A drumstick positioning system, method, device and medium

Abstract

The present invention discloses a drumstick positioning system, method, device and medium. The system includes: a data processing module and an ultra-wideband positioning module and an inertial measurement module configured in the drumstick; wherein the ultra-wideband positioning module is used to determine the position information of the drumstick and send the position information to the data processing module; the inertial measurement module is used to determine the kinematic information of the drumstick and send the kinematic information to the data processing module; the data processing module is used to receive the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position. The system solves the problem in the prior art that a sensor is installed in a physical drum surface to sense the direction and force of the strike to identify the strike on the drum surface, resulting in identification errors, thereby improving the positioning accuracy of the drumstick and achieving the effect of improving the accuracy of detecting the strike on the drum surface.

Description

Technical Field

[0001] The present invention relates to the field of electronic drums, and in particular to a drumstick positioning system, method, device and medium. Background Art

[0002] Electronic musical instrument technology is a field that combines traditional musical instruments with advanced electronic technology. It uses sensors, controllers and audio processing technology to simulate and synthesize the sounds and performance effects of various musical instruments. As a type of electronic musical instrument, electronic drums usually recognize the striking action in order to achieve drum beat capture and audio output. When the drum surface is recognized to be struck, the drum beat capture and audio output will begin.

[0003] At present, the method of identifying the drumhead is usually to install a sensor on the physical drumhead, and use the sensor to sense the direction and strength of the strike to identify whether the drumstick has hit the drumhead. However, this method of drumhead strike recognition depends on the user's strike strength and the sensor's sensitivity, which has the problem of recognition errors and poor portability. Summary of the invention

[0004] The present invention provides a drumstick positioning system, method, device and medium, so as to improve the positioning accuracy of the drumstick and improve the accuracy of detecting the striking of the drum surface.

[0005] According to one aspect of the present invention, a drumstick positioning system is provided, the system comprising: a data processing module, and an ultra-wideband positioning module and an inertial measurement module configured in the drumstick; wherein:

[0006] The ultra-wideband positioning module is used to determine the position information of the drumstick and send the position information to the data processing module;

[0007] The inertial measurement module is used to determine the kinematic information of the drumstick and send the kinematic information to the data processing module;

[0008] The data processing module is used to receive the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position.

[0009] According to another aspect of the present invention, there is provided a drumstick positioning method, the method comprising:

[0010] Determine the position information of the drumstick based on the ultra-wideband positioning module, and send the position information to the data processing module;

[0011] Determine kinematic information of the drumstick based on an inertial measurement module, and send the kinematic information to the data processing module;

[0012] Based on the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module received by the data processing module, the target position of the drumstick is determined based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the drumstick positioning method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the drumstick positioning method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention is to determine the position information of the drumstick based on the ultra-wideband positioning module and send the position information to the data processing module; determine the kinematic information of the drumstick based on the inertial measurement module and send the kinematic information to the data processing module; based on the data processing module receiving the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, determine the target position of the drumstick based on the position information and the kinematic information, and determine the target drum surface where the drumstick is located based on the target position. The problem of the prior art that the drum surface is struck by a sensor installed in the physical drum surface to sense the direction and force of the strike is solved, and the drumstick is positioned with high precision by using the ultra-wideband positioning module, and the position information of the drumstick is obtained in real time. At the same time, the kinematic information of the drumstick is measured by the inertial measurement module. The data processing module combines the kinematic information and position information of the drumstick to comprehensively determine the target position of the drumstick, thereby improving the positioning accuracy of the drumstick, and further improving the recognition accuracy of the strike on the drum surface.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a structural schematic diagram of a drumstick positioning system provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a drumstick positioning method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of an electronic device for implementing the drumstick positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 FIG. 1 is a structural diagram of a drumstick positioning system provided by an embodiment of the present invention. This embodiment can be applied to a scene in which a drumstick is detected to hit a drum surface. Figure 1The drumstick positioning system provided in this embodiment includes: a data processing module 110, and an ultra-wideband positioning module 120 and an inertial measurement module 130 configured in the drumstick. The structure of the drumstick positioning system of this embodiment is described in detail below.

