Intelligent fencing training system based on multiple sensors
Through the multi-sensor intelligent fencing training system, the fencing area is divided and the use of laser sensors to detect obstacle avoidance is solved, and the problem of high cost and low efficiency of coaches is achieved, and the timeliness of intelligent target people's obstacle avoidance and training safety is achieved.
Patent Information
- Application Number
- CN202510479721.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-17
- Publication Date
- 2025-07-25
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In fencing training, coaches need a lot of unnecessary physical labor to conduct one-on-one training, resulting in low work efficiency and high training costs, and the inability to avoid obstacles in time for intelligent targets to avoid obstacles in time may cause damage.
A multi-sensor intelligent fencing training system is adopted. By dividing the fencing safety zone, early warning zone and alarm zone, laser sensors are used to detect distance information, generate obstacle avoidance warning sets, and action management is carried out through interactive modules and coach APP, and intelligent targets perform obstacle avoidance processing.
It improves the work efficiency of coaches, reduces labor costs, prevents damage to smart targets, and ensures that training is carried out safely and efficiently.
Smart Images
Figure CN120361508A_ABST
Abstract
Description
Technical Field
[0002] The present invention relates to the technical field of fencing training systems, and more particularly, to an intelligent fencing training system based on multi-sensors. Background Art
[0003] Fencing is a sport developed from ancient sword duels. Both athletes hold a slender elastic steel sword in one hand, wear a mask on the head, and wear prescribed clothing, and compete on a rectangular field. The number of valid hits (cuts) within the specified time determines the winner according to the corresponding rules. Fencing is divided into foil, sabre, and epee, with different attack areas and scoring methods.
[0004] However, during daily training, most of the time for coaches to train athletes is to let athletes form muscle memory of movements. Therefore, coaches need to constantly repeat the same movements while moving back and forth to achieve the athletes' familiarity with specific movements, or let athletes repeatedly practice specific movements against a stationary target. At the same time, due to the particularity of fencing, coaches can only train athletes one-on-one. In this process, a large amount of manual repetitive work is required, coaches need to expend a lot of unnecessary physical labor, which also reduces the work efficiency of coaches. At the same time, with the gradual increase in labor costs, the training costs of athletes are increased. Summary of the Invention
[0005] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide an intelligent fencing training system based on multi-sensors.
[0006] To achieve the above purpose, the present invention provides the following technical solutions: An intelligent fencing training system based on multi-sensors, comprising: an interaction module. An industrial tablet is installed on the face of the intelligent target person, and voice and animation interactions are carried out with athletes and coaches through the tablet screen and tablet speaker. At the same time, the coach can edit, save, manage, and run training actions on the intelligent target person through the mobile phone APP, and store the training actions in the cloud server; The division module takes the intelligent target person as the center point and divides the distances between the intelligent target person and the surrounding people or surrounding obstacles into a fencing safety area, a fencing warning area, and a fencing alarm area in sequence; the detection module is equipped with multiple laser sensors on the intelligent target person to detect the fencing distance information of the fencing safety area, the fencing warning area, and the fencing alarm area between the intelligent target person and the surrounding people and obstacles in real time; the analysis module analyzes the fencing distance information of the fencing safety area, the fencing warning area, and the fencing alarm area between the intelligent target person and the surrounding people or surrounding obstacles to obtain an obstacle avoidance warning set, which includes a first obstacle avoidance prompt signal, a second obstacle avoidance prompt signal, and a third obstacle avoidance prompt signal. Among them, the first obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing safety area, the second obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing warning area, and the third obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing alarm area; the obstacle avoidance prompt module performs obstacle avoidance processing on the fencing distance according to the obstacle avoidance warning set.
[0007] For the above-mentioned intelligent fencing training system based on multiple sensors, the first obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing safety area. Specifically: Continuously record the moving distance amounts of the people in the fencing safety area at two time points, and perform value taking and marking to obtain the moving distance amount ML1 of the people in the fencing safety area at the first time point, and the moving distance amount ML2 of the people in the fencing safety area at the second time point. At the same time, mark the first time point as MT1 and the second time point as MT2, where the second time point is later than the first time point; Through the calculation formula Calculate the moving speed MSL of the people in the fencing safety area through the calculation formula. If the moving speed MSL of the people in the fencing safety area meets the preset moving speed threshold of the people, it is determined that there are people in the fencing safety area, that is, a first obstacle avoidance prompt signal is generated.
