Intelligent billiard cue and control method thereof

Abstract

The invention discloses an intelligent billiard cue and a control method thereof.The intelligent billiard cue is provided with a billiard cue body, the billiard cue body is divided into a front billiard cue body and a rear billiard cue body, and an intelligent body is installed in an inner cavity of the end of the rear billiard cue body in an embedded mode. The intelligent agent integrates a main controller, an inertial measurement unit IMU, a built-in storage unit and a power management module. And the temperature and humidity acquisition module can be embedded in a reserved mounting position in the golf club main body, can also be integrated in the intelligent agent and is electrically connected with the main controller. The dual-mode communication module and the positioning module are both integrated in an intelligent agent and are both electrically connected with the main controller, the dual-mode communication module comprises a Bluetooth sub-module and a cellular communication sub-module, and the main controller establishes data interaction connection with a cloud platform through the modules. According to the invention, multiple modules can be integrated in the golf club, acquisition and uploading of multiple types of data are completed, integration of data acquisition and transmission of the golf club is realized, and dual-mode communication adapts to different scene requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of billiard cues, in particular to an intelligent billiard cue and a control method thereof. BACKGROUND

[0002] Billiards is both entertaining and competitive, and with the development of technology, traditional billiard cues are gradually upgrading towards intelligence. There are various intelligent billiard cue related schemes in the prior art, for example, CN202110118382A discloses an intelligent billiard cue with constant temperature adjustable temperature, which realizes grip temperature adjustment by setting a constant temperature adjusting device in the rear rod body of the cue, and integrates a hitting force monitoring module and a hitting posture monitoring module, and transmits data to a mobile terminal through Bluetooth; at the same time, it is equipped with a leather head storage device and a buffer connecting mechanism to improve the convenience of use. CN202111061926A discloses a billiard cue positioning method integrating artificial intelligence, which obtains the position parameters of the billiard ball through a camera, combines the position parameters of the cue collected by the built-in positioning device of the cue, inputs an artificial intelligence algorithm model to simulate the running track of the billiard ball, and prompts the ball entry angle through vibration. CN202510630717A discloses an intelligent billiard cue, which embeds a main controller, an inertial measurement unit (IMU) and a power management module as an intelligent agent into the grip, collects cue posture change data, and transmits the data to a mobile terminal for display through Bluetooth.

[0003] However, the above prior art still has many limitations and cannot meet the full-scene needs of professional training and daily use. Single function and lack of closed-loop management: CN202110118382A only focuses on grip constant temperature and basic data transmission, does not involve the linkage of temperature and humidity monitoring and maintenance of the cue storage environment, and the data is only used for local display without deep analysis and training guidance on the cloud platform; CN20211061926A relies on an external camera and only serves as a hitting aiming aid without design for cue loss prevention, environment monitoring and endurance optimization; CN202510630717A only realizes basic posture data collection and lacks loss prevention and theft prevention, multi-user data isolation and remote control functions, and cannot adapt to the multi-user shared scene in a club.

[0004] Poor endurance and unoptimized power consumption: existing intelligent billiard cues mostly use a single power supply mode without adjusting the power consumption state according to different scenes such as hitting, storage and loss prevention, resulting in short device endurance and frequent charging affecting the use experience. The root cause of this defect lies in the fact that the existing technology does not cooperatively design the sensor collection frequency and the communication module working mode.

[0005] The data value is not fully tapped, and the training and promotion cannot be empowered: the existing technology collects the data of hitting the ball only for simple record, and does not analyze the association with the goal result and environmental factors, so that the personalized posture adjustment and power optimization suggestions cannot be provided for the user, and the core reason is that there is lack of cloud big data analysis support and multi-dimensional data association algorithm.

[0006] Therefore, the development of an intelligent cue rod integrating data accurate collection, scene-based low-power management, cloud intelligent analysis, remote control and multi-scene adaptation has become an urgent goal in the field to solve the technical problems of single function, poor endurance and low data value of the prior art. SUMMARY

[0007] The technical problem to be solved by the present application is to provide an intelligent cue rod and a control method thereof, which can integrate multiple modules in the cue rod, complete multi-type data collection and uploading, realize cue rod data collection and transmission integration, and adapt to different scene requirements in dual-mode communication.

[0008] To solve the above technical problems, the first aspect of the present application discloses an intelligent cue rod, comprising: a cue rod body, the cue rod body comprising a front rod body and a rear rod body; a smart body, embeddedly installed in an internal cavity at an end of the rear rod body, the smart body comprising a main controller, an inertial measurement unit (IMU), a built-in storage unit and a power management module, the inertial measurement unit (IMU) being electrically connected with the main controller, the power management module being electrically connected with the main controller and the inertial measurement unit (IMU), and the main controller being electrically connected with the built-in storage unit; a temperature and humidity collection module, embedded in a reserved installation position in the cue rod body or integrated in the smart body, the temperature and humidity collection module being electrically connected with the main controller; a dual-mode communication module, integrated in the smart body, the dual-mode communication module being electrically connected with the main controller, the dual-mode communication module comprising a Bluetooth sub-module and a cellular communication sub-module; a positioning module, integrated in the smart body, the positioning module being electrically connected with the main controller; The main controller establishes a data interaction connection with a cloud platform through the dual-mode communication module.

[0009] As an optional implementation, in the first aspect of the present application, the force sensor is embedded in the position of the club head of the front rod body, the force sensor is electrically connected with the main controller, and the force sensor is arranged close to the ball hitting contact area of the club head; the main controller pre-stores the club weight parameter, the force sensor is used to collect the contact force data at the moment of hitting the ball, the main controller is used to obtain the hitting force value based on the contact force data and the club weight parameter, and the built-in storage unit is used to store the hitting force value.

[0010] As another optional implementation, in the first aspect of the present application, the inertial measurement unit IMU is a six-axis sensor, the INT pin of the inertial measurement unit IMU is connected with the GPIO interrupt pin of the main controller through a wire, the inertial measurement unit IMU collects the attitude data of the club, the main controller is used to determine the valid hitting and count according to the attitude data, and the built-in storage unit is used to store the counting result of the valid hitting and the angle data of each hitting.

[0011] As another optional implementation, in the first aspect of the present application, the temperature and humidity acquisition module is electrically connected with the main controller through an I2C interface circuit, and the sensing probe of the temperature and humidity acquisition module faces the external environment of the club body.

[0012] As another optional implementation, in the first aspect of the present application, the Bluetooth submodule is externally connected with an antenna, and the cellular communication submodule is electrically connected with the main controller through a UART interface circuit.

[0013] As another optional implementation, in the first aspect of the present application, the positioning module is electrically connected with the main controller through a wire, and the signal receiving end of the positioning module is in communication with the outside of the club body.

[0014] As another optional implementation, in the first aspect of the present application, a matching intelligent storage box is further included, the intelligent storage box is provided with a containing cavity for accommodating the club body, an electronic lock and an environment adjusting module are arranged on the inner wall of the containing cavity, and the electronic lock is connected with the main controller through a wireless communication module.

[0015] As another optional implementation, in the first aspect of the present application, the power management module includes a lithium battery, a charging interface and a charging management unit, the charging interface is integrated with an overcurrent protection circuit and an ESD protection circuit; the power management module further includes an ADC sampling circuit, and the ADC sampling circuit is electrically connected with the lithium battery and the main controller.

[0016] As a further optional implementation, in the first aspect of the application, a reset circuit, a key reset circuit and a download enable circuit are further included, and the reset circuit, the key reset circuit and the download enable circuit are electrically connected with the main controller; the rear rod body is provided with a key corresponding to the key reset circuit and the download enable circuit.

[0017] As a further optional implementation, in the first aspect of the application, a SIM card circuit is further included, and the SIM card circuit is electrically connected with the cellular communication submodule; the SIM card circuit integrates a filter circuit and an ESD protection circuit.

[0018] The second aspect of the application discloses a control method of the intelligent billiard rod, based on the intelligent billiard rod in the first aspect of the application, and the control method comprises the following steps: S1, the inertial measurement unit (IMU) collects acceleration and angular velocity data of the billiard rod, the temperature and humidity acquisition module collects environmental temperature and humidity data, the positioning module collects billiard rod position information, and the ADC sampling circuit collects battery voltage data; S2, the main controller judges the state of the billiard rod, wherein: if the billiard rod is in a stationary state for a preset time, the billiard rod is controlled to enter a low-power sleep mode; if a peak acceleration value is detected to be greater than or equal to a preset threshold value and a duration is less than or equal to a preset time length, the billiard rod is determined to be effectively hit; and if temperature and humidity are detected to be out of limits or a position is detected to be out of a safe area, an alarm is triggered; S3, the main controller uploads various collected data to a cloud platform through a dual-mode communication module, and the cloud platform performs hit power distribution statistics, temperature and humidity change trend analysis and hit angle rationality evaluation on the data; S4, the main controller receives a control instruction issued by the cloud platform or a mobile terminal, and performs remote switching, function starting and stopping, account switching or temporary authorization operation.