[0028] The ultra-wideband positioning module 120 is used to determine the position information of the drumstick and send the position information to the data processing module 110;

[0029] An inertial measurement module 130 for determining kinematic information of the drumstick and sending the kinematic information to the data processing module 110;

[0030] The data processing module 110 is used to receive the position information sent by the ultra-wideband positioning module 120 and the kinematic information sent by the inertial measurement module 130, and determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position.

[0031] Among them, the drumstick can be used in conjunction with the drum body. In actual application scenarios, the drumstick can be used to hit the drum surface of the drum body to produce sound. The drumstick is equipped with an ultra-wideband positioning module 120. The ultra-wideband positioning module 120 can be based on UWB (Ultra Wide Band) positioning technology for positioning, which can be implemented by separate hardware. The position information can be longitude and latitude coordinates, or it can be a three-dimensional coordinate in a spatial coordinate system established with a certain point in space as a circle. The drumstick is equipped with an inertial measurement module 130. The inertial measurement module 130 can be an IMU (Inertial Measurement Unit), which is used to measure the kinematic information of the drumstick such as acceleration and angular velocity in three axes, which can be implemented by separate hardware.

[0032] In the present embodiment, when the drumstick is moved, the ultra-wideband positioning module 120 can locate the drumstick in real time, detect the position information of the drumstick, and then send the position information of the drumstick to the data processing module 110. At the same time, the inertial measurement module 130 can also measure the kinematic information of the drumstick in real time. For example, the inertial measurement module 130 can include an accelerometer and a gyroscope, and the acceleration of the drumstick in the three axes under the carrier coordinate system is detected by the accelerometer, and the angular velocity of the drumstick relative to the navigation coordinate system is detected by the gyroscope. Kinematic information includes but is not limited to speed, acceleration, angular velocity, etc. The inertial measurement module 130 sends the kinematic information to the data processing module 110. The data processing module 110 can combine the position information and kinematic information of the drumstick at the same time to comprehensively determine the target position of the drumstick. For example, the position information located by the ultra-wideband positioning module 120 can be corrected by the kinematic information of the drumstick, and the position information can be adjusted to obtain the adjusted position information as the target position of the drumstick. Further, the data processing module 110 can also detect which drumhead the drumstick has hit according to the target position of the drumstick. For example, the target position of the drumstick may be compared with the position range of the drumhead of each drum. If the drumstick position information is within the position range of the drumhead, the drumhead may be used as the target drumhead.

[0033] The technical solution of the embodiment of the present invention is to determine the position information of the drumstick based on the ultra-wideband positioning module and send the position information to the data processing module; determine the kinematic information of the drumstick based on the inertial measurement module and send the kinematic information to the data processing module; based on the data processing module receiving the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, determine the target position of the drumstick based on the position information and the kinematic information, and determine the target drum surface where the drumstick is located based on the target position. The problem of the prior art that the drum surface is struck by a sensor installed in the physical drum surface to sense the direction and force of the strike is solved, and the drumstick is positioned with high precision by using the ultra-wideband positioning module, and the position information of the drumstick is obtained in real time. At the same time, the kinematic information of the drumstick is measured by the inertial measurement module. The data processing module combines the kinematic information and position information of the drumstick to comprehensively determine the target position of the drumstick, thereby improving the positioning accuracy of the drumstick, and further improving the recognition accuracy of the strike on the drum surface.

[0034] Based on the above embodiment, the drumstick positioning system may further include: at least one ultra-wideband positioning base station; and an ultra-wideband positioning module 120, which is used to send a wireless signal to at least one ultra-wideband positioning base station and determine the position information of the drumstick according to the sent wireless signal based on the UWB positioning method. The ultra-wideband positioning base station may be configured in a sound box matched with the drumstick.

