Method of ball game motion recognition, apparatus for the same, and motion assisting device

• US 8,781,610 B2
• Filed: 10/07/2011
• Issued: 07/15/2014
• Est. Priority Date: 04/29/2011
• Status: Active Grant

• Current Assignee: Beijing Shunyuan Kaihua Technology Limited
• Original Assignee: Zepp Labs, Inc. (Zepp Health Corporation)
• Inventors: Han, Zheng
• Primary Examiner(s): D'Agostino, Paul A
• Assistant Examiner(s): GRAY, BRANDON RAMON
• Application Number:
  US13/269,216
• Publication Number:
  US 20120277890A1
• Time in Patent Office: 1,012 Days
• Field of Search: 700/91, 463/20, 463/25, 463/30
• US Class Current: 700/91
• CPC Class Codes: A63B 2220/833 Sensors arranged on the exercise apparatus or sports implement
• CPC Class Codes: A63B 2220/836 Sensors arranged on the body of the user
• CPC Class Codes: A63B 24/0006 Computerised comparison for qualitative assessment of motion sequences or the course of a movement
• CPC Class Codes: A63B 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 69/0017 for badminton
• CPC Class Codes: A63B 69/0095 for volley-ball
• CPC Class Codes: A63B 69/3623 for driving A63B69/3608, A63B69/3658, A63B69/3661, A63B69/3667 and A63B69/3691 take precedence

Abstract

The invention provides a method of ball game motion recognition, an apparatus for the same, and a motion assisting device. The method comprises: obtaining motion parameters corresponding to each sampling time for a motion; extracting feature points according to predetermined feature point recognition tactics utilizing the motion parameters obtained, in which the feature point recognition tactics comprise recognition tactics of at least three types of the feature points, comprising: power-assisting path early stage corresponding feature point, motion top point corresponding feature point, and ball hitting time corresponding feature point; and recognizing the motion as a predetermined ball game type if the feature points extracted satisfy feature point requirements of the predetermined ball game type.

Claims

1. A method of ball game motion recognition, comprising:

obtaining motion parameters corresponding to each sampling time for a motion;

extracting feature points according to predetermined feature point recognition tactics utilizing the motion parameters obtained, wherein the feature point recognition tactics comprise recognition tactics of at least three types of the feature points, comprising;

power-assisting path early stage corresponding feature point, motion top point corresponding feature point, and ball hitting time corresponding feature point; and

recognizing the motion as a predetermined ball game type if the feature points extracted satisfy feature point requirements of the predetermined ball game type;

wherein the recognition tactics of the power-assisting path early stage corresponding feature point comprise;

both ratios of velocity in the first dimension to velocity in the other two dimensions being larger than a predetermined power-assisting path early stage corresponding feature point ratio;

the recognition tactics of the motion top point corresponding feature point comprises;

velocity in a second dimension being smaller than a predetermined motion top point corresponding feature point velocity threshold; and

the recognition tactics of the ball hitting time corresponding feature point comprise;

recognizing the ball hitting time corresponding feature point if, at the sampling time t, a value of min(α

∥

X_t−

X_init∥

+β

∥

T_t−

T_init∥

) is smaller than a predetermined ball hitting time corresponding feature point threshold, wherein α and

β

are predetermined parameters, X_t is a position corresponding to the sampling time t, X_init is a position corresponding to an original time t_o of the motion, T_t is a stance corresponding to the sampling time t, and T_init is a stance corresponding to the original time t_o of the motion; and

recognizing the ball hitting time corresponding feature point if, at the sampling time, an acceleration change rate is larger than a predetermined ball hitting time acceleration change rate threshold.

2. The method as claimed in claim 1, wherein the motion parameters corresponding to each sampling time are obtained from motion data sampled at each of the sampling time by a sensor device;

the sensor device comprises a tri-axial accelerometer, a tri-axial gyroscope, and a tri-axial magnetometer; and

the motion parameters comprise acceleration, velocity, stance and position.

