Drumstick strike detection system and method, device, and medium

Abstract

A drumstick strike detection system and method, a device, and a medium. The system comprises: a data processing module (110), and an ultra-wideband spatial positioning module (120) and a magnetometer (130) which are arranged in a drumstick, wherein the ultra-wideband spatial positioning module (120) is used for determining spatial position information of the drumstick; the magnetometer (130) is used for determining the heading angle of the drumstick; the data processing module (110) is used for determining a drumstick signal horizontal emission angle on the basis of the heading angle, determining, on the basis of the drumstick signal horizontal emission angle, whether the spatial position information satisfies a preset positioning condition, and determining, on the basis of the spatial position information satisfying the preset positioning condition, a target drumhead struck by the drumstick. The system solves the problem in the prior art of inaccurate identification caused when sensors are mounted in physical drumheads to sense strike directions and forces for struck drumhead identification, and achieves the effect of improving the accuracy of struck drumhead detection while ensuring the accuracy of the spatial position information of the drumstick.

Description

Drumstick strike detection system, method, device and medium Technical Field

[0001] The present invention relates to the field of electronic drums, and in particular to a drumstick striking detection 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 detect when the drumhead strikes the drum to capture beats and output audio. This process then triggers the capture of beats and audio output.

[0003] Currently, the method for identifying drumhead strikes 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, which can lead to errors in recognition. Summary of the Invention

[0004] The present invention provides a drumstick striking detection system, method, device and medium, so as to improve the accuracy of drumhead striking detection while ensuring the accuracy of drumstick spatial position information.

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

[0006] The ultra-wideband spatial positioning module is used to determine the spatial position information of the drumstick and send the spatial position information to the data processing module; wherein the spatial position information includes at least one of spatial coordinate information and attitude angle;

[0007] The magnetometer is used to determine the heading angle of the drumstick and send the heading angle to the data processing module;

[0008] The data processing module is used to receive the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer, determine the horizontal transmission angle of the drumstick signal based on the heading angle, determine whether the spatial position information meets the preset positioning conditions based on the horizontal transmission angle of the drumstick signal, and determine the target drumhead struck by the drumstick based on the spatial position information that meets the preset positioning conditions.

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

[0010] Determine the spatial position information of the drumstick based on the ultra-wideband spatial positioning module, and send the spatial position information to the data processing module; wherein the spatial position information includes at least one of spatial coordinate information and attitude angle;

[0011] determining the heading angle of the drumstick based on a magnetometer, and sending the heading angle to the data processing module;

[0012] The data processing module receives the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer, determines the horizontal emission angle of the drumstick signal based on the heading angle, determines whether the spatial position information meets the preset positioning conditions based on the horizontal emission angle of the drumstick signal, and determines the target drum surface hit by the drumstick based on the spatial position information that meets the preset positioning conditions.

[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 striking detection 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 strike detection 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 spatial position information of the drumstick through an ultra-wideband spatial positioning module and send the spatial position information to a data processing module; the spatial position information includes at least one of spatial coordinate information and an attitude angle; at the same time, the heading angle of the drumstick is determined through a magnetometer, and the heading angle is sent to the data processing module. Then, based on the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer received by the data processing module, the horizontal transmission angle of the drumstick signal is determined based on the heading angle, and whether the spatial position information meets a preset positioning condition is determined based on the horizontal transmission angle of the drumstick signal. The target drum surface struck by the drumstick is determined based on the spatial position information that meets the preset positioning condition, thereby solving the problem of existing In the technology, a sensor is installed in the physical drumhead to sense the striking direction and force to identify the striking drumhead, which leads to the problem of recognition error. The technology realizes the high-precision positioning of the drumstick by using the ultra-wideband spatial positioning module, and obtains the spatial position information of the drumstick in real time. At the same time, the heading angle of the drumstick is measured in real time by the magnetometer. Then, the horizontal emission angle of the drumstick signal is determined by measuring the heading angle of the drumstick by the magnetometer. Then, based on the horizontal emission angle of the drumstick signal, it is checked whether the spatial position information of the drumstick meets the preset positioning requirements, and the spatial position information that does not meet the preset positioning requirements is filtered out, and the high-precision positioning information is retained. This ensures the accuracy of the spatial position information of the drumstick while achieving the technical effect of improving the accuracy of the detection of striking the drumhead.