[0008] For the above-mentioned intelligent fencing training system based on multiple sensors, the second obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing warning area. Specifically: Continuously record the moving distance amounts of the people in the fencing alarm area at two time points, and perform value taking and marking to obtain the moving distance amount YL1 of the people in the fencing alarm area at the first time point, and the moving distance amount YL2 of the people in the fencing alarm area at the second time point. At the same time, mark the first time point as YT1 and the second time point as YT2, where the second time point is later than the first time point; Through the calculation function Calculate the moving speed YSL of the people in the fencing alarm area of the people, where a is the moving speed adjustment factor of the people; Obtain the distance value YL of the people not approaching the intelligent target person; Through the correlation function The time value TY of the person approaching the intelligent target is calculated, where the time value TY is the second obstacle avoidance prompt signal.
[0009] In the above-mentioned intelligent fencing training system based on multi-sensors, the third obstacle avoidance prompt signal is obtained by analyzing the fencing distance information in the fencing alarm area, specifically: Continuously record the moving distance of the person in the fencing warning area at two time points, and perform value taking and marking to obtain the moving distance QL1 of the person in the fencing warning area at the first time point, the moving distance QL2 of the person in the fencing warning area at the second time point. At the same time, mark the first time point as QT1 and the second time point as QT2, where the second time point is later than the first time point; Through the calculation function Calculate the moving speed QSL of the person in the fencing warning area, where a is the moving speed adjustment factor of the person; Obtain the distance value FL when the person is not close to the intelligent target; Through the correlation function Calculate the time value TF of the person approaching the intelligent target, where the time value TF is the third obstacle avoidance prompt signal.
[0010] In the above-mentioned intelligent fencing training system based on multi-sensors, obstacle avoidance processing is performed on the distance between the intelligent target and the person according to the prompt of the obstacle avoidance warning set, specifically: If the first obstacle avoidance prompt signal is generated, it indicates that there are people and obstacles in the fencing safety area, and the intelligent target is prompted to perform fencing training on the people in the fencing safety area; If the second obstacle avoidance prompt signal is generated, it is prompted to reduce the speed of the intelligent target within the time value TY in the fencing warning area; If the third obstacle avoidance prompt signal is generated, it is prompted to stop the intelligent target within the time value TF in the fencing alarm area.
[0011] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, by setting an intelligent target, it can replace the coach to train personnel daily, enabling the coach to avoid a large amount of unnecessary physical labor, thereby improving the work efficiency of the coach. At the same time, by setting a fencing safety area, a fencing warning area, and a fencing alarm area between the intelligent target and the person, and analyzing the fencing distance information of the three areas to obtain an obstacle avoidance warning set, and prompting the intelligent target to perform obstacle avoidance processing according to the obstacle avoidance warning set, it can prevent the intelligent target from not avoiding obstacles in time and causing damage to the intelligent target. Description of the Drawings
[0012] Figure 1This is a schematic diagram of the modules of an intelligent fencing training system based on multi-sensors proposed by the present invention; Figure 2 This is a schematic diagram of the intelligent target person and personnel fencing training of an intelligent fencing training system based on multi-sensors proposed by the present invention; Figure 3 This is a schematic diagram of obstacle avoidance of an intelligent target person of an intelligent fencing training system based on multi-sensors proposed by the present invention; Figure 4 This is a schematic diagram of the interaction of an intelligent target person of an intelligent fencing training system based on multi-sensors proposed by the present invention; Figure 5 This is a schematic diagram of the joints of an intelligent target person of an intelligent fencing training system based on multi-sensors proposed by the present invention; Figure 6 This is a schematic diagram of the arm posture of an intelligent target person of an intelligent fencing training system based on multi-sensors proposed by the present invention; Figure 7 This is a schematic diagram of the interaction of an intelligent fencing training system based on multi-sensors proposed by the present invention. Detailed implementation manners
[0013] Refer to Figures 1 to 7 Example 1 further describes an intelligent fencing training system based on multi-sensors proposed by the present invention.