[0019] Compared with the prior art, the embodiment of the application has the following beneficial effects: The embodiment of the application integrates multiple modules in the billiard rod main body, realizes integrated design of data acquisition and communication transmission, guarantees normal use function of the billiard rod, and completes collection and uploading of hit data, environmental data and position data, thereby providing data support for subsequent cloud analysis; the dual-mode communication adapts to different scene requirements, the Bluetooth satisfies local close-range data viewing, and the cellular communication realizes remote data synchronization and instruction receiving. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0021] Figure 1 is a structural schematic view of a rear rod body of a smart cue stick disclosed by the embodiments of the present application; Figure 2 is a partial enlarged schematic view of part A in Figure 1 Figure 3 is a bottom view of the structural schematic view of the rear rod body of the smart cue stick disclosed by the embodiments of the present application; Figure 4 is a structural schematic view of a front rod body of a smart cue stick disclosed by the embodiments of the present application; Figure 5 is a structural schematic view of a battery power supply circuit disclosed by the embodiments of the present application; Figure 6 is a structural schematic view of a USB interface circuit disclosed by the embodiments of the present application; Figure 7 is a structural schematic view of a charging circuit disclosed by the embodiments of the present application; Figure 8 is a structural schematic view of an LDO circuit disclosed by the embodiments of the present application; Figure 9 is a structural schematic view of a master control circuit disclosed by the embodiments of the present application; Figure 10 is a structural schematic view of a six-axis motion sensor acquisition circuit disclosed by the embodiments of the present application; Figure 11 is a structural schematic view of a temperature and humidity acquisition circuit disclosed by the embodiments of the present application; Figure 12 is a structural schematic view of an ADC sampling circuit disclosed by the embodiments of the present application; Figure 13 is a structural schematic view of a peripheral supporting circuit of a wireless communication module disclosed by the embodiments of the present application; Figure 14 is a structural schematic view of a SIM card circuit disclosed by the embodiments of the present application; Figure 15 is a structural schematic view of a reset circuit disclosed by the embodiments of the present application; Figure 16 is a structural schematic view of a key reset circuit disclosed by the embodiments of the present application; Figure 17 ​It is a structural schematic diagram of a download enabling circuit disclosed by the embodiment of the present application. Figure 18 It is a flow schematic diagram of a control method of a smart cue stick disclosed by the embodiment of the present application. Figure 19 It is a schematic diagram of a cue stick putting motion disclosed by the embodiment of the present application. Figure 20 It is a smart cue stick training data visualization interface schematic diagram disclosed by the embodiment of the present application. Figure 21 It is another smart cue stick training data visualization interface schematic diagram disclosed by the embodiment of the present application. Figure 22 It is still another smart cue stick training data visualization interface schematic diagram disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable the personnel in the technical field to better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely below in combination with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the personnel of ordinary skill in the art without making creative labor belong to the scope of protection of the present application.

[0023] Embodiment one Referring to Figures 1-17 , the embodiment of the present application discloses a smart cue stick, comprising: a cue stick body, the cue stick body comprising a front cue body 1 and a rear cue body 2; a smart body 3 embeddedly installed in an internal cavity of an end 21 of the rear cue body 2; the smart body 3 comprising a main controller, an inertial measurement unit IMU, a built-in storage unit and a power management module, the inertial measurement unit IMU being electrically connected with the main controller, the power management module being electrically connected with the main controller and the inertial measurement unit IMU, and the main controller being electrically connected with the built-in storage unit; a temperature and humidity acquisition module embedded in an internal reserved installation position of the cue stick body or integrated in the smart body 3, the temperature and humidity acquisition module being electrically connected with the main controller; a dual-mode communication module integrated in the smart body 3, the dual-mode communication module being electrically connected with the main controller, the dual-mode communication module comprising a Bluetooth sub-module and a cellular communication sub-module; a positioning module integrated in the smart body 3, the positioning module being electrically connected with the main controller; The main controller establishes a data interaction connection with a cloud platform through the dual-mode communication module.

[0024] Referring to Figures 1-4 , the tail of the front rod body 1 and the top of the rear rod body 2 are detachably connected by threaded fixing, wherein the intelligent body 3 is embeddedly installed in the internal cavity of the end 21 of the rear rod body 2, and a rear rubber plug 5 and a weight assembly 6 are further provided.

[0025] In the embodiment of the application, the intelligent body 3 is embeddedly installed, does not occupy the external space of the rear rod body 2, and does not affect the hand feeling of the user; the main controller selects an nRF52832 chip, and the inertial measurement unit IMU selects an ICM42605 six-axis sensor; the temperature and humidity acquisition module and the positioning module are respectively embedded in the corresponding positions inside the ball rod body, so as to avoid being damaged due to exposure and ensure the stable electrical connection of each module with the main controller; the dual-mode communication module is integrated in the intelligent body 3, so as to realize the function integration of local data interaction and remote data uploading. The cellular communication submodule adopts at least one of 2G, 3G, 4G and 5G cellular communication standards.

[0026] The embodiment of the application integrates multiple modules inside the ball rod body, realizes the integrated design of data acquisition and communication transmission, ensures the normal use function of the ball rod, and can also complete the collection and uploading of the ball hitting data, environmental data and position data, thereby providing data support for subsequent cloud analysis; the dual-mode communication adapts to different scene requirements, the Bluetooth satisfies local close-range data viewing, and the cellular communication realizes remote data synchronization and instruction receiving.

[0027] In an optional embodiment, a force sensor is embedded at the position of the club head 11 of the front rod body 1, the force sensor is electrically connected with the main controller, and the force sensor is arranged close to the ball hitting contact area of the club head 11; the main controller pre-stores the ball rod weight parameter, the force sensor is used for collecting the contact force data at the moment of hitting the ball, the main controller is used for obtaining the ball hitting power value based on the contact force data and the ball rod weight parameter, and the built-in storage unit is used for storing the ball hitting power value.

[0028] In the embodiment, the force sensor is arranged close to the ball hitting contact area, can directly collect the real contact force data at the moment of hitting the ball, eliminates the loss and delay of force conduction from the club head 11 to the rear rod body, and greatly improves the accuracy of the calculation of the ball hitting power and speed.

[0029] In still another optional embodiment, the inertial measurement unit IMU is a six-axis or nine-axis sensor, an INT pin of the inertial measurement unit IMU is connected with a GPIO interrupt pin of the main controller through a wire; the inertial measurement unit IMU collects the attitude data of the ball rod, the main controller is used for determining the valid ball hitting and counting according to the attitude data, and the built-in storage unit is used for storing the counting result of the valid ball hitting and the angle data of each ball hitting.

[0030] In the embodiment, the inertial measurement unit IMU is specifically an ICM42605 six-axis sensor, which can synchronously collect 3-axis acceleration data and 3-axis angular velocity data of the club; the INT pin is directly connected with a GPIO interrupt pin of the main controller nRF52832 through a wire, so that the interrupt triggering of data collection can be realized, and it is ensured that the main controller can quickly respond and collect data when the hitting action occurs.

[0031] The interrupt-triggered data collection in the embodiment can accurately capture the motion data at the moment of hitting the ball, avoid continuous collection of invalid data, and improve the accuracy and efficiency of data collection; the multi-dimensional data collection of the six-axis sensor can completely restore the attitude change of the club, and provide accurate original data for the calculation of hitting strength and angle.

[0032] In another optional embodiment, the temperature and humidity collection module is electrically connected with the main controller through an I2C interface circuit, and a sensing probe of the temperature and humidity collection module faces the external environment of the club body.

[0033] In the embodiment, the temperature and humidity collection module is specifically an SHT20 sensor, and the I2C interface circuit is a standardized communication interface, which is suitable for the communication requirement of the SHT20 and the main controller nRF52832; the sensing probe faces the outside of the club and directly contacts the surrounding environment, so that the collected temperature and humidity data are real data of the actual environment of the club.

[0034] The I2C interface circuit in the embodiment is stable in connection, the data transmission rate is suitable for the collection requirement of temperature and humidity data, and the communication failure rate is reduced; the reasonable layout of the sensing probe ensures the accuracy of temperature and humidity data collection, so that the user can timely adjust the storage condition and prolong the service life of the club.

[0035] In another optional embodiment, the Bluetooth submodule is externally connected with an antenna, and the cellular communication submodule is electrically connected with the main controller through a UART interface circuit.

[0036] In the embodiment, the Bluetooth submodule is externally connected with a CA-01 patch antenna, which is used to enhance the Bluetooth signal strength and expand the effective distance of local data interaction; the cellular communication submodule can be an AIR700ECP module, which is connected with the main controller nRF52832 through a UART interface circuit, so that the rate and stability requirements of remote data transmission are met.

[0037] The external antenna of the embodiment improves the Bluetooth signal transmission distance, and the user can view the club data through the mobile terminal in a farther range, improving the use convenience; the UART interface circuit adapts the communication protocol of the 4G communication submodule, ensuring the stability of the remote data uploading, ensuring that the hitting data, alarm information and the like can be synchronized to the cloud platform in a timely manner, and ensuring the effective reception of the instructions issued by the cloud or the mobile terminal.