[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 striking detection system provided in accordance with a first embodiment of the present invention;

[0022] FIG2 is a flow chart of a drumstick strike detection 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 striking detection 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 strike detection system provided by an embodiment of the present invention. This embodiment is applicable to scenarios where a drumstick strikes a drumhead. Referring to FIG1 , the drumstick strike detection system provided by this embodiment includes a data processing module 110, an ultra-wideband spatial positioning module 120 and a magnetometer 130 configured in the drumstick. The structural components of the drumstick strike detection system of this embodiment are described in detail below.

[0027] The ultra-wideband spatial positioning module 120 is used to determine the spatial position information of the drumstick and send the spatial position information to the data processing module 110; wherein the spatial position information includes at least one of spatial coordinate information and attitude angle;

[0028] The magnetometer 130 is used to determine the heading angle of the drumstick and send the heading angle to the data processing module 110;

[0029] The data processing module 110 is used to receive the spatial position information sent by the ultra-wideband spatial positioning module 120 and the heading angle sent by the magnetometer 130, determine the horizontal transmission angle of the drumstick signal based on the heading angle, determine whether the spatial position information meets the preset positioning conditions based on the horizontal transmission angle of the drumstick signal, and determine the target drumhead hit by the drumstick based on the spatial position information that meets the preset positioning conditions.

[0030] Among them, the drumstick can be used in conjunction with the drum body. In actual application scenarios, the drumstick can be used to strike the drum surface of the drum body to produce a sound. The drumstick is equipped with an ultra-wideband spatial positioning module 120 and a magnetometer. The ultra-wideband spatial positioning module 120 can be based on UWB (Ultra Wide Band) positioning technology for positioning, which can be implemented by separate hardware. The spatial coordinate information can be longitude and latitude spatial coordinates, or it can be a three-dimensional coordinate in the spatial coordinate system established with a certain point in space as a circle. The spatial position information can also include distance information. The attitude angle includes heading angle and pitch angle. The horizontal transmission angle of the drumstick signal can be used to characterize the horizontal angle of the drumstick in space. The preset positioning condition can be a condition for verifying whether the spatial position information is accurate.

[0031] In this embodiment, when the drumstick is moved, the ultra-wideband spatial positioning module 120 locates the drumstick in real time and detects the spatial position information of the drumstick, while the magnetometer 130 measures the heading angle of the drumstick in real time. The ultra-wideband spatial positioning module 120 sends the spatial position information of the drumstick to the data processing module 110, and the magnetometer 130 sends the heading angle of the drumstick to the data processing module 110. After the data processing module 110 synchronously receives the spatial position information sent by the ultra-wideband spatial positioning module 120 and the heading angle sent by the magnetometer 130, it can use the heading angle as the horizontal transmission angle of the drumstick signal, and then verify whether the spatial position information meets the preset positioning conditions based on the horizontal transmission angle of the drumstick signal. Optionally, the preset positioning conditions include but are not limited to the horizontal transmission angle being within a preset angle range and the angle error being within a preset error range. For example, the angular difference between the horizontal transmission angle of the drumstick signal and the attitude angle in the spatial position information can be calculated. If the angular difference is within a preset range, it is considered that the spatial position information meets the preset positioning conditions. Furthermore, the spatial position information that meets the preset positioning conditions can be used to detect which drumhead the drumstick has struck. For example, the spatial position information may be compared with the position range of the drumhead of each drum. If the spatial position information is within the position range of the drumhead, the drumhead may be used as the target drumhead.

