Drumstick positioning system and method, device, and medium

Abstract

A drumstick positioning system and method, a device, and a medium. The system comprises: a data processing module (110), and an ultra-wideband positioning module (120) and an inertial measurement module (130) which are arranged in a drumstick. The ultra-wideband positioning module (120) is used for determining position information of the drumstick and sending the position information to the data processing module (110); the inertial measurement module (130) is used for determining kinematics information of the drumstick and sending the kinematics information to the data processing module (110); and the data processing module (110) is used for receiving the position information sent by the ultra-wideband positioning module (120) and the kinematics information sent by the inertial measurement module (130), and determining a target position of the drumstick on the basis of the position information and the kinematics information, so as to determine, on the basis of the target position, a target drumhead where the drumstick is located. The system solves the problem in the prior art that recognition errors are caused by mounting a sensor in a physical drumhead to sense strike direction and force for drumhead strike recognition, thereby improving drumstick positioning precision and achieving the effect of improving drumhead strike detection accuracy.

Description

Drumstick positioning system, method, device and medium Technical Field

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

[0002] Electronic musical instrument technology combines traditional instruments with advanced electronics. It utilizes sensors, controllers, and audio processing to simulate and synthesize the sounds and performances of various instruments. Electronic drums, as a type of electronic instrument, typically recognize the striking action to capture drum beats and output audio. This process begins when a strike is detected, triggering the capture of drum beats and audio output.

[0003] Currently, drumhead recognition typically involves installing sensors on the physical drumhead. These sensors detect the direction and force of the strikes and determine whether the drumstick has struck the drumhead. However, this method relies on the user's striking force and the sensor's sensitivity, resulting in potential for misidentification and limited portability. Summary of the Invention

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

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

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

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

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

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

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

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

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

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

[0014] at least one processor; and

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

[0016] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the drumstick positioning method according to any embodiment of the present invention.

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

[0018] The technical solution of the embodiment of the present invention is to determine the position information of the drumstick based on the ultra-wideband positioning module and send the position information to the data processing module; determine the kinematic information of the drumstick based on the inertial measurement module and send the kinematic information to the data processing module; the data processing module receives the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determines the target position of the drumstick based on the position information and kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position. This solves the problem in the prior art of installing sensors in the physical drum surface to sense the direction and force of the strikes and to identify the drum surface, which leads to recognition errors. It realizes high-precision positioning of the drumstick by using the ultra-wideband positioning module, obtains the position information of the drumstick in real time, and measures the kinematic information of the drumstick by the inertial measurement module at the same time. The data processing module combines the kinematic information and position information of the drumstick to comprehensively determine the target position of the drumstick, thereby improving the positioning accuracy of the drumstick and further improving the recognition accuracy of the strikes on the drum surface.

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

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

[0021] FIG1 is a schematic structural diagram of a drumstick positioning system provided in Embodiment 1 of the present invention;

[0022] FIG2 is a flow chart of a drumstick positioning method provided in a second embodiment of the present invention;

[0023] FIG3 is a schematic structural diagram of an electronic device for implementing the drumstick positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

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

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. Example 1

[0026] FIG1 is a schematic diagram of the structure of a drumstick positioning system provided by an embodiment of the present invention. This embodiment is applicable to scenarios where a drumstick is struck on a drumhead. Referring to FIG1 , the drumstick positioning system provided by this embodiment includes a data processing module 110, an ultra-wideband positioning module 120 and an inertial measurement module 130, both of which are configured in the drumstick. The structural components of the drumstick positioning system of this embodiment are described in detail below.

[0027] The ultra-wideband positioning module 120 is used to determine the position information of the drumstick and send the position information to the data processing module 110;

[0028] an inertial measurement module 130 for determining kinematic information of the drumstick and sending the kinematic information to the data processing module 110;

[0029] The data processing module 110 is configured to receive the position information sent by the ultra-wideband positioning module 120 and the kinematic information sent by the inertial measurement module 130, and determine the target position of the drumstick based on the position information and the kinematic information, so as to determine the target drumhead where the drumstick is located based on the target position.