[0038] In still another optional embodiment, the positioning module is electrically connected to the main controller through a wire, and a signal receiving end of the positioning module is in communication with the outside of the club body.

[0039] In the embodiment, the positioning module is directly electrically connected to the main controller nRF52832 through a wire, ensuring real-time transmission of position data; the signal receiving end is in communication with the outside of the club, avoiding shielding of the positioning signal by the club body, and ensuring that the positioning module can stably receive satellite or base station signals.

[0040] The reasonable layout of the signal receiving end of the embodiment ensures the positioning accuracy of the positioning module, and the club position information can be accurately fed back; in combination with the safety area parameters preset by the main controller, the club anti-loss alarm function can be realized, and the risk of club loss is reduced.

[0041] In still another optional embodiment, a matching intelligent storage box (not shown in the drawings) is further included, the intelligent storage box is provided with a containing cavity for accommodating the club body, an electronic lock and an environment adjusting module are arranged on the inner wall of the containing cavity, and the electronic lock is connected to the main controller through a wireless communication module.

[0042] In the embodiment, the size of the containing cavity of the intelligent storage box is matched with the club body, ensuring that the club can be stably placed; the electronic lock is wirelessly linked to the main controller nRF52832, and only when the authorized user unlocks, the club anti-loss alarm function is released; the environment adjusting module can adjust the temperature and humidity environment in the storage box according to actual needs. The environment adjusting module is in wireless communication with the main controller.

[0043] The intelligent storage box of the embodiment realizes linkage between club storage and intelligent management, the linkage design of the electronic lock avoids false alarm when the club is taken out, and the practicability of the anti-loss function is improved; the environment adjusting module can provide a suitable storage environment for the club, further prolonging the service life of the club; after the club is placed in the storage box, the club can automatically enter a sleep mode, reducing energy consumption.

[0044] In still another optional embodiment, the power management module includes a lithium battery, a charging interface and a charging management unit, the charging interface is integrated with an overcurrent protection circuit and an ESD protection circuit; the power management module further includes an ADC sampling circuit, and the ADC sampling circuit is electrically connected to the lithium battery and the main controller.

[0045] In this embodiment, the lithium battery is a 4.2V lithium battery, and the battery socket is an MX1.25-2PWT socket; the charging management unit is specifically a TP4055 charging management chip, which is used to control the charging and discharging process of the lithium battery and ensure the safety of charging; the charging interface is a TYPE-C interface 4, which integrates an overcurrent protection circuit and an ESD protection circuit, can cut off the circuit when the charging current is too large, and prevents static damage to the interface and internal elements; the ADC sampling circuit collects lithium battery voltage data in real time and transmits them to the main controller nRF52832.

[0046] The overcurrent protection and ESD protection circuit of this embodiment improves the safety of the charging process and avoids damage to the battery or internal modules of the ball rod due to circuit failure; the ADC sampling circuit realizes real-time monitoring of the battery capacity, and the main controller can remind the user to charge according to the capacity data, avoiding the device from stopping working due to power failure, and ensuring the continuity of data acquisition.

[0047] In another optional embodiment, a reset circuit, a key reset circuit and a download enable circuit are further included, and the reset circuit, the key reset circuit and the download enable circuit are electrically connected with the main controller; the rear rod body 2 is provided with keys corresponding to the key reset circuit and the download enable circuit.

[0048] In this embodiment, the reset circuit is used to realize software reset of the main controller nRF52832, and solve problems such as module crash and network registration exception; the key reset circuit is a hardware reset mode, which can be triggered by the keys on the surface of the rear rod body 2, and can forcibly restore the device when software reset is invalid; the download enable circuit is triggered by the corresponding keys, and is used for device firmware programming, upgrading or fault recovery.

[0049] The combination of software reset and hardware reset in this embodiment improves the fault tolerance and maintainability of the device and reduces the probability of use interruption caused by device failure; the key design of the download enable circuit facilitates firmware upgrading and troubleshooting, and the device maintenance can be completed without disassembly, thereby reducing the maintenance cost.

[0050] In another optional embodiment, a SIM card circuit is further included, and the SIM card circuit is electrically connected with the cellular communication submodule; the SIM card circuit integrates a filter circuit and an ESD protection circuit.

[0051] In this embodiment, the SIM card circuit is electrically connected with the cellular communication submodule, and provides cellular network access conditions for the cellular communication submodule; the filter circuit is used to suppress power supply ripple and signal interference, and the ESD protection circuit prevents static damage to the SIM card or the communication module interface.

[0052] Beneficial effects: The filtering circuit improves the stability of 4G communication, reduces the problem of data transmission failure caused by signal interference; the ESD protection circuit enhances the anti-static ability of the device, prolongs the service life of the SIM card and the communication module, and ensures the long-term stability of the remote data transmission function.

[0053] In yet another optional embodiment, a turn-on and turn-off control circuit is arranged between the main controller and the cellular communication submodule and the temperature and humidity acquisition module, for controlling the power supply of the cellular communication submodule and the temperature and humidity acquisition module.

[0054] In this embodiment, the turn-on and turn-off control circuit is controlled by the main controller nRF52832, and can switch the power supply mode of the cellular communication submodule and the temperature and humidity acquisition module SHT20 according to the working state of the club, and cut off the power supply of part of the modules when the club is stationary, and only the interrupt wake-up function of the inertial measurement unit IMUICM42605 is reserved.

[0055] In this embodiment, the low-power management of the device is realized by controlling the power supply of the module, the energy consumption of the club in the non-use state is reduced, the lithium battery endurance time is prolonged, the charging frequency is reduced, and the user experience is improved.

[0056] In yet another optional embodiment, the built-in storage unit is divided into multiple independent data storage areas; the rear club body 2 is provided with an indicator light, and the indicator light is electrically connected with the main controller.

[0057] In this embodiment, the built-in storage unit is the built-in Flash of the main controller nRF52832, the independent data storage areas correspond one-to-one to the user accounts, and the hitting data of different users are respectively stored in the corresponding partitions; the indicator light is electrically connected with the main controller nRF52832, and different frequency light prompts are displayed according to the working state of the device (such as account switching, data uploading, low power, etc.).

[0058] The multiple independent data storage areas in this embodiment realize data isolation when multiple people share the club, avoid confusion of the hitting data of different users, and ensure the accuracy and traceability of the training data; the state prompting function of the indicator light enables the user to intuitively master the running condition of the device, and improves the use convenience.

[0059] In yet another optional embodiment, a signal output end of the inertial measurement unit IMU is electrically connected with a signal input end of the main controller, and the main controller is used for receiving the acceleration and angular velocity data transmitted by the inertial measurement unit IMU.

[0060] In the embodiment, the inertial measurement unit IMU is specifically an ICM42605 six-axis sensor, and a signal output end of the sensor is directly electrically connected with a signal input end of the main controller nRF52832 through a wire; the connection mode ensures that the 3-axis acceleration data and 3-axis angular velocity data collected by the sensor can be completely and real-timely transmitted to the main controller, thereby providing an original basis for subsequent data processing.

[0061] The direct signal end electrical connection in the embodiment reduces data transmission loss and delay, and ensures the transmission integrity and real-timeness of the acceleration and angular velocity data; after the main controller accurately receives the original data, the main controller can quickly perform filtering, operation and other processing, thereby providing reliable data support for the calculation of the hitting force and angle and the posture analysis, and improving the overall data processing efficiency of the device.

[0062] In another optional embodiment, the inertial measurement unit IMU in the intelligent agent 3 is a 9-axis sensor, the 9-axis sensor integrates a 3-axis acceleration sensor, a 3-axis gyroscope and a 3-axis magnetometer; the coordinate axes of the 9-axis sensor are defined as follows: the X-axis points to the club head along the shaft axial direction of the club body, the Y-axis is perpendicular to the shaft axial direction and points to the right (i.e. observed from above the shaft), and the Z-axis is perpendicular to the shaft axial direction and points upward (adapted to the right-handed holding posture); the club head position of the club body is also provided with a force sensor, and the force sensor is electrically connected with the main controller.

[0063] In the embodiment, the 9-axis sensor is embedded in the intelligent agent 3 in the internal cavity of the rear shaft body 2, the coordinate axis direction of the 9-axis sensor corresponds to the shaft posture of the club body one by one, and the collected motion data is directly related to the actual action of the club; the force sensor is fixed in the reserved mounting position in the club head and is electrically connected with the main controller through a wire, and is used for directly collecting the contact force data at the moment of hitting the ball.

[0064] The 9-axis sensor used in the embodiment increases the 3-axis magnetometer compared with the 6-axis sensor, can reduce the cumulative error of the posture solution, and improves the long-term accuracy of the club posture measurement; the force sensor is arranged at the club head and can directly collect the hitting contact force, and in combination with the motion data of the 9-axis sensor, the calculation of the hitting force and speed is more accurate; the coordinate axes correspond to the shaft posture, which reduces the conversion complexity during data processing and facilitates subsequent analysis directly related to the actual action of the club.