[0032] In this embodiment, the magnetometer 130 can measure the heading angle of the drumstick by using the magnetometer 130 to collect magnetic field data near the drumstick, including the magnetic field strength and direction; then, based on the collected magnetic field data, the magnetic field direction at the location of the drumstick is calculated to obtain the heading angle of the drumstick.

[0033] The technical solution of the embodiment of the present invention is to determine the spatial position information of the drumstick through an ultra-wideband spatial positioning module and send the spatial position information to a data processing module; the spatial position information includes at least one of spatial coordinate information and an attitude angle; at the same time, the heading angle of the drumstick is determined through a magnetometer, and the heading angle is sent to the data processing module. Then, based on the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer received by the data processing module, the horizontal transmission angle of the drumstick signal is determined based on the heading angle, and whether the spatial position information meets a preset positioning condition is determined based on the horizontal transmission angle of the drumstick signal. The target drum surface struck by the drumstick is determined based on the spatial position information that meets the preset positioning condition, thereby solving the problem of existing In the technology, a sensor is installed in the physical drumhead to sense the striking direction and force to identify the striking drumhead, which leads to the problem of recognition error. The technology realizes the high-precision positioning of the drumstick by using the ultra-wideband spatial positioning module, and obtains the spatial position information of the drumstick in real time. At the same time, the heading angle of the drumstick is measured in real time by the magnetometer. Then, the horizontal emission angle of the drumstick signal is determined by measuring the heading angle of the drumstick by the magnetometer. Then, based on the horizontal emission angle of the drumstick signal, it is checked whether the spatial position information of the drumstick meets the preset positioning requirements, and the spatial position information that does not meet the preset positioning requirements is filtered out, and the high-precision positioning information is retained. This ensures the accuracy of the spatial position information of the drumstick while achieving the technical effect of improving the accuracy of the detection of striking the drumhead.

[0034] It should be noted that when UWB (Ultra Wide Band) positioning technology is mature, the drumstick can be positioned using only the ultra-wideband spatial positioning module 120, and the drumhead striking detection can be performed directly based on the positioning information, without the need to use the magnetometer 130 to verify the spatial position information.

[0035] Based on the above embodiment, the drumstick strike detection system optionally further includes: at least one ultra-wideband positioning base station; and an ultra-wideband spatial positioning module 120 configured to transmit a wireless signal to the at least one ultra-wideband positioning base station and determine the spatial position of the drumstick based on the transmitted wireless signal using a UWB positioning method. The ultra-wideband positioning base station may be configured in a speaker associated with the drumstick.

[0036] In this embodiment, a series of wireless signals with extremely short pulse widths and high peak power can be sent to at least one ultra-wideband positioning base station by the ultra-wideband spatial positioning module 120 configured in the drumstick. The wireless signals are processed using a UWB positioning method. For example, the distance and direction between the drumstick and the ultra-wideband positioning base station are calculated based on the time delay difference of the wireless signal, thereby locating the drumstick and determining the spatial position information of the drumstick. Optionally, the UWB positioning method includes positioning based on time of arrival (TOA), positioning based on time difference of arrival (TDOA), positioning based on received signal strength indicator (RSSI), positioning based on angle of arrival (AOA), etc. These methods can be used alone or in combination to improve the accuracy and stability of positioning.

[0037] Exemplarily, a UWB positioning base station, i.e., an ultra-wideband positioning base station, can be deployed in the positioning area, and an ultra-wideband spatial 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 spatial positioning module 120 to reach different base stations, the distance between the ultra-wideband spatial positioning module 120 and each base station is calculated, and then combined with the position information of the base station to determine the position of the ultra-wideband spatial positioning module 120. The position of the ultra-wideband spatial positioning module 120 is the position of the drumstick.