[0030] The drumstick can be used in conjunction with the drum body. In actual application scenarios, the drumstick can be used to strike the drumhead of the drum body to produce a sound. The drumstick is equipped with an ultra-wideband positioning module 120. The ultra-wideband positioning module 120 can be based on UWB (Ultra Wide Band) positioning technology for positioning, which can be implemented by separate hardware. The position information can be longitude and latitude coordinates, or it can be a three-dimensional coordinate in a spatial coordinate system established with a certain point in space as a circle. The drumstick is equipped with an inertial measurement module 130. The inertial measurement module 130 can be an IMU (Inertial Measurement Unit) for measuring the drumstick's kinematic information such as acceleration and angular velocity in three axes, which can be implemented by separate hardware.

[0031] In this embodiment, while the drumstick is being moved, the ultra-wideband positioning module 120 can locate the drumstick in real time, detect its position information, and then send the position information to the data processing module 110. Simultaneously, the inertial measurement module 130 can also measure the drumstick's kinematic information in real time. For example, the inertial measurement module 130 can include an accelerometer and a gyroscope, with the accelerometer detecting the drumstick's acceleration along three axes in the carrier coordinate system and the gyroscope detecting the drumstick's angular velocity relative to the navigation coordinate system. Kinematic information includes, but is not limited to, velocity, acceleration, angular velocity, and the like. The inertial measurement module 130 sends the kinematic information to the data processing module 110. The data processing module 110 can combine the drumstick's position information and kinematic information at the same moment to comprehensively determine the drumstick's target position. For example, the position information located by the ultra-wideband positioning module 120 can be corrected using the drumstick's kinematic information, adjusting the position information and obtaining the adjusted position information as the drumstick's target position. Furthermore, the data processing module 110 can also detect which drumhead the drumstick struck based on the drumstick's target position. For example, the target position of the drumstick may be compared with the position range of the drumhead of each drum. If the drumstick position information is within the position range of the drumhead, the drumhead may be used as the target drumhead.

[0032] The technical solution of the embodiment of the present invention is to determine the position information of the drumstick based on the ultra-wideband positioning module and send the position information to the data processing module; determine the kinematic information of the drumstick based on the inertial measurement module and send the kinematic information to the data processing module; the data processing module receives the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determines the target position of the drumstick based on the position information and kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position. This solves the problem in the prior art of installing sensors in the physical drum surface to sense the direction and force of the strikes and to identify the drum surface, which leads to recognition errors. It realizes high-precision positioning of the drumstick by using the ultra-wideband positioning module, obtains the position information of the drumstick in real time, and measures the kinematic information of the drumstick by the inertial measurement module at the same time. The data processing module combines the kinematic information and position information of the drumstick to comprehensively determine the target position of the drumstick, thereby improving the positioning accuracy of the drumstick and further improving the recognition accuracy of the strikes on the drum surface.

[0033] Based on the above embodiment, the drumstick positioning system optionally further includes: at least one ultra-wideband positioning base station; and an ultra-wideband positioning module 120 configured to transmit a wireless signal to the at least one ultra-wideband positioning base station and determine the drumstick's location information based on the transmitted wireless signal using a UWB positioning method. The ultra-wideband positioning base station may be configured in a speaker box associated with the drumstick.

[0034] In this embodiment, the ultra-wideband positioning module 120 configured in the drumstick can transmit a series of wireless signals with extremely short pulse widths and high peak power to at least one ultra-wideband positioning base station. The wireless signals are then processed using UWB positioning methods to determine the drumstick's location information. Optionally, UWB positioning methods include positioning based on time of arrival (TOA), time difference of arrival (TDOA), received signal strength indicator (RSSI), and angle of arrival (AOA). These methods can be used individually or in combination to improve positioning accuracy and stability. For example, a UWB positioning base station, i.e., an ultra-wideband positioning base station, can be deployed in the positioning area, and an ultra-wideband positioning module 120 can be set in the drumstick. By receiving and measuring the transmission time of the wireless signal emitted by the ultra-wideband positioning module 120 to reach different base stations, the distance between the ultra-wideband positioning module 120 and each base station can be calculated, and then combined with the position information of the base station to determine the position of the ultra-wideband positioning module 120. The position of the ultra-wideband positioning module 120 is the position of the drumstick.

[0035] It should be noted that when locating the drumstick based on the ultra-wideband positioning module 120, the ultra-wideband signal may be affected by complex environments such as walls, windows and indoor obstacles, or by other interference signals, resulting in certain positioning errors, which may lead to errors in drumhead recognition. In order to improve the positioning accuracy of the drumstick and the recognition accuracy of the drumhead, the kinematic information of the drumstick measured by the inertial measurement module 130 and the position information of the drumstick measured by the ultra-wideband positioning module 120 can be combined to comprehensively determine the target position of the drumstick.