3. The method as claimed in claim 1, wherein the step of obtaining motion pictures further comprises:

obtaining the motion parameters at each of the sampling time;

performing motion static detection utilizing acceleration at each of the sampling time to confirm an original time t_o and an end time t_e of the motion; and

confirming the motion parameters from the original time t_o to the end time t_e.

4. The method as claimed in claim 3, wherein the step of performing motion static detection further comprises:

performing judgment according to predetermined motion time confirming tactics to each of the sampling time in sequence of the sampling time,

if at the sampling time to the predetermined motion time confirming tactics are satisfied and at the sampling time to−

1 the predetermined motion time confirming tactics are not satisfied, confirming the sampling time t_o as the original time; and

if at the sampling time t_e the predetermined motion time confirming tactics are satisfied and at the sampling time t_e+1 the predetermined motion time confirming tactics are not satisfied, confirming the sampling time t_e as the end time.

5. The method as claimed in claim 4, wherein the predetermined motion time confirming tactics comprise:

confirming one of the sampling time t_x as motion time if a modulated variance a_v of the acceleration from a number T of the sampling time before the sampling time t_x is larger than or equal to a predetermined acceleration variance threshold and a modulated acceleration a₀ at the sampling time t_x is larger than or equal to a predetermined motion acceleration threshold, wherein the number T is a predetermined positive integer.

6. The method as claimed in claim 1, wherein, when the predetermined ball game type is golf swing:

the first dimension is a horizontal dimension, and the second dimension is a vertical dimension; and

the predetermined power-assisting path early stage corresponding feature point ratio is a ratio of 4 or higher, the predetermined motion top point corresponding feature point velocity threshold is a value of 0.1 m/s or lower, the predetermined ball hitting time corresponding feature point threshold is a value of 0.1 or lower, and the predetermined ball hitting time acceleration change rate threshold is a value of 10 m/s² or higher.

7. The method as claimed in claim 1, wherein, when the predetermined ball game type is golf swing, the feature point recognition tactics further comprise at least one of:

recognition tactic of feature point one;

velocity being 0;

recognition tactic of feature point three;

both ratios of velocity in a first direction of a vertical dimension to velocity in the other two dimensions being larger than a predetermined feature point three ratio;

recognition tactic of feature point five;

both ratios of velocity in a second direction of a vertical dimension to velocity in the other two dimensions being larger than a predetermined feature point five ratio, wherein the first direction is opposite to the second direction, and the predetermined feature point five ratio is larger than the predetermined feature point three ratio; and

recognition tactic of feature point seven;

velocity being 0.

8. The method as claimed in claim 7, wherein the predetermined feature point three ratio is a ratio of 4 or higher, and the predetermined feature point five ratio is a ratio of 8 or higher.

9. The method as claimed in claim 1, wherein the feature point requirements of the predetermined ball game type comprise:

the feature points extracted satisfying predetermined sequence and number requirement; and

the feature points extracted satisfying the predetermined sequence, and grading to the motion according to predetermined weight values corresponding to the feature points extracted satisfying a predetermined grade requirement.

10. The method as claimed in claim 9, wherein the predetermined weight values corresponding to the power-assisting path early stage corresponding feature point, the motion top point corresponding feature point, and the ball hitting time corresponding feature point enable the grading to the motion according to the power-assisting path early stage corresponding feature point, the motion top point corresponding feature point, and the ball hitting time corresponding feature point satisfying the predetermined grade requirement.

11. The method as claimed in claim 7, wherein the feature point requirements of the predetermined ball game type comprise:

the feature points extracted satisfying predetermined sequence and number requirement; and

the feature points extracted satisfying the predetermined sequence, and grading to the motion according to predetermined weight values corresponding to the feature points extracted satisfying a predetermined grade requirement;

wherein the predetermined sequence is a sequence of the feature point one, the power-assisting path early stage corresponding feature point, the feature point three, the motion top point corresponding feature point, the feature point five, the ball hitting time corresponding feature point, and the feature point seven; and

the number requirement N is between 4 and 7.