[0038] It should be noted that the position of the drumstick changes during its movement, that is, the drumstick position information detected by the ultra-wideband spatial positioning module 120 is continuous. The ultra-wideband spatial positioning module 120 can sequentially send the position information to the data processing module 110 based on the timestamp of the spatial position information detected each time. In this way, the data processing module 110 sequentially receives the drumstick position sent by the ultra-wideband spatial positioning module 120 each time. Each time the spatial position information is received, the data processing module 110 determines whether the spatial position information meets the preset positioning conditions based on the heading angle of the drumstick measured by the magnetometer. Based on the spatial position information that meets the preset positioning conditions, the data processing module 110 determines which drumhead the drumstick is located on.

[0039] Based on the above embodiment, optionally, the data processing module 110 includes: a condition detection unit; wherein the condition detection unit is used to verify whether the horizontal transmission angle of the drumstick signal is within the normal signal transmission angle range, and determine whether the spatial position information meets the preset positioning conditions based on the verification result.

[0040] In this embodiment, the condition detection unit may compare the drumstick signal's horizontal transmission angle with a normal signal transmission angle range to determine whether the drumstick signal's horizontal transmission angle is within the normal signal transmission angle range, thereby obtaining a verification result. Furthermore, based on the specific verification result, the unit may determine whether the spatial position information satisfies a preset positioning condition. For example, the verification result may be that the spatial position information satisfies the preset positioning condition.

[0041] On the basis of the above embodiment, optionally, the condition detection unit includes: a verification subunit and a detection subunit; wherein the verification subunit is used to confirm that the verification result is passed when it is detected that the horizontal emission angle of the drumstick signal is within the normal signal emission angle range; the detection subunit is used to determine that the spatial position information meets the preset positioning condition when the verification result is passed, so as to determine the target drum surface hit by the drumstick based on the spatial position information that meets the preset positioning condition.

[0042] In this embodiment, the verification subunit compares the horizontal transmission angle of the drumstick signal with the normal signal transmission angle range. If the horizontal transmission angle of the drumstick signal is within the normal signal transmission angle range, the verification result is confirmed to be passed. Based on the passed verification result, the detection subunit determines whether the spatial position information meets the preset positioning conditions. Based on the spatial position information that meets the preset positioning conditions, the target drumhead struck by the drumstick is determined, thereby ensuring the accuracy of the drumstick positioning information and improving the accuracy of determining the drumhead struck.

[0043] Based on the above embodiment, optionally, the verification subunit is further used to confirm that the verification result is failed when it is detected that the horizontal emission angle of the drumstick signal is not within the normal signal emission angle range; the detection subunit is used to determine that the spatial position information does not meet the preset positioning conditions when the verification result is failed.

[0044] The advantage of this setting is that by using a magnetometer to verify the positioning information of the ultra-wideband spatial positioning module, the spatial position information that does not meet the preset positioning conditions can be filtered out, and the drumstick position where the ultra-wideband spatial positioning module is inaccurately positioned can be filtered out. The high-precision positioning information that has passed the verification can be used to perform drumhead striking detection, thereby improving the accuracy of drumhead striking detection.

[0045] Based on the above embodiment, optionally, the condition detection unit can also be used to determine the error angle between the heading angle and the heading angle in the attitude angle, and determine whether the spatial position information meets the preset positioning condition based on the error angle.

[0046] In this embodiment, the condition detection unit can perform differential processing on the heading angle sent by the magnetometer 130 and the heading angle in the attitude angle to obtain an error angle. The error angle can then be used to determine whether the spatial position information meets the preset positioning condition. For example, if the error angle is within a preset angle range, the spatial position information is determined to meet the preset positioning condition.

[0047] On the basis of the above embodiment, optionally, a condition detection unit is used to determine that the spatial position information does not meet the preset positioning condition when it detects that the error angle is greater than the preset angle; the condition detection unit is also used to determine that the spatial position information meets the preset positioning condition when it detects that the error angle is not greater than the preset angle, so as to determine the target drum surface struck by the drumstick based on the spatial position information that meets the preset positioning condition.