[0036] Based on the above embodiment, optionally, the data processing module 110 includes: a first position determination unit and a target position determination unit, wherein:

[0037] a first position determining unit, configured to determine a first position of a drumstick based on kinematic information;

[0038] The target position determining unit is configured to determine a target position of the drumstick based on the position information and the first position.

[0039] In this embodiment, the first position determination unit can integrate the acceleration of the drumstick measured by the inertial measurement module 130 to obtain the velocity of the drumstick. Furthermore, the displacement of the drumstick is obtained based on the velocity and the corresponding movement time, and the position of the drumstick is determined based on the displacement as the first position. The target position determination unit receives the first position determined by the first position determination unit and then uses a fusion algorithm to fuse the position information determined by the ultra-wideband positioning module 120 with the first position to obtain the target position of the drumstick, thereby improving the positioning accuracy of the drumstick and thereby improving the recognition accuracy of the drumhead being struck.

[0040] Based on the above embodiment, optionally, the data processing module 110 further includes: a posture information determination unit, wherein:

[0041] The posture information determination module is used to determine the posture information of the drumstick based on the kinematic information.

[0042] Specifically, the posture information determination module can use a posture solution algorithm (such as quaternion, Kalman filter, etc.) to convert kinematic information into posture information, such as posture information including but not limited to direction cosine matrix (DCM) or Euler angles (pitch angle, yaw angle, roll angle), which can represent the posture of the drumstick in three-dimensional space.

[0043] Based on the above embodiment, optionally, the data processing module 110 further includes: a position correction unit, wherein:

[0044] The position correction unit is used to correct the position information based on the kinematic information and / or the posture information to obtain the target position of the drumstick.

[0045] In this embodiment, the posture information determination module receives the posture information sent by the posture information determination module, and then can correct the position information through kinematic information and / or posture information, and use the corrected position information as the target position of the drumstick, thereby improving the accuracy and reliability of the positioning system.

[0046] On the basis of the above embodiment, optionally, the data processing module 110 further includes: a tapping force determination unit, wherein:

[0047] The striking force determination unit is used to determine the striking force based on the position information, kinematic information and / or posture information, so as to determine the response information of the drumstick striking the target drum surface based on the striking force and the target position.

[0048] Specifically, the striking force determination unit can detect the striking trend and determine the striking force based on the position information, target position, posture information and / or kinematic information. For example, the changing trend of the posture information can be analyzed, such as whether the drumstick starts to accelerate from a stationary state, whether its striking direction is toward the drumhead, etc. When a rapid change in posture is detected, it can be determined as the beginning of the striking trend, and the striking force can be estimated based on the changed posture information. The changes in kinematic information such as the speed, acceleration and displacement of the drumstick can also be analyzed. When a rapid increase in speed or acceleration is detected, or a rapid increase in the unit displacement offset, it can be determined as the beginning of the striking trend, and the striking force can be estimated based on the speed and acceleration peak values. For example, the greater the acceleration peak value, the greater the striking force. Alternatively, the striking force can also be detected based on the position information or target position, such as by determining the running speed of the drumstick at different time points based on the position difference of the drumstick at different time points, and then determining the striking force based on the running speed; or, the striking force can be determined based on the change in the running speed. Furthermore, the striking force determination unit can determine response information of the drumstick striking the target drumhead based on the striking force and the target position when detecting that the target position of the drumstick reaches the striking position of the target drumhead. The sounds produced by striking different positions on the target drumhead are different, and the response information can be a sound source or drum sound, which is converted into sound audible to the human ear through a speaker or headphones.

[0049] Based on the above embodiment, optionally, the data processing module 110 includes: a target drum surface determination unit, wherein:

[0050] The target drum surface determination unit is configured to determine the target drum surface where the drumstick is located based on the target position and drum surface triggering range information of at least two drums.

[0051] The drum model can be a three-dimensional model of the drum body in three-dimensional space, which can be determined based on the three-dimensional coordinates of the drum body. Optionally, the drum model is constructed based on at least two drums. In other words, the drum model includes the drumheads of at least two drums.