12. The method as claimed in claim 3, further comprising:

ignoring the end time t_e and an original time of a next motion and confirming the motion parameters between the original time t_o and an end time of the next motion as the motion if the end time t_e and the original time of the next motion are between a first predetermined feature point and a second predetermined feature point.

13. An apparatus for ball game motion recognition, comprising:

a parameter obtaining unit to obtain motion parameters at sampling time for a motion;

a feature point extracting unit to extract feature points according to predetermined feature point recognition tactics utilizing the motion parameters, wherein the feature point recognition tactics comprises recognition tactics of at least three types of the feature points;

power-assisting path early stage corresponding feature point, motion top point corresponding feature point, and ball hitting time corresponding feature point; and

a motion recognizing unit to recognize the motion as a predetermined ball game type if the feature points extracted satisfy feature point requirements of the predetermined ball game type;

wherein the recognition tactics of the power-assisting path early stage corresponding feature point comprise;

both ratios of velocity in the first dimension to velocity in the other two dimensions being larger than a predetermined power-assisting path early stage corresponding feature point ratio;

the recognition tactics of the motion top point corresponding feature point comprises;

velocity in a second dimension being smaller than a predetermined motion top point corresponding feature point velocity threshold; and

the recognition tactics of the ball hitting time corresponding feature point comprises;

recognizing the ball hitting time corresponding feature point if, at the sampling time t, a value of min(α

∥

X_t−

X_init∥

+β

∥

T_t−

T_init∥

) is smaller than a predetermined ball hitting time corresponding feature point threshold, wherein α and

β

are predetermined parameters, X_t is a position corresponding to the sampling time t, X_init is a position corresponding to an original time t_o of the motion, T_t is a stance corresponding to the sampling time t, and T_init is a stance corresponding to the original time t_o of the motion; and

recognizing the ball hitting time corresponding feature point if, at the sampling time, an acceleration change rate is larger than a predetermined ball hitting time acceleration change rate threshold.

14. The apparatus as claimed in claim 13, wherein the apparatus is connected to a motion parameter confirming device;

the parameter obtaining unit is configured to obtain motion parameters corresponding to each sampling time from the motion parameter confirming device;

the motion parameter confirming device is configured to obtain motion parameters corresponding to each sampling time according to motion data sampled at each of the sampling time by a sensor device, and the motion parameters comprise acceleration, velocity, stance and position; and

the sensor device comprise a tri-axial accelerometer, a tri-axial gyroscope, and a tri-axial magnetometer.

15. The apparatus as claimed in claim 13, wherein the parameter obtaining unit further comprises:

a parameter receiving subunit to obtain the motion parameters at each of the sampling time;

a static detecting subunit to perform motion static detection utilizing acceleration at each of the sampling time to confirm an original time t_o and an end time t_e of the motion; and

a parameter extracting subunit to confirm the motion parameters from the original time t_o to the end time t_e.

16. The apparatus as claimed in claim 15, wherein:

the static detecting subunit is configured to perform judgment according to predetermined motion time confirming tactics to each of the sampling time in sequence of the sampling time,

if at the sampling time to the predetermined motion time confirming tactics are satisfied and at the sampling time to−

1 the predetermined motion time confirming tactics are not satisfied, the sampling time to is confirmed as the original time; and

if at the sampling time t_e the predetermined motion time confirming tactics are satisfied and at the sampling time t_e+1 the predetermined motion time confirming tactics are not satisfied, the sampling time t_e is confirmed as the end time.

17. The apparatus as claimed in claim 16, wherein the predetermined motion time confirming tactics comprise:

confirming one of the sampling time t_x as motion time if a modulated variance a_v of the acceleration from a number T of the sampling time before the sampling time t_x is larger than or equal to a predetermined acceleration variance threshold and a modulated acceleration a₀ at the sampling time t_x is larger than or equal to a predetermined motion acceleration threshold, wherein the number T is a predetermined positive integer.