[0048] In this embodiment, the condition detection unit can compare the error angle with the preset angle. If the error angle is greater than the preset angle, it is determined that the spatial position information does not meet the preset positioning condition; if the error angle is not greater than the preset angle, it is determined that the spatial position information meets the preset positioning condition, so as to determine the target drum surface hit by the drumstick based on the spatial position information that meets the preset positioning condition, thereby ensuring the accuracy of the drumstick positioning information while improving the accuracy of determining the struck drum surface.

[0049] Based on the above embodiment, optionally, the data processing module 110 includes: a drum surface determination unit; wherein the drum surface determination unit is used to determine the target drum surface struck by the drumstick based on the spatial position information that meets the preset positioning conditions and a predetermined drum model.

[0050] 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.

[0051] Specifically, the drumhead determination unit can determine multiple position information of the adjacent drumhead range to be touched relative to the drumhead of each drum based on the three-dimensional coordinate position in the drum model, and then calibrate the position of the adjacent drumhead range of each drumhead based on the multiple position information corresponding to each drumhead. The drumhead determination unit can determine whether the spatial position information that meets the preset positioning conditions reaches the adjacent drumhead range. If it does, it means that the drumstick is close to the drumhead, and the drumhead belonging to the reached adjacent drumhead range can be used as the target drumhead. The advantage of this setting is that by judging the position of the adjacent drumhead, it is detected which drumhead the drumstick is going to hit, thereby achieving accurate identification of the target drumhead.

[0052] It should be noted that, considering that the process of the drumstick striking the drumhead is a fast process, in order to improve the accuracy of the striking detection, the drumhead determination unit can determine whether the drumstick has moved to the top of which drumhead based on the spatial position information and the drum model that meet the preset positioning conditions, and determine the target drumhead. For example, a drumhead adjacent to the drumhead range can be set. When the spatial position information of the drumstick reaches the adjacent drumhead range of the drumhead, it is considered that the drumstick has moved to the top of the drumhead, and the drumhead is the target drumhead. When it is detected that the drumstick has moved to the top of the drumhead, it can be determined whether the target drumhead has been struck based on the drumstick spatial position information and the spatial position information that meets the preset positioning conditions determined after the position information. The advantage of this arrangement is that by first detecting whether the drumstick has moved to the top of the drumhead, if it has moved to the top of the drumhead, a detection is performed to determine whether the drumhead has struck the drumhead, thereby avoiding detection errors. If the drumstick has only moved to the position above the drumhead without any striking action, it will not strike, thereby improving the accuracy of the drumhead striking detection.

[0053] On the basis of the above embodiment, optionally, the data processing module 110 further includes: a striking response detection unit, wherein the striking response detection unit is used to determine the striking response detection result based on the spatial position information that meets the preset positioning conditions and the drum surface position of the target drum surface; or to determine the striking response detection result based on the movement speed obtained based on the spatial position difference of the drumstick at different time points.

[0054] It should be noted that when the drumstick strikes the target drum surface, it can strike various positions on the target drum surface to produce sound, and these positions are the drum surface positions.

[0055] Specifically, the striking response detection unit can compare the spatial position information of the drumstick with the drumhead position of the target drumhead to determine whether the spatial position information reaches the drumhead position of the target drumhead. If the spatial position information reaches the drumhead position, the striking response detection result is considered to be striking the target drumhead. If the spatial position information does not reach the drumhead position, the striking response detection result is considered to be not striking the target drumhead. Alternatively, the striking response detection unit can also calculate the spatial position difference of the drumstick at different time points, determine the running speed of the drumstick based on the spatial position difference and the time interval between the different time points, and then determine the striking response detection result based on the running speed. For example, if the running speed reaches a preset speed value, the striking response detection result is considered to be striking the target drumhead; if the running speed does not reach the preset speed value, the striking response detection result is considered to be not striking the target drumhead. Alternatively, the striking response detection unit can also determine the motion acceleration of the drumstick based on the running speed of the drumstick at different time points, and determine the striking response detection result based on the motion acceleration.