[0052] Specifically, the target drum surface determination unit can determine multiple position information of the adjacent drum surface range to be touched relative to the drum surface of each drum based on the three-dimensional coordinate position in the drum model, and then calibrate the drum surface trigger range information of each drum surface based on the multiple position information corresponding to each drum surface. The target drum surface determination unit can determine whether the target position of the drumstick reaches the drum surface trigger range information. If it does, it means that the drumstick is close to the drum surface, and the drum surface to which the drum surface trigger range information reaches can be used as the target drum surface. The advantage of this setting is that by judging the drum surface trigger range information, it is detected which drum surface the drumstick is going to hit, thereby achieving accurate identification of the target drum surface.

[0053] It should be noted that, considering that the process of drumsticks hitting the drumhead is a fast process, in order to improve the accuracy of striking detection, when the data processing module 110 determines the target position of the drumstick, based on the target position of the drumstick and the drum model, it is determined whether the drumstick has moved to the top of which drumhead, and the target drumhead is determined. For example, when the target position of the drumstick reaches the drumhead triggering range information of the drumhead, it is believed that the drumstick has moved to the top of the drumhead, and the drumhead is the target drumhead. When detecting that the drumstick has moved to the top of the drumhead, it can be determined by the drumstick target position and the target position determined after the target position. The benefit of this arrangement is that, by first detecting whether the drumstick has moved to the top of the drumhead, when it moves to the top of the drumhead, detection of whether the drumhead has been struck is carried out, and detection is avoided to make mistakes. If it is only moved to that position above the drumhead, there is no striking action, then it will not be struck, and the accuracy of detection of the drumhead striking is improved.

[0054] Based on the above embodiment, optionally, the data processing module 110 further includes: a knock detection unit, wherein:

[0055] The striking detection unit is configured to determine a striking detection result based on the target position and the drumhead position of the target drumhead; or to determine a striking detection result based on a position difference between the target positions of the drumstick at different time points.

[0056] It should be noted that, generally speaking, when a drumstick strikes a target drumhead, it can strike various positions on the target drumhead to produce a sound, and these positions are referred to as drumhead positions.

[0057] Specifically, the strike detection unit can compare the target position of the drumstick with the drumhead position of the target drumhead to determine whether the target position reaches the drumhead position of the target drumhead. If the target position reaches the drumhead position, the strike detection result is considered to be that the target drumhead is struck. If the target position does not reach the drumhead position, the strike detection result is considered to be that the target drumhead is not struck. Alternatively, the strike detection unit can also calculate the position difference between the target positions of the drumstick at different time points, determine the running speed of the drumstick based on the position difference and the time interval between the different time points, and then determine the strike detection result based on the running speed. For example, if the running speed reaches a preset speed value, the strike detection result is considered to be that the target drumhead is struck; if the running speed does not reach the preset speed value, the strike detection result is considered to be that the target drumhead is not struck. Alternatively, the strike detection unit can also determine the motion acceleration of the drumstick based on the running speed of the drumstick at different time points, and determine the strike detection result based on the motion acceleration.

[0058] It should be noted that, considering that IMU data may be affected by noise and bias, filtering and calibration methods can be used to process the IMU data to improve the accuracy of posture information and kinematic information determination, thereby improving the accuracy of drumstick positioning.

[0059] In the technical solution provided by the embodiments of the present invention, when locating drumsticks based on an ultra-wideband positioning module and an inertial measurement module, the advantages of other wireless communication technologies can be combined to achieve more efficient and reliable wireless communication. Positioning can also be coordinated with other sensor technologies. Optionally, the other sensors can be Wi-Fi, or gesture sensors, optical sensors, Hall sensors, accelerometers, etc. By leveraging UWB's high-precision positioning and communication capabilities and combining UWB with other sensors, more comprehensive and accurate motion state monitoring and positioning accuracy can be achieved, thereby improving the performance and reliability of drumstick positioning detection. Example 2

[0060] FIG2 is a flow chart of a drumstick positioning method according to a second embodiment of the present invention. The method can be applied to the drumstick positioning system provided in the above embodiment. The system includes a data processing module, an ultra-wideband positioning module and an inertial measurement module configured in the drumstick. Referring to FIG2 , the method may include the following steps:

[0061] S210 : Determine the position information of the drumstick based on the ultra-wideband positioning module, and send the position information to the data processing module.

[0062] S220 , determining kinematic information of the drumstick based on an inertial measurement module, and sending the kinematic information to the data processing module.

[0063] S230: Determine a target position of the drumstick based on the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module received by the data processing module, and determine a target drumhead on which the drumstick is located based on the target position.