[0014] An intelligent fencing training system based on multi-sensors includes: an interaction module, which installs an industrial tablet on the face of the intelligent target person, and conducts voice and animation interactions with athletes and coaches through the tablet screen and tablet speaker. At the same time, the coach edits, saves, manages, and runs training actions on the intelligent target person through the mobile phone APP, and stores the training actions in the cloud server; A division module takes the intelligent target person as the center point, and divides the distances between the intelligent target person and surrounding people and obstacles into a fencing safety area, a fencing warning area, and a fencing alarm area in sequence; a detection module installs multiple laser sensors on the intelligent target person to detect the fencing distance information of the fencing safety area, fencing warning area, and fencing alarm area between the intelligent target person and surrounding people and obstacles in real time; an analysis module analyzes the fencing distance information of the fencing safety area, fencing warning area, and fencing alarm area between the intelligent target person and surrounding people and obstacles to obtain an obstacle avoidance warning set, and the obstacle avoidance warning set includes a first obstacle avoidance prompt signal, a second obstacle avoidance prompt signal, and a third obstacle avoidance prompt signal. Among them, the first obstacle avoidance prompt signal is analyzed through the fencing distance information of the fencing safety area, the second obstacle avoidance prompt signal is analyzed through the fencing distance information of the fencing warning area, and the third obstacle avoidance prompt signal is analyzed through the fencing distance information of the fencing alarm area; an obstacle avoidance prompt module performs obstacle avoidance processing on the fencing distance according to the obstacle avoidance warning set; In this embodiment, through the provided interaction module, that is, an industrial tablet and a speaker are installed on the face of the intelligent target person. During fencing training, it can interact with athletes through voice and animation. At the same time, the coach can edit, save, manage, and run training actions of the intelligent target person through the mobile phone APP, thus enriching the training content; As Figure 3 shown, the person is located on the fencing lane 2, while the intelligent target person is located on the truss track. And based on the fencing distance between the intelligent target person and the surrounding people and obstacles, it is divided into a fencing safety zone, a fencing warning zone, and a fencing alarm zone. Among them, the distance control between the intelligent target person and the person is driven by an external moving motor, so that the intelligent target person slides on the truss track to carry out fencing training with the person. It should be noted that during the fencing training process, in order to improve the fencing level of the person, it is necessary to give an obstacle avoidance prompt to the intelligent target person, and at the same time, to prevent the intelligent target person from hitting the surrounding people and obstacles during the fencing process of the person. Moreover, during the obstacle avoidance process, multiple lidars on the intelligent target person perform high-frequency ranging scans. The 01 lidar can not only detect the distance from the person, divide the corresponding distance, but also detect whether there is someone on the fencing lane 2. If someone exists, the signal will be transmitted to the intelligent target person. The intelligent target person will perform the operation of fencing training with the person according to the input training content. At the same time, the lidars from 02 to 08 are used to detect and identify other people and obstacles during the forward and backward movement of the intelligent target person to avoid collisions during the movement..
[0015] The first obstacle avoidance prompt signal is obtained by analyzing the fencing distance information in the fencing safety zone. Specifically: Continuously record the moving distance of the person in the fencing safety zone at two time points, and take values and mark them to obtain the moving distance of the person in the fencing safety zone at the first time point ML1, and the moving distance of the person in the fencing safety zone at the second time point ML2. At the same time, mark the first time point as MT1 and the second time point as MT2, where the second time point is later than the first time point; Through the calculation formula Calculate the moving speed MSL of the person in the fencing safety zone through the calculation formula; If the moving speed MSL of the person in the fencing safety zone meets the preset moving speed threshold of the person, it is determined that there is a person in the fencing safety zone, that is, the first obstacle avoidance prompt signal is generated.
[0016] The moving speed MSL of the personnel in the fencing safety area is calculated, and the preset moving speed threshold of the personnel is set manually. If the moving speed MSL of the personnel in the fencing safety area ≥ the preset moving speed threshold of the personnel, it is determined that the personnel is a person, that is, a first obstacle avoidance prompt signal is generated; if the moving speed MSL < the preset moving speed threshold, it is considered that the personnel is not a person but a staff member. Therefore, it is not necessary to dodge the staff member because the staff member does not participate in the fencing training of the intelligent target person, while the person needs to participate in the fencing training of the intelligent target person.