[0056] On the basis of the above embodiment, optionally, the data processing module 110 further includes: a striking force determination unit; wherein the striking force determination unit is used to determine the striking force based on the movement speed obtained based on the spatial position difference of the drumstick at different time points; or, to determine the striking force based on the movement acceleration obtained based on the speed difference of the drumstick at different time points.

[0057] Specifically, the striking force determination unit can determine the running speed of the drumstick at different time points based on the spatial position difference of the drumstick at different time points, and then determine the striking force based on the running speed; or determine the striking force based on the change in the running speed. For example, the greater the running speed, the greater the striking force, or the faster the running speed increases / the greater the increase in a continuous time, the greater the striking force. Alternatively, the striking force determination unit can also determine the movement acceleration of the drumstick based on the running speed of the drumstick at different time points, and analyze the striking force based on the movement acceleration; or analyze the striking force based on the change in the movement acceleration. For example, the greater the acceleration / the faster the acceleration increases / the greater the increase, the greater the striking force.

[0058] On the basis of the above embodiment, optionally, the data processing module 110 further includes: a response unit; wherein the response unit is used to determine the response information of the drumstick striking the target drum surface based on the striking force and position information when it is detected that the striking response detection result is a preset striking result.

[0059] The preset striking result may be striking the drum head.

[0060] In this embodiment, the response unit can compare the tapping response detection result with the preset tapping result. If the two are consistent, the drumstick's spatial position information can be used to determine the location on the target drum surface where the drumstick struck. The sounds produced by tapping different locations on the target drum surface are different. The response information of the drumstick striking the target drum surface is determined by combining the tapping force and spatial position information. The response information can be a sound source or drum sound, which is converted into sound audible to the human ear through speakers or headphones.

[0061] The technical solution provided by the embodiments of the present invention allows for more efficient and reliable wireless communication when locating drumsticks based on an ultra-wideband spatial positioning module. Other wireless communication technologies can also be combined with other sensor technologies for collaborative positioning. Optionally, these other sensors can include Wi-Fi, gesture sensors, optical sensors, Hall sensors, accelerometers, and the like. 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, improving the performance and reliability of drumstick positioning detection. Example 2

[0062] FIG2 is a flow chart of a drumstick strike detection method according to a second embodiment of the present invention. This method can be applied to the drumstick strike detection system according to the above embodiment. The system includes a data processing module and an ultra-wideband spatial positioning module configured in the drumstick. Referring to FIG2 , the method may include the following steps:

[0063] S210 , determining spatial position information of the drumstick based on the ultra-wideband spatial positioning module, and sending the spatial position information to the data processing module; wherein the spatial position information includes at least one of spatial coordinate information and attitude angle.

[0064] S220 : Determine the heading angle of the drumstick based on the magnetometer, and send the heading angle to the data processing module.

[0065] S230, based on the data processing module receiving the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer, determining the horizontal transmission angle of the drumstick signal based on the heading angle, determining whether the spatial position information meets the preset positioning conditions based on the horizontal transmission angle of the drumstick signal, and determining the target drumhead struck by the drumstick based on the spatial position information that meets the preset positioning conditions.

[0066] It should be noted that the above S210 to S220 can be executed in parallel, and the specific execution order is not limited. The above order is only the order for explaining the technical solutions in each step, not the execution order of each step.

[0067] Based on the above technical solution, optionally, the system further includes: at least one ultra-wideband positioning base station; the ultra-wideband spatial positioning module is used to send a wireless signal to the at least one ultra-wideband positioning base station, and determine the spatial position information of the drumstick according to the sent wireless signal based on the UWB positioning method.

[0068] On the basis of the above technical solution, optionally, the data processing module includes: a condition detection unit; wherein, the condition detection unit is used to verify whether the horizontal emission angle of the drumstick signal is within the normal signal emission angle range, and determine whether the spatial position information meets the preset positioning conditions based on the verification result.

