2 + |bd| 2 0.5 = [(x3 - x1) 2 + (y3 - y1) 2 + (z2 - z1) 2 + (z3 - z2) 2 0.5 ; (x1, y1, z1) are the coordinates of the serving point a, (x3, y3, z2) are the coordinates of the point d on the vertical line where the center of the current trainer's hands is located and at the same height as point c, (x4, y4, z3) are the coordinates of the center point b of the current trainer's hands; bd is the line connecting the center point b of the current trainer's hands and the point d on the vertical line where the center of the current trainer's hands is located and at the same height as the center point c of the previous trainer's hands, ab is the line connecting the serving point a and the center point b of the current trainer's hands; r2 is the up - down angle of the serve, which is the included angle between the line connecting points a and b and the line connecting points b and d.

[0079] Specifically, the left - right angle of the serve of the serving machine to the first trainer is determined according to the following formula,

[0080] r3 = arccos{[|ef| 2 - |ae| 2 - |af| 2 / (2|ae||af|)}

[0081] ​​In the formula, r3 is the left - right angle at which the ball - serving machine serves the ball to the first trainer, which is the included angle between the ball - serving point a and the center e of the hands of the first trainer, and the included angle between the ball - serving point a and the corner point f of the basketball court directly opposite the left hand of the first trainer. (x5, y5, z4) is the coordinate of the center e of the hands of the first trainer, and (x6, y6, z5) is the coordinate of the corner point f of the basketball court directly opposite the left hand of the first trainer; ef is the line connecting the center e of the hands of the first trainer and the corner point f of the basketball court directly opposite the left hand of the first trainer; ae is the line connecting the ball - serving point a and the center e of the hands of the current trainer, and af is the line connecting the ball - serving point a and the corner point f of the basketball court directly opposite the left hand of the first trainer; ∣ae∣=[(x5 - x1) ^2 +(y5 - y1) ^2 +(z4 - z1) ^2 ^0.5 , ∣af∣=[(x6 - x1) ^2 +(y6 - y1) ^2 +(z5 - z1) ^2 ^0.5 , |ef|=[(x6 - x5) ^2 +(y6 - y5) ^2 +(z5 - z4) ^2 ^0.5 .

[0082] In another embodiment, the left - right angle at which the ball - serving machine serves the ball to the first trainer can also be determined according to three points: the ball - serving point, the center point of the hands of the first trainer, and the corner point of the basketball court directly opposite the right hand of the first trainer.

[0083] In the embodiments of the present invention, the coordinate system used is a coordinate system constructed with the intersection of the center line and the bottom line of the basketball court as the origin, the bottom line as the x - axis, the center line as the y - axis, and the line passing through the origin and perpendicular to the plane where the x - axis and y - axis are located as the z - axis.

[0084] Furthermore, the serving force is determined according to the third formula, and the third formula is:

[0085] F=(mv1-mv2) / Δt

[0086] Wherein, m is the weight of the basketball, v2 is the speed at which the trainer catches the ball, which is a preset value of the system and can be adjusted at any time according to needs during use.

[0087] Furthermore, the set value of v2 should consider the maximum bearing capacity and the comfort of catching the ball of the trainer.

[0088] v1 is the initial speed at which the ball - serving machine launches the basketball, according to ​​​It is calculated that s and Δt are respectively the straight-line distance and time for the basketball to be passed from the serving point to the center of the trainer's hands. Further, theoretically, the launched basketball moves in a parabolic path in the air and is affected by gravity and wind resistance in the air. However, since the passing distance is about 3-5 meters, it is approximately understood as a straight-line motion in the calculation.

[0089] The passing path in the embodiments of the present invention is a bouncing ball path or a flat pass path.

[0090] In the present invention, only when it is recognized that the trainer faces the basket and makes a receiving posture, it is determined that the trainer is ready to receive the ball at this time, so as to prevent mis-serving to non-trainers or other personnel and cause personal injuries.

[0091] In the present invention, after the serving machine sends a ball to a trainer, it immediately turns to the next trainer and serves the ball to him, and so on to meet the simultaneous training of multiple people. The time interval for the serving machine to serve the ball to the trainer is not fixed, that is, the time interval for each trainer to receive the basketball is determined by whether he himself makes a receiving action and the order of making the receiving action.

[0092] In the present invention, the serving device executes the serving order according to the order of receiving postures of different trainers, and adjusts the serving angle, strength and path according to the analysis and calculation results, so that the launched basketball accurately points to the trainer.

[0093] The present invention further includes an intelligent serving control system for basketball training, including a sequence acquisition module 2-1, a facial information acquisition module 2-2, a tracking module 2-3 and a serving module 2-4.

[0094] The sequence acquisition module 2-1 is used to judge whether the trainer has a receiving posture and sort according to the order of receiving postures;

[0095] The facial information acquisition module 2-2 is used to acquire the facial information of the trainer; track the position of each trainer according to the facial information;

[0096] The tracking module 2-3 is used to track the position of each trainer according to the facial information;

[0097] The serving module 2-4 is used to determine the serving angle, strength, path and serving order for each trainer according to the position, and serve the ball to the trainer.

[0098] In an improved example, the system further includes a communication module, and the communication module is connected to the tracking module and the serving module, and is used to send the position of each trainer of the tracking module to the serving module.