[0017] The second obstacle avoidance prompt signal is obtained through the analysis of the fencing distance information in the fencing warning area, specifically: Continuously record the moving distance of the personnel in the fencing alarm area at two time points, and perform value taking and marking to obtain the moving distance YL1 of the personnel in the fencing alarm area at the first time point, the moving distance YL2 of the personnel in the fencing alarm area at the second time point. At the same time, mark the first time point as YT1 after value taking, and mark the second time point as YT2 after value taking, where the second time point is later than the first time point; Through the calculation function Calculate the moving speed YSL of the personnel in the fencing alarm area, where a is the moving speed adjustment factor of the personnel; Obtain the distance value YL of the personnel not approaching the intelligent target person; Through the correlation function Calculate the time value TY for the personnel to approach the intelligent target person, where the time value TY is the second obstacle avoidance prompt signal; The third obstacle avoidance prompt signal is obtained through the analysis of the fencing distance information in the fencing alarm area, specifically: Continuously record the moving distance of the personnel in the fencing warning area at two time points, and perform value taking and marking to obtain the moving distance QL1 of the personnel in the fencing warning area at the first time point, the moving distance QL2 of the personnel in the fencing warning area at the second time point. At the same time, mark the first time point as QT1 after value taking, and mark the second time point as QT2 after value taking, where the second time point is later than the first time point; Through the calculation function Calculate the moving speed QSL of the personnel in the fencing warning area, where a is the moving speed adjustment factor of the personnel; Obtain the distance value FL of the personnel not approaching the intelligent target person; Through the correlation function Calculate the time value TF for the personnel to approach the intelligent target person, where the time value TF is the third obstacle avoidance prompt signal; Perform obstacle avoidance processing on the distance between the intelligent target person and the personnel according to the prompt of the obstacle avoidance warning set, specifically: If the first obstacle avoidance prompt signal is generated, it indicates that there are personnel and obstacles in the fencing safety area, and prompts the intelligent target person to conduct fencing training on the personnel in the fencing safety area; If the second obstacle avoidance prompt signal is generated, it prompts to decelerate the intelligent target person within the time value TY in the fencing warning area; If the third obstacle avoidance prompt signal is generated, it prompts to stop the intelligent target person within the time value TF in the fencing alarm area; Please refer to Figures 4 - 5 , it should be noted that the intelligent target person uses an aluminum alloy support rod to replace the coach's forearm, installs a wrist joint motor at the top of the aluminum alloy support rod, and the motor rotor can rotate according to the program settings. A multi-hole sword strip installation tooling is fixed on the motor rotor, and the fencing sword strip can be fixed at different angles on the multi-hole sword strip installation tooling. In this way, when the wrist joint motor rotates, the sword strip can be driven to rotate to different angles; at the same time, an aluminum alloy square tube is used to replace the coach's shoulder, and an aluminum alloy support rod is used to replace the coach's upper arm and forearm, and the shoulder is connected to the upper arm and the upper arm is connected to the forearm through a multi-gear adjustable function hinge. The multi-gear adjustable function hinge can meet any starting positioning angle, so that the posture of the entire arm can be manually adjusted. When fencing, if it is detected by the camera that the angle of the intelligent target person is abnormally tilted, it indicates that the intelligent target person is damaged during the fencing training process. Therefore, maintenance operations are required and manual adjustment by the staff is carried out to restore the intelligent target person to the pre-set angle.
[0018] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.