[0069] On the basis of the above technical solution, optionally, the condition detection unit includes: a verification subunit and a detection subunit; wherein, the verification subunit is used to confirm that the verification result is passed when it is detected that the horizontal emission angle of the drumstick signal is within the normal signal emission angle range; the detection subunit is used to determine that the spatial position information meets the preset positioning condition when the verification result is passed, so as to determine the target drum surface hit by the drumstick based on the spatial position information that meets the preset positioning condition.

[0070] On the basis of the above technical solution, optionally, the verification subunit is further used to confirm that the verification result is failed when it is detected that the horizontal emission angle of the drumstick signal is not within the normal signal emission angle range; the detection subunit is used to determine that the spatial position information does not meet the preset positioning conditions when the verification result is failed.

[0071] On the basis of the above technical solution, optionally, the data processing module includes: a drum surface determination unit; wherein, the drum surface determination unit is used to determine the target drum surface struck by the drumstick based on spatial position information that meets the preset positioning conditions and a predetermined drum model; wherein, the drum model is constructed based on at least two drums.

[0072] On the basis of the above technical solution, optionally, the data processing module further includes: a striking response detection unit, wherein the striking response detection unit is used to determine the striking response detection result based on the spatial position information that meets the preset positioning conditions and the drumhead position of the target drumhead; or to determine the striking response detection result based on the movement speed obtained based on the spatial position difference of the drumstick at different time points.

[0073] On the basis of the above technical solution, optionally, the data processing module further includes: a striking force determination unit; wherein the striking force determination unit is used to determine the striking force based on the movement speed obtained based on the spatial position difference of the drumstick at different time points; or to determine the striking force based on the movement acceleration obtained based on the speed difference of the drumstick at different time points.

[0074] On the basis of the above technical solution, optionally, the data processing module further includes: a response unit; wherein, the response unit is used to determine the response information of the drumstick striking the target drum surface based on the striking force and the spatial position information when it is detected that the striking response detection result is a preset striking result.

[0075] The technical solution of this embodiment is to determine the spatial position information of the drumstick through the ultra-wideband spatial positioning module, and send the spatial position information to the data processing module; the spatial position information includes at least one of the spatial coordinate information and the attitude angle; at the same time, the heading angle of the drumstick is determined by the magnetometer, and the heading angle is sent to the data processing module, and then, based on the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer received by the data processing module, the horizontal emission angle of the drumstick signal is determined based on the heading angle, and whether the spatial position information meets the preset positioning condition is determined based on the horizontal emission angle of the drumstick signal, and the target drum surface hit by the drumstick is determined based on the spatial position information that meets the preset positioning condition, which solves the problems of the prior art. During the operation, a sensor is installed in the physical drumhead to sense the direction and force of the strike to identify the drumhead, which leads to recognition errors. By utilizing the ultra-wideband spatial positioning module to perform high-precision positioning of the drumstick, the spatial position information of the drumstick is obtained in real time. At the same time, the heading angle of the drumstick is measured in real time by a magnetometer. Then, the horizontal emission angle of the drumstick signal is determined by measuring the heading angle of the drumstick by the magnetometer. Then, based on the horizontal emission angle of the drumstick signal, it is verified whether the spatial position information of the drumstick meets the preset positioning requirements, and the spatial position information that does not meet the preset positioning requirements is filtered out. The high-precision positioning information is retained, ensuring the accuracy of the spatial position information of the drumstick while achieving the technical effect of improving the accuracy of the detection of striking the drumhead. Example 3

[0076] Fig. 3 is a block diagram of an electronic device for implementing the drumstick striking detection method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0077] As shown in FIG3 , the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, that is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0078] 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.

[0079] 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 strike detection method.

[0080] In some embodiments, the drumstick strike detection method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the drumstick strike detection method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the drumstick strike detection method in any other appropriate manner (e.g., by means of firmware).

[0081] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), 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.

[0082] 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.