[0065] Embodiment two Referring to Figures 18-22 The embodiment of the application discloses a control method of an intelligent billiard club, which is based on the intelligent billiard club in embodiment one and comprises the following steps: S1, the inertial measurement unit IMU collects the acceleration and angular velocity data of the club, the temperature and humidity collection module collects the environmental temperature and humidity data, the positioning module collects the club position information, and the ADC sampling circuit collects the battery voltage data.

[0066] S2, the main controller judges the state of the cue, wherein: if the cue is in a stationary state for a preset time, the cue is controlled to enter a low-power sleep mode; if a detected acceleration peak is greater than or equal to a preset threshold and a duration is less than or equal to a preset time length, the cue is determined to be an effective shot; if the temperature and humidity are out of limits or the position is out of a safe area, an alarm is triggered.

[0067] S3, the main controller uploads the collected various types of data to a cloud platform through a dual-mode communication module, and the cloud platform performs shot power distribution statistics, temperature and humidity change trend analysis, and shot angle rationality evaluation on the data.

[0068] S4, the main controller receives a control instruction issued by the cloud platform or a mobile terminal, and performs remote switching, function starting and stopping, account switching, or temporary authorization operation.

[0069] In the embodiment of the application, the inertial measurement unit IMU is an ICM42605 six-axis sensor, the temperature and humidity collection module is an SHT20 sensor, and the dual-mode communication module includes a Bluetooth submodule and a cellular communication submodule; in step S2, the "preset time" can be set according to the low-power consumption requirement, the "preset threshold" can be an acceleration peak of 2.5g, the "preset time length" can be 50ms, and the "safe area" is a geofence parameter pre-stored by the main controller; in step S4, the control instruction is transmitted through Bluetooth or a cellular network, and the main controller feeds back the state through an indicator light after performing the operation. Remote switching: control the power state of the whole machine. Function starting and stopping: control the working state of a single / multiple modules. Account switching: when multiple people share the cue, quickly switch the user identity through the APP to realize data isolation. Temporary authorization operation: provide short-term use permission for non-bound users, suitable for public scenes (clubs, training rooms).

[0070] The embodiment of the application realizes synchronous collection of multi-dimensional data, covers cue movement, environment, position, and power supply state, and provides comprehensive data support for subsequent analysis; the state judgment logic adapts to use, sleep, alarm, and other scenes, and takes into account the use experience and energy consumption control; the professional analysis of the cloud platform is combined with the remote control function to meet the needs of single-person training, multi-person sharing, and other multi-scene requirements, and improve the practicability and adaptability of the intelligent cue.

[0071] In an optional embodiment, in step S2, when the main controller determines an effective shot, a similarity matching verification step is further included: a data segment of 30ms continuously extracted from the filtered and noise-removed data is compared with a standard shot timing model pre-stored by the main controller in terms of similarity, if the similarity is greater than or equal to 70%, the shot is confirmed to be an effective shot; if the similarity is less than 70%, the shot is determined to be an ineffective shot, and no shot data calculation and accumulation is performed.

[0072] In this embodiment, the 30 ms data segment is a continuous data segment traced back 10 ms and extended 20 ms after the inertial measurement unit (IMU) detects an acceleration peak greater than or equal to a preset threshold, and contains the complete timing process of the shot; the standard shot timing model can be a combined model of the acceleration-time curve and the angular velocity-time curve pre-stored in the built-in storage unit of the main controller, which clearly divides the three characteristic stages of the acceleration stage (acceleration continuously rising), the impact stage (acceleration suddenly rising and reaching a peak), and the deceleration stage (acceleration rapidly falling); the similarity comparison can use the cosine similarity algorithm, and the result is obtained by calculating the curve fitting degree of the 30 ms data segment of the user and the standard model, and the 70% similarity threshold is an effective determination critical value calibrated by multiple experiments, which can filter false shot signals caused by non-standard actions (such as false touch and empty swing).

[0073] This embodiment increases the timing model similarity matching on the basis of the acceleration threshold determination, forms a "double verification" mechanism, and significantly reduces the false judgment probability of effective shots; the standard shot timing model fits the physical process of the real shot, the extraction of the 30 ms data segment can completely capture the key timing characteristics of the shot, and the 70% similarity threshold balances the determination accuracy and fault tolerance, which not only ensures the accuracy of the effective shot data, but also avoids false judgment of invalid shots due to slight action deviation, so that the training data has more reference value, and the adaptability of the device to different user shot habits is improved.

[0074] In another optional embodiment, in step S2, when the main controller calculates the shot data, based on the principle of momentum, the weight parameter of the club and the acceleration peak value collected by the inertial measurement unit (IMU), the shot power value is calculated.

[0075] In this embodiment, the main controller pre-stores the standard weight parameter of the club, the inertial measurement unit (IMU) collects the acceleration peak value at the moment of the shot, and the mechanical formula (F=ma, F is the shot power, m is the weight of the club, and a is the acceleration peak value) derived by the principle of momentum is used to calculate the shot power, and the unit of power is N.

[0076] This embodiment quantifies the shot power, solves the problem that the traditional club cannot accurately evaluate the shot power, and provides objective data reference for the user; the calculation method based on the principle of momentum is scientific and reliable, and the error is controlled within a reasonable range, which can assist the user to optimize the power mode and improve the training pertinence.

[0077] In another optional embodiment, in step S2, the main controller performs sliding average filtering processing on the acceleration and angular velocity original data collected by the inertial measurement unit (IMU), and if the absolute value of the angular velocity mean is less than or equal to a preset noise threshold, it is determined as noise data, and no effective shot determination is performed.

[0078] In this embodiment, the sliding average filtering process is specifically a 5-point sliding average, which is used to smooth the instantaneous fluctuations caused by high-frequency vibrations; the "preset noise threshold" is an absolute value of angular velocity mean ≤ 30 dps, which is calibrated through experiments and can filter out invalid interference data such as slight hand shaking and environmental vibrations during the ball hitting process.

[0079] The filtering process in this embodiment improves the accuracy of the original data and reduces the influence of noise interference on effective ball hitting determination; the noise data elimination logic reduces the probability of misjudgment and ensures the statistical accuracy of the number of hits, power and other data, making the training data more valuable.

[0080] In another optional embodiment, in step S2, the temperature and humidity overrun alarm specifically includes: the main controller sends an alarm instruction to the cloud platform through the cellular communication submodule, and the cloud platform synchronously pushes alarm information to the user's mobile terminal.

[0081] In this embodiment, the temperature and humidity "overrun" means that the collected data exceeds the pre-stored safety threshold of the main controller (temperature 10℃~35℃, humidity 30%RH~60%RH); the cellular communication submodule is an AIR700ECP module, the alarm instruction is transmitted through a 4G network, the cloud platform pushing delay is ≤3s, and the alarm information includes current temperature and humidity data and club position.

[0082] This embodiment forms a closed loop of "collection-judgment-alarm-pushing", ensuring that the user knows about the abnormal storage or use environment of the club in a timely manner; the alarm information is accompanied by key data, which facilitates the user to quickly take measures such as adjusting the storage conditions and transferring the club to avoid deformation and shorten the service life of the club due to abnormal temperature and humidity.

[0083] In another optional embodiment, in step S3, the cloud platform further correlates and analyzes the hitting data with the user's hitting posture and ball-in result, generates personalized posture adjustment and power optimization suggestions, and feeds back to the user's mobile terminal.

[0084] In this embodiment, the hitting posture data is derived from the angular velocity and acceleration data collected by the inertial measurement unit IMU, and the ball-in result can be manually entered by the user or collected by external equipment; the cloud platform matches professional training models through big data algorithms, and the suggestion content includes grip adjustment, club release smoothness optimization, and power timing control, etc.

[0085] This embodiment breaks through the limitation of traditional data collection that only records but does not analyze, and converts data into operable training guidance; personalized suggestions adapt to different users' technical levels, helping users accurately locate posture, power and other issues, shorten the technical improvement cycle, and improve training efficiency.

[0086] In yet another optional embodiment, in step S4, the temporary authorization operation specifically includes: the host controller generates a temporary authorization code according to the mobile terminal instruction, the authorization code sets a valid time length, the non-binding user can temporarily use the club after inputting the authorization code, and the hitting data of the non-binding user is stored in a temporary data partition.

[0087] In this embodiment, the temporary authorization code can be a 6-digit combination, and the valid time length can be set by the binding user (1 hour to 24 hours can be selected); the temporary data partition is independent of the storage area of the binding user, can only be viewed by the temporarily authorized user, and the binding user can withdraw the authorization and export the temporary data at any time; the authorization code is sent to the mobile terminal of the non-binding user through Bluetooth or a mobile network.