[0099] The intelligent serving control method and system for basketball training of the present invention have the following beneficial effects:

[0100] (1) Tracking service: Combining with the real-time position of the trainer to achieve real-time tracking service, and the service frequency and service distance can be adjusted at any time to achieve accurate service.

[0101] (2) Support for multiple people to train simultaneously: When multiple people appear in the training area for shooting training at the same time, it can sort the trainers in sequence according to the time when each trainer makes a catching action, and the control system serves the ball in sequence, and the logic of the serving process is orderly.

[0102] (3) More reasonable interval time for serving: The service can be made after confirming that the trainer is facing the basket and making a catching posture.

[0103] (4) Ensure the stability of the trainer's catching: Preset the catching speed, calculate the serving force according to the second formula, taking into account the bearing capacity of the human body.

[0104] The above are only several embodiments of the present application, and do not impose any form of limitation on the present application. Although the present application is disclosed above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art, without departing from the scope of the technical solution of the present application, making some changes or modifications using the technical content disclosed above is equivalent to equivalent implementation cases and all fall within the scope of the technical solution.

Claims

1. An intelligent serving control method for basketball training, characterized in that, Including: Step 1: Determine the order in which multiple trainers assume the catching posture. Step 2: Obtain the facial information of each trainer assuming the catching posture. Step 3: Track the position of each trainer according to the facial information. Step 4: Determine the serving information for serving the ball to each trainer according to the position and the order in which multiple trainers assume the catching posture, and serve the ball to the trainer. The serving information includes the serving order, the serving angle and the serving force. The serving order is the same as the order in which the catching posture is assumed. The serving angle includes the left - right angle and the up - down angle.

2. The intelligent serving control method for basketball training according to claim 1, wherein, Determining the order in which multiple trainers assume the catching posture specifically includes: Obtain the multiple joint angles of each trainer within a preset time period, and determine whether the trainer assumes the catching posture according to the multiple joint angles. If multiple trainers assume the catching posture, determine the order in which multiple trainers assume the catching posture.

3. The intelligent serving control method for basketball training according to claim 1, wherein The obtaining the facial information of each trainer assuming the catching posture specifically includes: Obtain the facial information of each trainer who faces the serving machine and assumes the catching posture.

4. The intelligent serving control method for basketball training according to claim 1, wherein Tracking the position of each trainer according to the facial information specifically includes: Track the positions of the hands of each trainer according to the facial information.

5. The intelligent serving control method for basketball training according to claim 1, wherein Determining the left - right angle for serving the ball to each trainer according to the position specifically includes Determine the left - right angle of serving according to the first formula: ， In the formula, , ， ； ( ) is the coordinate of the serving point . ([[]] ) is the coordinate of the center of the hands of the previous trainer . ([[]] ) is the point on the vertical line where the center of the hands of the current trainer is located and is at the same height as the point . is the left - right angle of serving, which is , the included angle between the line connecting the points and , the line connecting the points. is the line connecting the serving point and the center of the hands of the previous trainer . is the line connecting the serving point and the point on the vertical line where the center of the hands of the current trainer is located and is at the same height as the point . is the line connecting the center of the hands of the previous trainer and the point on the vertical line where the center of the hands of the current trainer is located and is at the same height as the point .

6. The intelligent serving control method for basketball training according to claim 1, wherein, Determining the up - down angle for serving the ball to each trainer according to the position specifically includes: Determine the up - down angle of serving according to the second formula: ， In the formula, , ; ( ) is the coordinate of the serving point , and ( ) is the point on the vertical line where the center of the current trainer's hands is located, at the same height as the center of the hands of the previous trainer ; ( ) is the coordinate of the point at the center of the current trainer's hands ; is the line connecting the point at the center of the current trainer's hands and the point at the same height as the center of the hands of the previous trainer on the vertical line where the center of the current trainer's hands is located ; is the line connecting the serving point and the point at the center of the current trainer's hands; is the angle of serving up and down, which is , the included angle between the line connecting the points and , the line connecting the points.

7. The intelligent serving control method for basketball training according to claim 1, characterized in that Determining the serving force for serving the ball to each trainer according to the position specifically includes: Determine the serving strength according to the third formula, and the third formula is: , Wherein, is the force of serving the ball, is the weight of the basketball, is the initial velocity of the basketball launched from the serving point, and , is the velocity of the trainer receiving the ball, and are respectively the straight-line distance and time for the basketball to be transmitted from the serving point to the center of the trainer's hands.

8. The intelligent serving control method for basketball training according to claim 1, wherein Serving the ball to the trainer specifically includes: Serve the ball to the trainer through a serving machine with a left - right swing angle of 180°.

9. An intelligent serving control system for basketball training, characterized in that, Including: An order determination module, which is used to determine the order in which multiple trainers assume the catching posture. A facial information acquisition module, which is used to obtain the facial information of each trainer assuming the catching posture. A tracking module, which is used to track the position of each trainer according to the facial information. A serving module, which is used to determine the serving information for serving the ball to each trainer according to the position and the order in which multiple trainers assume the catching posture, and serve the ball to the trainer. The serving information includes the serving order, the serving angle and the serving force. The serving order is the same as the order in which the catching posture is assumed. The serving angle includes the left - right angle and the up - down angle.

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