[0064] On the basis of the above technical solution, optionally, the data processing module includes: a first position determination unit and a target position determination unit, wherein,

[0065] The first position determining unit is configured to determine a first position of the drumstick based on the kinematic information;

[0066] The target position determining unit is configured to determine a target position of the drumstick based on the position information and the first position.

[0067] On the basis of the above technical solution, optionally, the data processing module further includes: a posture information determination unit, wherein:

[0068] The posture information determination module is used to determine the posture information of the drumstick based on the kinematic information.

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

[0070] The position correction unit is configured to correct the position information based on the kinematic information and / or the posture information to obtain a target position of the drumstick.

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

[0072] The striking force determination unit is used to determine the striking force based on the position information, the target position, the kinematic information and / or the posture information, so as to determine the response information of the drumstick striking the target drumhead based on the striking force and the target position.

[0073] On the basis of the above technical solution, optionally, the data processing module includes: a target drum surface determination unit, wherein:

[0074] The target drum surface determination unit is configured to determine the target drum surface where the drumstick is located based on the target position and drum surface triggering range information of at least two drums.

[0075] On the basis of the above technical solution, optionally, the data processing module further includes: a knock detection unit, wherein,

[0076] The knock detection unit is used to determine the knock detection result based on the target position and the drumhead position of the target drumhead; or to determine the knock detection result based on the position difference between the target positions of the drumstick at different time points.

[0077] The technical solution of this embodiment is to determine the position information of the drumstick based on the ultra-wideband positioning module and send the position information to the data processing module; determine the kinematic information of the drumstick based on the inertial measurement module and send the kinematic information to the data processing module; the data processing module receives the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determines the target position of the drumstick based on the position information and kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position. This solves the problem of the prior art that the drum surface is struck by a sensor installed in the physical drum surface to sense the direction and force of the strike, which leads to recognition errors. It realizes the high-precision positioning of the drumstick by using the ultra-wideband positioning module, obtains the position information of the drumstick in real time, and measures the kinematic information of the drumstick by the inertial measurement module at the same time. The data processing module combines the kinematic information and position information of the drumstick to comprehensively determine the target position of the drumstick, thereby improving the positioning accuracy of the drumstick and further improving the recognition accuracy of the strike on the drum surface. Example 3

[0078] FIG3 is a block diagram of an electronic device for implementing the drumstick positioning method according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components, their connections and relationships, and their functions shown herein are provided for illustrative purposes only and are not intended to limit the implementation of the present invention as described and / or claimed herein.

[0079] As shown in Figure 3, electronic device 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of electronic device 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0080] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0081] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the drumstick positioning method.

[0082] In some embodiments, the drumstick positioning method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the drumstick positioning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the drumstick positioning method in any other suitable manner (e.g., via firmware).

[0083] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0084] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0085] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0086] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0087] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0088] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0089] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0090] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A drumstick positioning system, characterized in that: The system includes: a data processing module, an ultra-wideband positioning module and an inertial measurement module configured in the drumstick; wherein, The ultra-wideband positioning module is used to determine the position information of the drumstick and send the position information to the data processing module; The inertial measurement module is used to determine the kinematic information of the drumstick and send the kinematic information to the data processing module; The data processing module is configured to receive the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module, and determine a target position of the drumstick based on the position information and the kinematic information, so as to determine a target drumhead where the drumstick is located based on the target position.

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

3. The system according to claim 1, wherein: The data processing module further includes: a posture information determination unit, wherein: The posture information determination module is used to determine the posture information of the drumstick based on the kinematic information.

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

5. The system according to claim 1 or 3, characterized in that The data processing module further includes: a knocking force determination unit; wherein, The striking force determination unit is used to determine the striking force based on the position information, the target position, the kinematic information and / or the posture information, so as to determine the response information of the drumstick striking the target drumhead based on the striking force and the target position.

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

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

8. A drumstick positioning method, characterized in that: include: Determine the position information of the drumstick based on the ultra-wideband positioning module, and send the position information to the data processing module; determining kinematic information of the drumstick based on an inertial measurement module, and sending the kinematic information to the data processing module; Based on the position information sent by the ultra-wideband positioning module and the kinematic information sent by the inertial measurement module received by the data processing module, the target position of the drumstick is determined based on the position information and the kinematic information, so as to determine the target drum surface where the drumstick is located based on the target position.

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

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the drumstick positioning method according to claim 8 when executed.

Images