[0088] This embodiment is suitable for multi-person sharing scenarios such as clubs and training rooms, and can meet the temporary use requirements without additional equipment, thereby improving the utilization rate of the equipment; the temporary data partition realizes data isolation, protects the data privacy of the binding user, and facilitates the temporary user to trace their own training data.

[0089] In yet another optional embodiment, in step S2, the low-power sleep mode specifically includes: the host controller turns off the power supply of the cellular communication submodule, controls the temperature and humidity collection module to adjust to a low-frequency collection mode, and only retains the interrupt wake-up function of the inertial measurement unit (IMU); when the inertial measurement unit (IMU) detects a motion signal, the club is automatically woken up to enter a normal working mode.

[0090] In this embodiment, the low-frequency collection mode of the temperature and humidity collection module collects data once every 10 minutes; the interrupt wake-up trigger condition of the inertial measurement unit (IMU) is to detect an acceleration of ≥0.1g or an angular velocity of ≥5 dps; the wake-up process takes ≤1s, and after waking up, the club automatically restores the normal working state of each module without the need for manual operation.

[0091] This embodiment significantly reduces the energy consumption in the sleep state by turning off the power supply of unnecessary modules and reducing the collection frequency, thereby solving the pain points of short battery life and frequent charging of smart devices; the automatic wake-up function ensures convenience of use, and the user does not need to manually start the device, thereby balancing low power consumption and use experience.

[0092] In yet another optional embodiment, step S1 further includes: the 9-axis sensor collects 3-axis acceleration, 3-axis angular velocity, and 3-axis magnetic force data during the club swinging process, and the force sensor collects contact force data at the moment of hitting the ball. Step S2 further comprises: recording the stable posture of the club before the last swing, generating a swing reference line, which is the axial straight line of the club in the stable posture (i.e. the reference line of the final aiming direction before hitting the ball); at the same time, marking the A point of the club before hitting the ball (the stable position before the last swing, which is the club position corresponding to the swing reference line) and the B point at the moment of hitting the ball (the position where the club hits the ball); Step S3 further comprises: Swing direction guidance: when the user completes the last swing from the A point and hits the ball to the B point, the actual hitting trajectory line of the club from the A point to the B point is recorded, the hitting trajectory line is compared with the swing reference line, the angle deviation between the two is calculated, and the adjustment guidance of the swing direction is fed back to the user's mobile terminal; Swing speed and posture guidance: based on the contact force data collected by the force sensor at the moment of hitting the ball, the hitting speed is calculated by combining the momentum theorem and the weight parameter of the club; at the same time, the adjustment guidance of the swing speed and the hand and club position is fed back to the user's mobile terminal by combining the body weight distribution data corresponding to the user's holding posture. Posture and hitting analysis: through the swing and hitting data collected by the 9-axis sensor in the whole process, posture solving, hitting angle optimization, hitting consistency analysis and common error detection (such as swing deviation, swing jitter, unstable force) are performed, and corresponding correction suggestions are generated and fed back to the user's mobile terminal.

[0093] Referring to Figure 19 , the actual swing line is recorded by the club force sensor, and the acceleration is calculated by comparing the reference line, so as to provide the trainer with guidance for improving the swing posture; through the force estimation of the momentum theorem, the acceleration, and the height and weight of the trainer, the trainer is provided with guidance for improving the holding posture and the hand and club position.

[0094] In this embodiment, the recording period of the swing reference line is the last complete swing process (continuous action from backswing to forward swing); the angle deviation is calculated by using the cosine value of the included angle of the two trajectory lines, and the deviation threshold is preset to 5°, and the direction adjustment guidance is triggered when the threshold is exceeded; the hitting consistency analysis is realized by comparing the dispersion of the trajectory, force and posture data of multiple hits, and the action is determined to be unstable when the dispersion is ≥10%.

[0095] The swing reference line of this embodiment provides a reference for the swing direction, and the angle comparison can accurately guide the user to correct the swing deviation; the speed calculation combined with the force sensor data is more direct, and the weight distribution analysis of the holding posture makes the adjustment guidance of the speed and posture more suitable for the actual hitting scene; the posture solving and hitting analysis functions cover the core training needs, which can help the user to quickly find and correct common errors such as swing and posture, and improve the training pertinence and efficiency.

[0096] Referring to Figure 20 In yet another optional embodiment, step S3 further comprises: the cloud platform synchronizes the analyzed hitting data to the smart cue stick application program of the user mobile terminal, the application program sets a "real game practice" function module, contains three sub-tab pages of practice score, practice data, and practice trajectory, and the specific display logic is as follows: 1. Practice score tab page The display content includes: The ring score component displays the member's name, the current comprehensive score (such as 75 points), and the corresponding level (such as advanced); The key indicator card displays the single data of left-right flatness (such as 40%), up-down flatness (such as 80%), power (such as 20%), cue stick (such as 20g), and hitting (such as 108 times); The number of strokes statistical bar displays the current cumulative practice number of strokes (such as 358 strokes) and the stroke interval reference (200-500 strokes).

[0097] The comprehensive score is calculated by weighting the left-right flatness, up-down flatness, power stability, and cue stick consistency (the weight of each indicator is preset to 20%), and the level is divided according to the comprehensive score (60 points or less for junior, 60-80 points for advanced); the single data is the statistical average of the current cumulative practice. Through the visual layout of the ring score + indicator card, users can quickly grasp the overall level and single short board of their training, which is intuitive and clear, and reduces the data understanding cost.

[0098] 2. Practice data tab page The display content includes: The single-stroke detail list records the practice time (such as 2020 / 2 / 1408:30), the number of strokes (such as 358 strokes), and the parameters (such as the game angle 30°, the low cue stick, and the cue stick force 20g) of each stroke; The action problem annotation locates the unstable position in the process of each stroke (such as "unstable at 50% of the stroke" and "shaking at 50% of the cue stick").

[0099] The data source of the single-stroke detail is the stroke data uploaded by the smart cue stick main controller, and the unstable position is located by the acceleration fluctuation data collected by the main controller in the process of the stroke / cue stick (when the fluctuation amplitude is greater than or equal to the preset threshold, it is determined to be unstable). The single-stroke detail realizes the fine tracking of the training process, and the action problem annotation can help users accurately locate the specific link of each stroke failure, and correct the action accordingly.

[0100] 3. Practice trajectory tab page The display content includes: Time interval selector: support filtering data by date (e.g. February 14, 2020); Smoothness trend chart: shows the change trend of up-down smoothness of swinging, left-right smoothness of swinging, up-down smoothness of force, left-right smoothness of force, and synchronously correlates the corresponding practice number of sticks (e.g. 358 sticks).

[0101] Smoothness data is calculated from the variance of angular velocity fluctuation of each stick swinging / force process (the smaller the variance, the higher the smoothness), and the trend chart is a continuous statistical curve of multi-stick data. Time interval filtering facilitates users to view the training changes in different stages, and the smoothness trend chart intuitively presents the stability improvement of swinging and force, helping users to perceive the training effect and adjust the training rhythm.

[0102] Reference Figures 21-22 The visual interface of the intelligent cue stick includes two interfaces of "My Equipment" and "Equipment Training Parameters", which is a one-stop tool for cue stick management and training assistance. "My Equipment" is the entrance of cue stick management, and the first entry will display a binding prompt. It supports searching for devices through Bluetooth, GPS, and network and filling in the SN code to complete multi-equipment binding. If the binding fails, the reason will be prompted and online customer service can be called through a pop-up window. After binding, the equipment name can be customized, the device lock can be turned on and off remotely, and the stick days, power, temperature and humidity, cue stick material, purchase time of the cue stick can be viewed in real time. It also supports positioning to view the distance between the cue stick and the user. The "Equipment Training Parameters" interface is associated with the user's weight and height data. It not only shows the cumulative training data such as total hits and error times, but also presents the offset angle and force of single stick. The system will generate personalized action improvement suggestions based on these data, and can also trace back the historical training records, so that the cue stick state management and training improvement can be efficiently implemented.

[0103] Embodiment three The embodiment of the application discloses an intelligent cue stick, which is equipped with an ICM42605 circuit (acceleration sensor circuit), a temperature and humidity circuit, a TYPE-C circuit, an LDO circuit, a charging circuit, a main control circuit, an AIR700ECP circuit, an ADC sampling circuit, a reset circuit, a download enable circuit, a key reset circuit, and a SIM card circuit.

[0104] I. Power management part: 1. System power supply core: 4.2V lithium battery, see Figure 5 The battery socket selects MX1.25-2PWT, which can ensure normal power supply and effectively reduce the occupied size 2. TYPE-C circuit, see Figure 6 (1) Multifunctional USB interface circuit, based on TYPE-C interface to realize dual functions of 5V power input and USB data download, integrates overcurrent protection, ESD protection and TYPE-C protocol adaptation, and is the core interface for device charging and firmware maintenance.

[0105] TYPE-C interface (U7): As an input interface, it supports reversible insertion. The VBUS pin (A9 / B9) is uniformly connected to the 5V power input path.