[0035] In this embodiment, the ultra-wideband positioning module 120 configured in the drumstick can send a series of wireless signals with extremely short pulse width and high peak power to at least one ultra-wideband positioning base station, and the wireless signals can be processed using the UWB positioning method to determine the location information of the drumstick. Optionally, the UWB positioning method includes positioning based on time of arrival (TOA), positioning based on time difference (TDOA), positioning based on received signal strength indicator (RSSI), positioning based on angle of arrival (AOA), etc. These methods can be used alone or in combination to improve the accuracy and stability of positioning. Exemplarily, a UWB positioning base station, i.e., an ultra-wideband positioning base station, can be deployed in the positioning area, and an ultra-wideband positioning module 120 can be set in the drumstick. By receiving and measuring the transmission time of the wireless signal emitted by the ultra-wideband positioning module 120 to reach different base stations, the distance between the ultra-wideband positioning module 120 and each base station is calculated, and then combined with the position information of the base station, the position of the ultra-wideband positioning module 120 is determined. The position of the ultra-wideband positioning module 120 is the position of the drumstick.

[0036] It should be noted that when locating the drumstick based on the ultra-wideband positioning module 120, the ultra-wideband signal may be affected by complex environments such as walls, windows and indoor obstacles, or by other interference signals, resulting in certain positioning errors, which may lead to errors in drumhead recognition. In order to improve the positioning accuracy of the drumstick and the recognition accuracy of the drumhead, the kinematic information of the drumstick measured by the inertial measurement module 130 and the position information of the drumstick measured by the ultra-wideband positioning module 120 can be combined to comprehensively determine the target position of the drumstick.

[0037] Based on the above embodiment, optionally, the data processing module 110 includes: a first position determination unit and a target position determination unit, wherein:

[0038] A first position determination unit, configured to determine a first position of a drumstick based on kinematic information;

[0039] The target position determination unit is used to determine the target position of the drumstick based on the position information and the first position.

[0040] In this embodiment, the first position determination unit can integrate the acceleration of the drumstick measured by the inertial measurement module 130 to obtain the speed of the drumstick, and then obtain the displacement of the drumstick according to the speed and the corresponding moving time, and determine the position of the drumstick as the first position according to the displacement. The target position determination unit receives the first position determined by the first position determination unit, and then uses a fusion algorithm to fuse the position information located by the ultra-wideband positioning module 120 and the first position to obtain the target position of the drumstick, thereby improving the positioning accuracy of the drumstick and thus improving the recognition accuracy of the drumhead being struck.

[0041] Based on the above embodiment, optionally, the data processing module 110 further includes: a posture information determination unit, wherein:

[0042] The posture information determination module is used to determine the posture information of the drumstick based on the kinematic information.

[0043] Specifically, the posture information determination module can use a posture solution algorithm (such as quaternion, Kalman filter, etc.) to convert kinematic information into posture information, such as posture information including but not limited to direction cosine matrix (DCM) or Euler angles (pitch angle, yaw angle, roll angle), which can represent the posture of the drumstick in three-dimensional space.

[0044] Based on the above embodiment, optionally, the data processing module 110 further includes: a position correction unit, wherein:

[0045] The position correction unit is used to correct the position information based on the kinematic information and / or the posture information to obtain the target position of the drumstick.

[0046] In this embodiment, the posture information determination module receives the posture information sent by the posture information determination module, and can then correct the position information through kinematic information and / or posture information, and use the corrected position information as the target position of the drumstick, thereby improving the accuracy and reliability of the positioning system.

[0047] Based on the above embodiment, optionally, the data processing module 110 further includes: a striking force determination unit; wherein,

[0048] The striking force determination unit is used to determine the striking force based on the position information, kinematic information and / or posture information, so as to determine the response information of the drumstick striking the target drum surface based on the striking force and the target position.