Claims
1. An intelligent fencing training system based on multi-sensors, characterized in that Including: An interaction module, which installs an industrial tablet on the face of the intelligent target person, and conducts voice and animation interactions with athletes and coaches through the tablet screen and tablet speaker. At the same time, the coach edits, saves, manages, and runs training actions on the intelligent target person through the mobile phone APP, and stores the training actions in the cloud server; A division module, which takes the intelligent target person as the center point, and divides the distances between the intelligent target person and surrounding people or surrounding obstacles into a fencing safety zone, a fencing warning zone, and a fencing alarm zone in sequence; A detection module, which installs multiple laser sensors on the intelligent target person to detect the fencing distance information of the fencing safety zone, fencing warning zone, and fencing alarm zone between the intelligent target person and surrounding people and obstacles in real time; An analysis module, which analyzes the fencing distance information of the fencing safety zone, fencing warning zone, and fencing alarm zone between the intelligent target person and surrounding people or surrounding obstacles to obtain an obstacle avoidance warning set, and the obstacle avoidance warning set includes a first obstacle avoidance prompt signal, a second obstacle avoidance prompt signal, and a third obstacle avoidance prompt signal. Among them, the first obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing safety zone, the second obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing warning zone, and the third obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing alarm zone; An obstacle avoidance prompt module, which performs obstacle avoidance processing on the fencing distance according to the prompt of the obstacle avoidance warning set.
2. The intelligent fencing training system based on multi-sensors according to claim 1, wherein, The first obstacle avoidance prompt signal is obtained by analyzing the fencing distance information in the fencing safety area. Specifically: Continuously record the moving distance of the personnel in the fencing safety area at two time points, and perform value-taking and marking to obtain the moving distance ML1 of the personnel in the fencing safety area at the first time point, and the moving distance ML2 of the personnel in the fencing safety area at the second time point. At the same time, mark the value of the first time point as MT1, and mark the value of the second time point as MT2, where the second time point is later than the first time point; Through the calculation formula Calculate the moving speed MSL of the personnel in the fencing safety area through the calculation formula; If the moving speed MSL of the person in the fencing safety zone meets the preset person moving speed threshold, it is determined that there is a person in the fencing safety zone, that is, a first obstacle avoidance prompt signal is generated.
3. The intelligent fencing training system based on multi-sensors according to claim 2, wherein The second obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing warning zone, specifically: Continuously record the moving distance of the person in the fencing alarm zone at two time points, and perform value taking and marking to obtain the moving distance YL1 of the person in the fencing alarm zone at the first time point, the moving distance YL2 of the person in the fencing alarm zone at the second time point. At the same time, mark the first time point as YT1 after value taking, and mark the second time point as YT2 after value taking, where the second time point is later than the first time point; By calculating the function The moving speed YSL of the personnel in the fencing alarm area of the personnel is calculated, where a is the moving speed adjustment factor of the personnel; Obtain the distance value YL of the person not approaching the intelligent target person; Through the correlation function The time value TY of the person approaching the intelligent target is calculated, where the time value TY is the second obstacle avoidance prompt signal.
4. An intelligent fencing training system based on multi-sensors according to claim 3, characterized in that, The third obstacle avoidance prompt signal is obtained by analyzing the fencing distance information of the fencing alarm zone, specifically: Continuously record the moving distance of the person in the fencing warning zone at two time points, and perform value taking and marking to obtain the moving distance QL1 of the person in the fencing warning zone at the first time point, the moving distance QL2 of the person in the fencing warning zone at the second time point. At the same time, mark the first time point as QT1 after value taking, and mark the second time point as QT2 after value taking, where the second time point is later than the first time point; By calculating the function The moving speed QSL of the personnel in the warning area of fencing is calculated, where a is the moving speed adjustment factor of the personnel; Obtain the distance value FL of the person not approaching the intelligent target person; Through the correlation function The time value TF of the personnel approaching the intelligent target is calculated, where the time value TF is the third obstacle avoidance prompt signal.
5. The intelligent fencing training system based on multiple sensors according to claim 4, wherein, Perform obstacle avoidance processing on the distance between the intelligent target person and the person according to the prompt of the obstacle avoidance warning set, specifically: If the first obstacle avoidance prompt signal is generated, it means that there is a person in the fencing safety zone, and the intelligent target person is prompted to prepare for fencing training for the person in the fencing safety zone; If the second obstacle avoidance prompt signal is generated, the intelligent target person is prompted to decelerate within the time value TY in the fencing warning zone; If a third obstacle avoidance prompt signal is generated, prompt to stop the intelligent target person within the fencing alarm area within the time value TF.