18. The apparatus as claimed in claim 13, wherein, when the predetermined ball game type is golf swing:

the first dimension is a horizontal dimension, and the second dimension is a vertical dimension; and

the predetermined power-assisting path early stage corresponding feature point ratio is a ratio of 4 or higher, the predetermined motion top point corresponding feature point velocity threshold is a value of 0.1 m/s or lower, the predetermined ball hitting time corresponding feature point threshold is a value of 0.1 or lower, and the predetermined ball hitting time acceleration change rate threshold is a value of 10 m/s² or higher.

19. The apparatus as claimed in claim 13, wherein, when the predetermined ball game type is golf swing, the feature point recognition tactics further comprise at least one of:

recognition tactic of feature point one;

velocity being 0;

recognition tactic of feature point three;

both ratios of velocity in a first direction of a vertical dimension to velocity in the other two dimensions being larger than a predetermined feature point three ratio;

recognition tactic of feature point five;

both ratios of velocity in a second direction of a vertical dimension to velocity in the other two dimensions being larger than a predetermined feature point five ratio, wherein the first direction is opposite to the second direction, and the predetermined feature point five ratio is larger than the predetermined feature point three ratio; and

recognition tactic of feature point seven;

velocity being 0.

20. The apparatus as claimed in claim 19, wherein the predetermined feature point three ratio is a ratio of 4 or higher, and the predetermined feature point five ratio is a ratio of 8 or higher.

21. The apparatus as claimed in claim 13, wherein the motion recognizing unit is configured to recognize the motion as the predetermined ball game type if the feature points extracted by the feature point extracting unit satisfy predetermined sequence and number requirement;

or if the feature points extracted by the feature point extracting unit satisfy the predetermined sequence and grading to the motion according to predetermined weight values corresponding to the feature points extracted satisfies a predetermined grade requirement.

22. The apparatus as claimed in claim 21, wherein the predetermined weight values corresponding to the power-assisting path early stage corresponding feature point, the motion top point corresponding feature point, and the ball hitting time corresponding feature point enable the grading to the motion according to the power-assisting path early stage corresponding feature point, the motion top point corresponding feature point, and the ball hitting time corresponding feature point satisfying the predetermined grade requirement.

23. The apparatus as claimed in claim 19, wherein the motion recognizing unit is configured to recognize the motion as golf swing if the feature points extracted by the feature point extracting unit satisfy predetermined sequence and number requirement;

or if the feature points extracted by the feature point extracting unit satisfy the predetermined sequence and grading to the motion according to predetermined weight values corresponding to the feature points extracted satisfies a predetermined grade requirement;

wherein the predetermined sequence is a sequence of the feature point one, the power-assisting path early stage corresponding feature point, the feature point three, the motion top point corresponding feature point, the feature point five, the ball hitting time corresponding feature point, and the feature point seven; and

the number requirement N is between 4 and 7.

24. The apparatus as claimed in claim 15, wherein, if the end time t_e and the original time of the next motion are between a first predetermined feature point and a second predetermined feature point, the end time t_e and an original time of a next motion are ignored and the motion parameters between the original time t_o and an end time of the next motion are confirmed as the motion.

25. A motion assisting device, comprising:

an apparatus for ball game motion recognition as claimed in claim 13;

a sensor device to sample motion data of a recognized object at each of the sampling time, the motion data comprising acceleration; and

a motion parameter confirming device to obtain motion parameters of the recognized object corresponding to each sampling time according to motion data sampled by the sensor device, and to send the motion parameters to the apparatus for ball game motion recognition.

26. The motion assisting device as claimed in claim 25, wherein the sensor device comprises:

a tri-axial accelerometer to sample acceleration of the recognized object;

a tri-axial gyroscope to sample angular velocity of the recognized object; and

a tri-axial magnetometer to sample the angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system.

27. The motion assisting device as claimed in claim 25, further comprising:

a processor to retrieve and transmit the motion data from the sensor device to the motion parameter confirming device according to predetermined transfer protocol.

28. The motion assisting device as claimed in claim 25, further comprising:

data transmit interface to send motion parameters of the predetermined ball game type recognized by the apparatus for ball game motion recognition to a peripheral device.