[0049] Specifically, the striking force determination unit can detect the striking trend and determine the striking force according to the position information, the target position, the posture information and / or the kinematic information. For example, the changing trend of the posture information can be analyzed, such as whether the drumstick starts to accelerate from a stationary state, whether its striking direction is toward the drumhead, etc. When the posture is detected to change rapidly, it can be judged as the beginning of the striking trend, and the striking force is estimated according to the changed posture information. The changes in the kinematic information such as the speed, acceleration and displacement of the drumstick can also be analyzed. When the speed and acceleration are detected to increase rapidly, or the unit displacement offset increases rapidly, it can be judged as the beginning of the striking trend, and the striking force is estimated according to the speed and acceleration peak values. For example, the greater the acceleration peak value, the greater the striking force. Alternatively, the striking force can also be detected according to the position information or the target position, such as the running speed of the drumstick at different time points can be determined according to the position difference of the drumstick at different time points, and then the striking force is determined according to the running speed; or, the striking force is determined according to the change of the running speed. Furthermore, the striking force determination unit can determine the response information of the drumstick striking the target drum surface by combining the striking force and the target position when detecting that the target position of the drumstick reaches the striking position of the target drum surface. The sounds produced by striking at different positions of the target drum surface are different, and the response information can be a sound source or drum sound, which is converted into a sound audible to the human ear through a speaker or earphone.

[0050] Based on the above embodiment, optionally, the data processing module 110 includes: a target drum surface determination unit, wherein:

[0051] The target drum surface determination unit is used to determine the target drum surface where the drumstick is located based on the target position and the drum surface trigger range information of at least two drums.

[0052] The drum model can be a stereoscopic model of the drum body in three-dimensional space, which can be determined based on the three-dimensional coordinates of the drum body. Optionally, the drum model is constructed based on at least two drums. In other words, the drum model includes the drum surfaces of at least two drums.

[0053] Specifically, the target drum surface determination unit can determine multiple position information of the adjacent drum surface range to be touched relative to the drum surface of each drum according to the three-dimensional coordinate position in the drum model, and then calibrate the drum surface trigger range information of each drum surface based on the multiple position information corresponding to each drum surface. The target drum surface determination unit can determine whether the target position of the drumstick reaches the drum surface trigger range information. If it reaches, it means that the drumstick is close to the drum surface, and the drum surface to which the drum surface trigger range information reaches can be used as the target drum surface. The advantage of this setting is that by judging the drum surface trigger range information, it is detected which drum surface the drumstick is going to hit, thereby achieving accurate identification of the target drum surface.

[0054] It should be noted that, considering that the process of drumsticks hitting the drum surface is a fast process, in order to improve the accuracy of the knocking detection, when the data processing module 110 determines the target position of the drumstick, based on the target position of the drumstick and the drum model, it is determined whether the drumstick has moved to the top of which drum surface, and the target drum surface is determined. For example, when the target position of the drumstick reaches the drum surface triggering range information of the drum surface, it is considered that the drumstick has moved to the top of the drum surface, and the drum surface is the target drum surface. When it is detected that the drumstick has moved to the top of the drum surface, it can be determined whether the target drum surface has been knocked by the drumstick target position and the target position determined after the target position. The advantage of this arrangement is that by first detecting whether the drumstick has moved to the top of the drum surface, when it moves to the top of the drum surface, a detection of whether the drum surface is knocked is performed, and errors in detection are avoided. If it is only moved to the position above the drum surface, there is no knocking action, and it will not be knocked, thereby improving the accuracy of the detection of the drum surface knocking.

[0055] Based on the above embodiment, optionally, the data processing module 110 further includes: a knock detection unit, wherein:

[0056] The striking detection unit is used to determine the striking detection result based on the target position and the drumhead position of the target drumhead; or determine the striking detection result based on the position difference between the target positions of the drumstick at different time points.

[0057] It should be noted that, generally speaking, when a drumstick strikes a target drum surface, it can strike various positions on the target drum surface to produce sound, and these positions are the drum surface positions.

[0058] Specifically, the striking detection unit can compare the target position of the drumstick with the drumhead position of the target drumhead to determine whether the target position reaches the drumhead position of the target drumhead. If the target position reaches the drumhead position, the striking detection result is considered to be striking the target drumhead. If the target position does not reach the drumhead position, the striking detection result is considered to be not striking the target drumhead. Alternatively, the striking detection unit can also calculate the position difference between the target positions of the drumstick at different time points, determine the running speed of the drumstick based on the position difference and the time interval between the different time points, and then determine the striking detection result based on the running speed. For example, if the running speed reaches a preset speed value, the striking detection result is considered to be striking the target drumhead; if the running speed does not reach the preset speed value, the striking detection result is considered to be not striking the target drumhead. Alternatively, the striking detection unit can also determine the motion acceleration of the drumstick based on the running speed of the drumstick at different time points, and determine the striking detection result based on the motion acceleration.