[0106] Overcurrent protection (F1, 500mA fuse): Connected in series between VBUS and VIN outputs, it blows when the input current exceeds 500mA to prevent short circuit damage to the device or USB host.

[0107] Reverse polarity protection and ESD protection (D10, D11): D10 and D11 are ESD protection diodes connected in parallel on the D+ / D- signal lines to suppress electrostatic discharge. The symmetrical pin layout of the TYPE-C interface provides physical reverse polarity protection, and both VBUS and data lines can conduct normally when plugged in either direction.

[0108] (2) USB data communication unit Differential signal path: The D+ pin (A2 / B2) of TYPE-C is connected to the USB_DP pin of AIR700ECP through D10, and the D- pin (A3 / B3) is connected to the USB_DM pin of AIR700ECP through D11.

[0109] Reversible plug compatibility design: The D+ / D- pins of channels A and B are cross-connected to ensure that the D+ / D- signals can be correctly mapped to the module's USB differential interface when the interface is plugged in either way, without affecting the firmware download function.

[0110] (3) TYPE-C protocol adapter unit CC pin configuration: The CC pin (A1 / B1) of the TYPE-C is grounded through a pull-down resistor R16 (5.1KΩ), conforming to the "Device Mode (UFP)" detection requirements in the TYPE-C specification, ensuring that the USB host (such as a computer) can correctly recognize the device and establish a data connection. ID pin configuration: The ID pin (A4) is directly grounded, fixed in device mode, does not support OTG function, and simplifies circuit design. Power input: VIN.

[0111] 3. Charging circuit, see Figure 7 The single-cell lithium battery charging circuit enables safe charging of the battery from a 5V TYPE-C input. It integrates charging status indication, low-voltage overcharging protection, and power filtering functions, and is the core guarantee for the device's battery power supply system.

[0112] (1) Core charging management unit (TP4055) Chip Features: The TP4055 is a linear charging chip designed specifically for single-cell lithium batteries, supporting a maximum charging current of 1A and featuring automatic recharging and thermal regulation functions. Charging Current Setting: Connect an external resistor R22 (2KΩ) to the PROG pin (1). According to the chip formula ICHG=RPROG1200mV, the charging current is calculated to be 2000Ω1200mV=600mA, which is suitable for the charging rate requirements of the device's battery. Input Power Supply Path: 5V (TYPE-C input) → Red LED D6 → Current-limiting resistor R21 → VCC pin (5) of the TP4055, providing operating power to the chip.

[0113] (2) Charging status indicator unit Red LED D6: Connected in series between the input power supply and the chip VCC. When the TYPE-C input is valid, D6 lights up, visually indicating that the charging circuit is powered on. If D6 is off, it means that the input power supply is disconnected or there is an abnormality in the circuit.

[0114] (3) Low-voltage overcharge protection unit (BAT760) Chip Function: BAT760 is a lithium battery protection chip that integrates over-discharge protection, over-current protection, and low-voltage strong charging functions. When the battery voltage is lower than the protection threshold (e.g., 2.5V), normal charging may not be able to start. Its strong charging function will be activated, allowing a small current to pre-charge and increase the battery voltage. After reaching the normal charging threshold, it will automatically switch to constant current charging mode. Connection Logic: VBAT pin (3) of TP4055 → pin 2 (input) of BAT760, pin 3 (output) of BAT760 → BAT_4V2 battery, pin 1 is pulled up to 5V through resistor R24 ​​(10KΩ) to realize the power supply and control of the protection logic.

[0115] (4) Power supply filtering and stability design An external capacitor C6 (100nF) is connected to the VCC pin (5) of the TP4055 to filter out the ripple of the input power supply and ensure stable power supply to the chip. An external capacitor C5 (100nF) is connected to the STAT pin (4) to smooth the status indicator signal and avoid false triggering caused by level fluctuations. Power supply input: 5V.

[0116] 4. LDO circuit, see Figure 8 The core power conversion circuit, based on the HM7833 linear regulator, is responsible for stably converting the BAT_4V2 voltage output from the battery to 3.3V, providing low-ripple, highly reliable power to all sensitive digital circuits and sensors in the system. It serves as the power supply hub for the device. Power input: BAT_4V2 (battery) II. Main control section, see Figure 9 The main control circuit, based on Nordic Semiconductor's nRF52832, is the control and communication hub of the entire device. It integrates high-performance processing, wireless transmission, and multi-protocol peripheral interfaces, providing low-power and high-reliability control capabilities for IoT scenarios.

[0117] 1. UART communication interface (with AIR700ECP module) Full-duplex asynchronous communication is achieved through MCU_TX1 and MCU_RX1, with the baud rate configurable by software (default 115200bps), used for cellular network data pass-through and module command interaction.

[0118] 2. I²C communication interface (with SHT20 temperature and humidity sensor) Half-duplex synchronous communication is achieved through MCU_I2C1_SCL (clock) and MCU_I2C1_SDA (data), supporting 100Kbps standard mode and 400Kbps fast mode, for collecting environmental temperature and humidity data.

[0119] 3. SPI communication interface (with ICM42605 six-axis sensor) High-speed synchronous communication is achieved through MCU_P09_CS (chip select), MCU_SPI1_SCK (clock), MCU_SPI1_MOSI (master transmit), and MCU_SPI1_MISO (master receive), with a maximum rate of 8Mbps, used for acquiring acceleration and gyroscope data.

[0120] 4. GPIO general outputs (MCU_LED, MCU_RESET) As a general-purpose I / O port, the green LED indicator is driven, and the system status (such as running, communication, and abnormality) is indicated by software-controlled voltage levels. A 20kΩ current-limiting resistor is connected in series to prevent LED damage from overcurrent while ensuring sufficient brightness. MCU_RESET controls whether the AIR700ECP resets by setting its high or low voltage level.

[0121] 5. Radio Frequency Antenna Interface (MCU_RF) Connect to the CA-01 mini patch Bluetooth antenna, with optimized RF matching design to improve Bluetooth signal transmission distance and anti-interference capabilities, adapting to complex IoT deployment environments. Clearance is provided in the antenna area to avoid metal interference and ensure stable RF performance.

[0122] 6. ADC Sampling Interface (BAT_ADC) The sampling node, connected to the battery voltage divider network, acquires battery voltage via a 12-bit ADC to monitor battery level and provide low-battery warnings. Software configuration of sampling accuracy and averaging filtering is supported to improve voltage measurement accuracy. Power input: 3.3V output from an LDO. III. Functional Components: 1. ICM42605 data acquisition circuit, see [link / reference] Figure 10 The ICM42605 is a high-precision six-axis motion sensor acquisition circuit, integrating three-axis acceleration and three-axis angular velocity detection functions. It achieves high-speed data interaction with the main controller nRF52832 via an SPI interface, supports low-power interrupt wake-up and FIFO buffering, and is the core module for motion sensing and attitude calculation in the device. Power input: 3.3V output from the LDO.

[0123] 2. Temperature and humidity acquisition circuit, see [link / reference] Figure 11 The high-precision environmental temperature and humidity acquisition circuit based on SHT20 communicates with the main controller nRF52832 via an I²C digital interface, providing stable and accurate temperature and humidity data to the device. It is the core sensing module of environmental monitoring IoT devices. Power input: 3.3V output from LDO.

[0124] 3. ADC sampling circuit, see Figure 12 The ADC sampling circuit is a resistor divider voltage sampling circuit. Its core function is to linearly divide the battery voltage and output a voltage signal that matches the input range of the main control ADC, enabling real-time monitoring of the battery voltage. The circuit uses a high-precision voltage divider network, consisting of R19 (2.7MΩ±1%) and R20 (680KΩ±1%). According to the principle of resistor voltage divider, when the battery's full charge voltage is 4.2V, the voltage at the sampling point BAT_ADC is approximately 0.844V. This voltage is within the ADC input range of the nRF52832 (0~3.3V) and can be directly acquired.

[0125] 4. AIR700ECP circuit, see [link / reference] Figure 13 The AIR700ECP is a wireless communication module. This circuit is an external supporting circuit for the module, realizing power supply, serial communication, SIM card access, status indication, and RF connection functions, providing cellular network data transmission capabilities for the main controller nRF52832. Power input: Directly powered by the battery node BAT (4V2). The module power pin (VCC_MAIN) needs to be decoupled with a parallel capacitor to suppress power ripple and ensure power supply stability during high data throughput.

[0126] 5. SIM card circuit, see Figure 14 Filtering design: A decoupling capacitor is connected in parallel to the SIM_VCC pin to suppress power supply ripple and prevent voltage fluctuations from affecting the stability of SIM card communication.

[0127] Core signals: These include three types of signals: SIM_DATA (data), SIM_CLK (clock), and SIM_RST (reset). They are directly connected to the corresponding pins of the SIM card slot to enable command and data interaction between the module and the SIM card.

[0128] Impedance matching and filtering: Each signal line is connected in series with a current-limiting resistor (typical value 22~100Ω) and in parallel with a high-frequency filter capacitor (typical value 10~22pF) to suppress signal reflection and electromagnetic interference and improve communication reliability.