[0083] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0084] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and 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).

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 strike detection system, characterized in that: The system includes: a data processing module and an ultra-wideband spatial positioning module and a magnetometer configured in the drumstick; wherein, The ultra-wideband spatial positioning module is used to determine the spatial position information of the drumstick and send the spatial position information to the data processing module; wherein the spatial position information includes at least one of spatial coordinate information and attitude angle; The magnetometer is used to determine the heading angle of the drumstick and send the heading angle to the data processing module; The data processing module is used to receive the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer, determine the horizontal transmission angle of the drumstick signal based on the heading angle, determine whether the spatial position information meets the preset positioning conditions based on the horizontal transmission angle of the drumstick signal, and determine the target drumhead struck by the drumstick based on the spatial position information that meets the preset positioning conditions.

2. The system according to claim 1, wherein: The system further comprises: at least one ultra-wideband positioning base station; The ultra-wideband spatial positioning module is used to send a wireless signal to the at least one ultra-wideband positioning base station, and determine the spatial position information of the drumstick based on the sent wireless signal according to the UWB positioning method.

3. The system according to claim 1, wherein: The data processing module includes: a condition detection unit; wherein, The condition detection unit is used to check whether the horizontal transmission angle of the drumstick signal is within the normal signal transmission angle range, and determine whether the spatial position information meets the preset positioning condition based on the verification result.

4. The system according to claim 3, characterized in that The condition detection unit includes: a verification subunit and a detection subunit; wherein, The verification subunit is configured to confirm that the verification result is passed when detecting that the horizontal transmission angle of the drumstick signal is within the normal signal transmission angle range; The detection subunit is configured to determine, if the verification result is passed, whether the spatial position information satisfies a preset positioning condition, so as to determine a target drum surface struck by the drumstick based on the spatial position information satisfying the preset positioning condition.

5. The system according to claim 4, characterized in that The verification subunit is further configured to confirm that the verification result is failed when it is detected that the horizontal transmission angle of the drumstick signal is not within the normal signal transmission angle range; The detection subunit is configured to determine that the spatial position information does not meet a preset positioning condition when the verification result is a failure.

6. The system according to claim 1 or 3, characterized in that The data processing module includes: a drum surface determination unit; wherein, The drum surface determination unit is configured to determine the target drum surface struck by the drumstick based on spatial position information satisfying the preset positioning condition and a predetermined drum model; wherein the drum model is constructed based on at least two drums.

7. The system according to claim 1, wherein: The data processing module further includes a tapping response detection unit, wherein: The knock response detection unit is used to determine the knock response detection result based on the spatial position information that meets the preset positioning conditions and the drumhead position of the target drumhead; or to determine the knock response detection result based on the movement speed obtained by the spatial position difference of the drumstick at different time points.

8. The system according to claim 1, wherein: 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 movement speed obtained by the spatial position difference of the drumstick at different time points; or to determine the striking force based on the movement acceleration obtained by the speed difference of the drumstick at different time points.

9. The system according to claim 7 or 8, characterized in that The data processing module further includes: a response unit; wherein, The response unit is configured to determine response information of the drumstick striking the target drum surface based on the striking force and the spatial position information when detecting that the striking response detection result is a preset striking result.

10. A drumstick striking detection method, characterized in that: include: Determine the spatial position information of the drumstick based on the ultra-wideband spatial positioning module, and send the spatial position information to the data processing module; wherein the spatial position information includes at least one of spatial coordinate information and attitude angle; determining the heading angle of the drumstick based on a magnetometer, and sending the heading angle to the data processing module; The data processing module receives the spatial position information sent by the ultra-wideband spatial positioning module and the heading angle sent by the magnetometer, determines the horizontal emission angle of the drumstick signal based on the heading angle, determines whether the spatial position information meets the preset positioning conditions based on the horizontal emission angle of the drumstick signal, and determines the target drum surface hit by the drumstick based on the spatial position information that meets the preset positioning conditions.

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