[0059] It should be noted that, considering that IMU data may be affected by noise and bias, filtering and calibration methods can be used to process the IMU data to improve the accuracy of posture information and kinematic information determination, thereby improving the accuracy of drumstick positioning.

[0060] In the technical solution provided by the embodiment of the present invention, when positioning the drumstick based on the ultra-wideband positioning module and the inertial measurement module, the advantages of other wireless communication technologies can also be combined to achieve more efficient and reliable wireless communication. Other sensor technologies are also combined for collaborative positioning. Optionally, other sensors can be Wi-Fi, or attitude sensors, optical sensors, Hall sensors, and acceleration sensors. Through the high-precision positioning and communication capabilities of UWB, and through the combination of UWB with other sensors, more comprehensive and accurate motion state monitoring and positioning accuracy can be achieved, thereby improving the performance and reliability of drumstick positioning detection.

[0061] Embodiment 2

[0062] Figure 2 is a flowchart of a drumstick positioning method provided according to a second embodiment of the present invention. The method can be applied to the drumstick positioning system provided in the above embodiment. The system includes a data processing module and an ultra-wideband positioning module and an inertial measurement module configured in the drumstick. Figure 2 , the method may include the following steps:

[0063] S210, determining the position information of the drumstick based on the ultra-wideband positioning module, and sending the position information to the data processing module.

[0064] S220, determining kinematic information of the drumstick based on an inertial measurement module, and sending the kinematic information to the data processing module.

[0065] S230, based on the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module received by the data processing module, determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position.

[0066] On the basis of the above technical solution, optionally, the data processing module includes: a first position determination unit and a target position determination unit, wherein:

[0067] The first position determination unit is used to determine a first position of the drumstick based on the kinematic information;

[0068] The target position determination unit is used to determine the target position of the drumstick based on the position information and the first position.

[0069] On the basis of the above technical solution, optionally, the data processing module further includes: a posture information determination unit, wherein:

[0070] The posture information determination module is used to determine the posture information of the drumstick based on the kinematic information.

[0071] On the basis of the above technical solution, optionally, the data processing module further includes: a position correction unit, wherein:

[0072] The position correction unit is used to correct the position information based on the kinematic information and / or the posture information to obtain the target position of the drumstick.

[0073] On the basis of the above technical solution, optionally, the data processing module further includes: a knocking force determination unit; wherein,

[0074] The striking force determination unit is used to determine the striking force based on the position information, the target position, the kinematic information and / or the posture information, so as to determine the response information of the drumstick striking the target drum surface based on the striking force and the target position.

[0075] On the basis of the above technical solution, optionally, the data processing module includes: a target drum surface determination unit, wherein:

[0076] The target drum surface determination unit is used to determine the target drum surface where the drumstick is located based on the target position and drum surface triggering range information of at least two drums.

[0077] On the basis of the above technical solution, optionally, the data processing module further includes: a knock detection unit, wherein:

[0078] The striking detection unit is used to determine the striking detection result based on the target position and the drumhead position of the target drumhead; or to determine the striking detection result based on the position difference between the target positions of the drumstick at different time points.

[0079] The technical solution of this embodiment is to determine the position information of the drumstick based on the ultra-wideband positioning module and send the position information to the data processing module; determine the kinematic information of the drumstick based on the inertial measurement module and send the kinematic information to the data processing module; based on the data processing module receiving the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position. The problem of the prior art that the drum surface is struck by a sensor installed in the physical drum surface to sense the direction and force of the strike, which leads to recognition errors, is solved, and the drumstick is positioned with high precision by using the ultra-wideband positioning module, and the position information of the drumstick is obtained in real time. At the same time, the kinematic information of the drumstick is measured by the inertial measurement module. The data processing module combines the kinematic information and position information of the drumstick to comprehensively determine the target position of the drumstick, thereby improving the positioning accuracy of the drumstick and further improving the recognition accuracy of the strike on the drum surface.