[0129] ESD protection: Connect an ESD protection element (such as a TVS diode) between the signal line and ground to prevent electrostatic discharge from damaging the SIM card or module interface and enhance the circuit's anti-static capability.

[0130] Connection relationships: The SIM_VCC, SIM_DATA, SIM_CLK, SIM_RST, and SIM_DET pins of the AIR700ECP module are connected one by one to the corresponding SIM card interface pins of the module to realize power supply, communication and status detection.

[0131] With SIM card socket: Signal pins are directly soldered to the SIM card socket pads to ensure reliable physical connection.

[0132] System ground: The grounding terminals of all filter capacitors and ESD components are connected to system ground (GND) to form a complete signal return path.

[0133] Power input: The SIM card operating voltage (supports automatic switching between 1.8V and 3V) is provided by the SIM_VCC pin of the AIR700ECP module to power the internal circuitry of the SIM card.

[0134] 6. Reset circuit, see [link / reference] Figure 15 The reset circuit is used to reset the AIR700ECP communication module at the software level, resolving faults such as module crashes and network registration anomalies, and improving the system's reliability and fault tolerance.

[0135] The core component is the NPN transistor Q13, which, together with resistors R22 (10KΩ) and R23 (100KΩ), forms the base bias circuit.

[0136] When the main control output MCU_RESET is high, the base of Q13 receives sufficient bias current and turns on, while the collector is pulled low; when MCU_RESET is low, Q13 is turned off, and the collector returns to a high level through the pull-up resistor.

[0137] 7. Button reset circuit, see Figure 16 The button reset circuit, as a supplement to the main control drive reset, is used to force the AIR700ECP module to reset via a physical button when the system is abnormal. It is a design that improves the maintainability of the equipment.

[0138] Core component: Touch button K1 (SW-PB), which is a lock-free self-reset button. When pressed, the pin is turned on, and it is automatically turned off when released.

[0139] Reset logic: The RESET_N pin of the AIR700ECP module is active low. When K1 is pressed, the AIR700ECP_RESET_N signal is pulled directly to system ground (GND), triggering a module reset; after the button is released, the signal returns to a high level through the pull-up resistor (R21) in the previous reset circuit, and the module enters normal operating state.

[0140] 8. Download the enable circuit, see [link / reference] Figure 17 The USB download mode trigger circuit is used to force the module into USB Bootloader mode via a physical button during firmware burning, upgrading, or fault recovery. It is the core hardware interface for realizing offline firmware maintenance of the module.

[0141] The USB_BOOT pin of the AIR700ECP module is the mode selection pin, which is low (or floating) by default. When K2 is pressed, this pin is pulled high to the external output voltage node VDD_EXT. The module recognizes this high-level signal upon power-on or reset and enters USB-Bootloader mode. In this mode, a computer-based firmware flashing tool can be connected via the USB interface to complete firmware flashing or upgrades. After releasing the button, USB_BOOT returns to its default level, and the module starts normally and runs the existing firmware.

[0142] Optionally, an ICM42605 six-axis IMU sensor (integrated into the cue device) is used, with its INT pin connected to the GPIO interrupt pin of the main controller nRF52832; the software configures the sensor acceleration range to ±16g and sets the shot trigger threshold; when the sensor detects that the acceleration signal meets the threshold condition, it triggers an interrupt to wake up the main controller, which accumulates the number of shots and stores the data in the built-in Flash.

[0143] Optionally, the temperature and humidity data of the environment where the cue is located can be collected through the SHT20 temperature and humidity sensor (SDA / SCL pins are connected to the main controller's I²C interface). The main controller presets safety thresholds (e.g., temperature: 10℃~35℃, humidity: 30%RH~60%RH). When the collected data exceeds the threshold, the main controller sends an alarm command to the cloud platform through the AIR700ECP4G module, and the cloud platform simultaneously pushes the alarm information to the user's mobile APP.

[0144] Optionally, a base station positioning module (connected to the main controller via a UART interface) can be integrated into the cue stick to achieve real-time location data upload in conjunction with the AIR700ECP4G module; the main controller can preset a "safe zone" (such as a geofence with a radius of 50m), and trigger an anti-loss alarm when the location data exceeds the safe zone; at the same time, when the ICM42605 sensor detects a collision (peak acceleration ≥5g) or unexpected displacement (angular velocity change ≥100dps), the main controller can push alarm information to the APP via the 4G module.

[0145] Optionally, by utilizing the acceleration detection function of the ICM42605 sensor, the software converts the peak acceleration (a) at the moment of impact into the impact force value using the formula "F=ma" (pre-stored club weight parameter m). After the impact is interrupted, the main controller reads the sensor acceleration data, calculates and stores the impact force (unit: N) for each shot, and uploads the data synchronously to the cloud platform.

[0146] Optionally, based on the six-axis data from the ICM42605 sensor, the main controller uses a quaternion attitude calculation algorithm to calculate the spatial angles of the club (including pitch and yaw angles) in real time at the moment of impact. After the impact is interrupted, the main controller extracts and stores the calculated angle data and uploads it to the cloud platform simultaneously.

[0147] Optionally, the main controller monitors the acceleration / angular velocity data of the ICM42605 sensor in real time. If the data is detected to be below the "stationary threshold" (acceleration ≤ 0.1g, angular velocity ≤ 5dps) for 5 consecutive minutes, the control device will enter a deep sleep mode: turn off the power supply to the 4G module, suspend the periodic acquisition of temperature and humidity, and only retain the interrupt wake-up function of the ICM42605; when the sensor detects a motion signal, the device will be automatically woken up and resume operation.

[0148] Optionally, the main controller nRF52832 can be enabled in BLE5.0 slave mode, and an external CA-01 patch antenna can be connected to enhance the signal. The user's mobile APP can search for the device's Bluetooth name and pair it, and realize data interaction through the GATT protocol: the APP can view data such as the number of shots, current temperature and humidity, device battery level, and device working status in real time.

[0149] Optionally, the main controller communicates with the AIR700ECP4G module via the UART interface (MCU_TX1 / MCU_RX1) to package and send the ball-hitting data (number of hits, power, angle), temperature and humidity data, and positioning data to the module. The module uploads the data to the PC cloud platform via the 4G network. The cloud platform uses big data algorithms to perform calculations such as "ball-hitting power distribution statistics, temperature and humidity change trend analysis, and ball-hitting angle rationality assessment" and synchronizes the results to the user's mobile APP.

[0150] Optionally, users can send control commands via a PC cloud platform / mobile APP. The commands are transmitted to the AIR700ECP module via the 4G network, and the module forwards the commands to the main controller via UART. The main controller executes operations according to the commands: for example, when "disable detection function", the acquisition of ICM42605 / SHT20 is paused; when "power off", the device enters the power-off state.

[0151] Optionally, users can send control commands via a PC cloud platform / mobile app. The commands are transmitted to the AIR700ECP module via a 4G network, and the module forwards the commands to the main controller via UART, thus enabling the device to power on and off. Optionally, users can register an account via a mobile app and enter the club's unique serial number (SN). Device binding can be completed via Bluetooth (without network) or 4G network (with network). The main controller nRF52832 allocates an independent data storage area for each bound user in Flash. When switching users, users can quickly switch accounts by selecting them through the app, and LED indicators will show successful switching at the corresponding frequency. Each user's shot data (number of shots, power, angle) is stored independently in a dedicated partition, which can only be viewed by the user and can also be shared with others as needed through the app. Device battery level, current user status, and other information are synchronized to the app and cloud platform via Bluetooth / 4G. Temporary authorization codes can be generated for temporary use by others, and automatic push notifications are sent when the battery is low.

[0152] Optionally, the main controller nRF52832 communicates with the ICM42605 six-axis sensor via the SPI interface to acquire raw X / Y / Z axis acceleration and angular velocity data in real time. The main controller first performs a 5-point moving average filter on the raw data to smooth the instantaneous fluctuations of high-frequency vibrations, and simultaneously calculates the mean absolute value of the angular velocity. If the mean value is ≤30dps, it is judged as noise and does not proceed to the next process. The filtered data is then verified by a dual threshold: when the peak acceleration is ≥2.5g and the duration is 20~50ms, and the peak angular velocity is ≥50dps, a 30ms data segment is extracted and matched with a pre-stored standard hitting timing model (acceleration-impact-deceleration phase) for similarity matching. If the similarity is ≥70%, the hit is confirmed as valid. The main controller accumulates the number of valid shots and stores the count in the built-in Flash memory. At the same time, it synchronizes the data to the corresponding data partition according to the user account. Finally, it communicates with the AIR700ECP4G module via UART (MCU_TX1 / MCU_RX1) to package and send the accurate shot count and noise filtering log to the module. The module then uploads the data to the PC cloud platform via the 4G network and synchronizes it to the user's mobile APP, thus achieving accurate shot count and noise interference avoidance.