[0080] Embodiment 3

[0081] Figure 3 1 is a schematic diagram of the structure of an electronic device for implementing the drumstick positioning method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0082] like Figure 3 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0083] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0084] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the drumstick positioning method.

[0085] In some embodiments, the drumstick positioning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the drumstick positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the drumstick positioning method in any other appropriate manner (e.g., by means of firmware).

[0086] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0087] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0088] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0089] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0090] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0091] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0092] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0093] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drumstick positioning system, characterized in that: The system comprises: a data processing module, an ultra-wideband positioning module and an inertial measurement module configured in the drumstick; wherein, The ultra-wideband positioning module is used to determine the position information of the drumstick and send the position information to the data processing module; The inertial measurement module is used to determine the kinematic information of the drumstick and send the kinematic information to the data processing module; The data processing module is used to receive the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position; The data processing module further includes: a striking detection unit, wherein the striking detection unit is used to determine the position difference between the target positions of the drumstick at different time points, determine the running speed of the drumstick according to the position difference and the time interval between the different time points, and determine the striking detection result according to the running speed; The knock detection unit is specifically used to confirm that the knock detection result is that the target drum surface is knocked if the running speed reaches the preset speed value; if the running speed does not reach the preset speed value, then confirm that the knock detection result is that the target drum surface is not knocked; The data processing module further includes: a posture information determination unit and a tapping force determination unit, wherein: The posture information determination module is used to determine the posture information of the drumstick based on the kinematic information; The knocking force determination unit is used to analyze the changing trend of the posture information. When a rapid change in posture is detected, it is judged as the beginning of the knocking trend, and the knocking force is determined according to the changed posture information.

2. The system according to claim 1, characterized in that The data processing module includes: a first position determination unit and a target position determination unit, wherein: The first position determination unit is used to determine a first position of the drumstick based on the kinematic information; The target position determination unit is used to determine the target position of the drumstick based on the position information and the first position.

3. The system according to claim 1, characterized in that The data processing module further includes: a position correction unit, wherein: The position correction unit is used to correct the position information based on the kinematic information and / or posture information to obtain the target position of the drumstick.

4. The system according to claim 1, characterized in that The data processing module further includes: a knocking force determination unit; wherein, The striking force determination unit is used to determine the striking force based on the position information, the target position, the kinematic information and / or the posture information, so as to determine the response information of the drumstick striking the target drum surface based on the striking force and the target position.

5. The system according to claim 1, characterized in that The data processing module includes: a target drum surface determination unit, wherein: The target drum surface determination unit is used to determine the target drum surface where the drumstick is located based on the target position and drum surface triggering range information of at least two drums.

6. The system according to claim 5, characterized in that The data processing module further includes: a knock detection unit, wherein: The striking detection unit is used to determine the striking detection result based on the target position and the drumhead position of the target drumhead; or to determine the striking detection result based on the position difference between the target positions of the drumstick at different time points.

7. A drumstick positioning method, characterized in that: include: Determine the position information of the drumstick based on the ultra-wideband positioning module, and send the position information to the data processing module; Determine kinematic information of the drumstick based on an inertial measurement module, and send the kinematic information to the data processing module; Based on the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module received by the data processing module, a target position of the drumstick is determined based on the position information and the kinematic information, so as to determine a target drum surface where the drumstick is located based on the target position; The method further includes: determining the position difference between the target positions of the drumstick at different time points, and determining the running speed of the drumstick according to the position difference and the time interval between the different time points; determining the knocking detection result according to the running speed, including: if the running speed reaches a preset speed value, confirming the knocking detection result as hitting the target drum surface; if the running speed does not reach the preset speed value, confirming the knocking detection result as not hitting the target drum surface; The method further includes: determining the posture information of the drumstick based on the kinematic information; analyzing the changing trend of the posture information, and when a rapid posture change is detected, determining it as the beginning of a striking trend, and determining the striking force according to the changing posture information.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, wherein the computer program is executed by the at least one processor so as to enable the at least one processor to perform the drumstick positioning method according to claim 7 .

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the drumstick positioning method of claim 7 when executed by a processor.

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