[0153] This invention addresses the problem of missed counts in manual counting, significantly improving the accuracy of shot detection. It achieves fully automated recording without manual intervention, adapting to the counting needs of billiards training and competitions, thus improving efficiency compared to traditional manual counting. It also solves the pain point of "cues deforming and shortening their lifespan due to abnormal temperature and humidity (dampness / cracking)," achieving temperature and humidity measurement accuracy of ±0.3℃ / ±2%RH, with over-limit alarm response, providing early warning of storage environment risks and extending cue lifespan. Furthermore, it solves the problem of traditional cues lacking location tracking and being untraceable after loss; collision / displacement alarms promptly alert users to the risk of cue theft, improving security compared to cues without anti-loss features. Finally, it achieves quantitative recording of shot force, solving the problem of "traditional cues unable to accurately assess shot force," with a force detection error ≤±0.5N, assisting users in analyzing shot techniques and optimizing force application, improving training efficiency compared to experience-based judgment. This device solves the problems of "inability to quantify the hitting angle and difficulty in optimizing the hitting posture," with an angle detection accuracy of ≤±1°. It assists billiards enthusiasts / athletes in analyzing the rationality of their hitting posture, shortening the skill improvement cycle compared to purely experience-based training. The device has low sleep current, resulting in longer battery life compared to constant power supply mode, addressing the pain point of "short battery life and frequent charging" in smart devices, making it suitable for long-term outdoor / competition use. It also solves the problem of "inability to view device data in environments without network access," with a Bluetooth communication distance of ≤100m and a data transmission rate of ≥2Mbps, allowing for local data viewing without reliance on 4G networks, making it suitable for indoor training and other network-free scenarios. It enables remote data management and intelligent analysis, solving the problem of "traditional cue data not being able to be accumulated and training effects not being quantified." Users can view long-term training data reports via PC / APP, improving the targeting of training. Finally, it solves the problem of "inability to remotely manage device power consumption and continuous power consumption when idle," allowing functions to be turned on / off as needed, further reducing standby power consumption compared to devices without remote control. This design addresses the issues of "physical locks on cue boxes, lack of remote management, and poor theft prevention." Remote unlocking has a short response time, and temporary unlocking can be authorized via an app, improving the security and ease of cue storage. It also solves the problem of "data confusion due to multiple users, making it difficult to accurately track individual training results." Traditional smart billiard cues are mostly designed for single-user use, leading to data overlap in stroke count, power, and angle when shared by multiple users. This prevents the separate accumulation of training data for each user, making it difficult to accurately assess individual skill progress or deficiencies. This design, however, uses a multi-user account binding and data isolation mechanism. Each user can independently log in to the associated device via an app. The main controller automatically distinguishes user identities and stores individual training data separately, achieving "one account, one data" for each user, ensuring the traceability and accuracy of training data.Addressing the pain point of "poor adaptability to team training / teaching scenarios and inability of coaches to provide coordinated guidance," traditional billiard cues lack team data management capabilities in shared scenarios such as professional training and club instruction. Coaches cannot simultaneously access training data from multiple students, making it difficult to provide targeted group instruction; students also cannot share training results for comparison and improvement. This design supports customizable data sharing permissions (e.g., students sharing data with coaches). Coaches can uniformly view all associated students' shot data, posture deviations, training durations, and other information, generating team training reports to enable batch guidance and personalized optimization, adapting to the needs of professional training and multi-person instruction scenarios. It also addresses the problem of "low equipment utilization and resource waste due to single-person use." Traditional smart billiard cues, lacking multi-person adaptability, are typically designed for single-person use. In public settings such as clubs and training halls, multiple devices are needed to meet the needs of multiple users simultaneously, resulting in high equipment procurement costs and high idle rates. This design supports multiple users sharing the same device at different times by enabling quick account switching and real-time device status synchronization (such as remaining battery power and usage time display). It meets the needs of multiple users without requiring additional equipment investment, improving device utilization and reducing usage costs in public settings. It also solves the problem of "chaotic permission management and lack of privacy and security guarantees when multiple users share the device." In multi-user scenarios, traditional devices lack clear permission divisions, potentially leading to unauthorized operation and leakage of personal training data. This design uses an APP account authorization mechanism, allowing device owners to set "temporary usage permissions" and "data viewing permissions." For example, coaches may only have data viewing rights, while temporary users may only have limited usage time. This protects personal data privacy and prevents device malfunctions or data loss due to unauthorized operations, improving the convenience and security of management when multiple users share the device.

[0154] The content disclosed in the embodiments of this invention is only a preferred embodiment of the invention and is used only to illustrate the technical solutions of the invention, not to limit it. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. A smart billiard cue, characterized in that, include: The main body of the cue stick includes a front shaft and a rear shaft; An intelligent agent is embedded in the internal cavity of the rear rod end. The intelligent agent includes a main controller, an inertial measurement unit (IMU), a built-in storage unit, and a power management module. The IMU is electrically connected to the main controller, the power management module is electrically connected to both the main controller and the IMU, and the main controller is electrically connected to the built-in storage unit. A temperature and humidity acquisition module is embedded in a reserved mounting position inside the main body of the cue stick, or integrated into the smart body, and the temperature and humidity acquisition module is electrically connected to the main controller; A dual-mode communication module is integrated into the intelligent agent. The dual-mode communication module is electrically connected to the main controller. The dual-mode communication module includes a Bluetooth sub-module and a cellular communication sub-module. A positioning module is integrated into the intelligent agent, and the positioning module is electrically connected to the main controller; The main controller establishes a data interaction connection with the cloud platform through the dual-mode communication module.

2. The smart billiard cue according to claim 1, characterized in that, A force sensor is embedded in the clubhead of the fore-shaft and is electrically connected to the main controller. The force sensor is located close to the contact area of ​​the clubhead when it strikes the ball. The main controller pre-stores club weight parameters. The force sensor is used to collect contact force data at the moment of impact. The main controller is used to obtain the impact force value based on the contact force data and club weight parameters. The built-in storage unit is used to store the impact force value.

3. The intelligent billiard cue according to claim 1, characterized in that, The inertial measurement unit (IMU) is a six-axis or nine-axis sensor. The INT pin of the IMU is electrically connected to the GPIO interrupt pin of the main controller. The IMU acquires the attitude data of the cue stick. The main controller is used to determine valid shots and count them based on the attitude data. The built-in storage unit is used to store the count results of valid shots and the angle data of each shot.

4. The intelligent billiard cue according to claim 1, characterized in that, The temperature and humidity acquisition module is electrically connected to the main controller via an I²C interface circuit, and the sensing probe of the temperature and humidity acquisition module faces the external environment of the cue stick body.

5. The intelligent billiard cue according to claim 1, characterized in that, The positioning module is electrically connected to the main controller via a wire, and the signal receiving end of the positioning module is connected to the outside of the cue stick body.

6. The intelligent billiard cue according to claim 1, characterized in that, It also includes a matching smart storage box, which has a cavity for accommodating the main body of the cue stick. The inner wall of the cavity is equipped with an electronic lock and an environmental control module. The electronic lock is connected to the main controller through a wireless communication module.

7. The intelligent billiard cue according to claim 1, characterized in that, The power management module includes a lithium battery, a charging interface, and a charging management unit. The charging interface integrates an overcurrent protection circuit and an ESD protection circuit. The power management module also includes an ADC sampling circuit, which is electrically connected to the lithium battery and the main controller.

8. The intelligent billiard cue according to claim 1, characterized in that, It also includes a reset circuit, a button reset circuit, and a download enable circuit, all of which are electrically connected to the main controller; the surface of the rear rod is provided with buttons corresponding to the button reset circuit and the download enable circuit.

9. The intelligent billiard cue according to claim 4, characterized in that, It also includes a SIM card circuit, which is electrically connected to the cellular communication submodule, and the SIM card circuit integrates a filtering circuit and an ESD protection circuit.

10. A control method for an intelligent billiard cue, based on the intelligent billiard cue according to any one of claims 1-9, characterized in that, Includes the following steps: S1. The inertial measurement unit (IMU) collects the acceleration and angular velocity data of the cue stick, the temperature and humidity acquisition module collects the ambient temperature and humidity data, the positioning module collects the cue stick position information, and the ADC sampling circuit collects the battery voltage data. S2. The main controller determines the status of the cue stick, wherein: if the cue stick remains stationary for a preset time, the cue stick is controlled to enter a low-power sleep mode; if the peak acceleration is detected to be ≥ a preset threshold and the duration is ≤ a preset duration, the cue stick is determined to be a valid shot; if the temperature or humidity exceeds the limit or the position exceeds the safe area, an alarm is triggered. S3. The main controller uploads various types of collected data to the cloud platform through a dual-mode communication module. The cloud platform performs statistical analysis of the ball-hitting power distribution, analysis of temperature and humidity change trends, and evaluation of the rationality of the ball-hitting angle. S4. The main controller receives control commands from the cloud platform or mobile terminal and performs remote switching, function start / stop, account switching, or temporary authorization operations.

Images