阅读说明：本技术 一种基于加速度的智能搏击球训练接球识别方法及系统 (Intelligent fighting ball training ball catching identification method and system based on acceleration ) 是由 严军荣 卢玉龙 于 2019-12-26 设计创作，主要内容包括：本发明公开了一种基于加速度的智能搏击球训练接球识别方法及系统。其方法包括步骤：获取惯性导航传感器检测的加速度值；将加速度值分解为切向加速度和向心加速度；计算搏击球切向加速度瞬时变化量；判断切向加速度瞬时变化量是否大于瞬时加速度阈值,若是则判定搏击球被有效击打；获取当前时刻搏击球被有效击打的次数i的值,若i大于1则判定此时已经开球；获取此次击打与上一次有效击打间的搏击球向心加速度数据构成集合；统计集合中值为0的向心加速度数据个数；若个数小于2则判定此时为搏击训练有效接球。本发明的方法及系统解决了基于惯性导航传感器的搏击训练器如何识别搏击训练时是否有效接球的技术问题。(The invention discloses an intelligent fighting ball training ball catching identification method and system based on acceleration. The method comprises the following steps: acquiring an acceleration value detected by an inertial navigation sensor; decomposing the acceleration value into tangential acceleration and centripetal acceleration; calculating the instantaneous variation of tangential acceleration of the fighting ball; judging whether the instantaneous variation of the tangential acceleration is larger than an instantaneous acceleration threshold value or not, and if so, judging that the batting ball is effectively hit; obtaining the value of the number i of times that the batting ball is effectively hit at the current moment, and if i is greater than 1, judging that the batting ball is opened at the moment; acquiring centripetal acceleration data of the fighting ball between the impact and the previous effective impact to form a set; counting the number of centripetal acceleration data with a median value of 0 in the set; if the number is less than 2, the effective ball catching is judged to be the effective ball catching in the fight training. The method and the system solve the technical problem of how to identify whether the boxing training is effectively used for catching the ball or not based on the boxing training device of the inertial navigation sensor.)

1. An intelligent fighting ball training ball catching identification method based on acceleration is characterized by comprising the following steps:

acquiring an acceleration value detected by an inertial navigation sensor;

the acceleration value is decomposed into tangential acceleration and centripetal acceleration according to the tangential direction and the centripetal direction of the swinging of the batting ball;

calculating the instantaneous variation of the tangential acceleration of the beating ball according to the tangential acceleration at the current moment and the tangential acceleration at the previous moment;

judging whether the instantaneous variation of the tangential acceleration is larger than an instantaneous acceleration threshold value or not, and if so, judging that the stroke ball at the current moment is effectively hit;

obtaining the value of the number i of times that the batting ball is effectively hit at the current moment, judging whether i is greater than 1, and if so, judging that the batting ball is opened at the moment;

acquiring centripetal acceleration data of the fighting ball between the striking and the last effective striking to form a set;

counting the number of centripetal acceleration data with the median value of 0 in the set, namely the number of times of the static state of the swinging of the fighting ball;

and judging whether the number of times of swinging the stroke ball to a static state is less than 2, if so, judging that the stroke ball is effectively caught in the fight training, and the number of times i of the stroke ball which is effectively hit is i + 1.

2. The intelligent boxing ball training ball catching identification method based on acceleration as claimed in claim 1, further comprising the steps of: when the effective ball catching of the fighting ball training is judged, the user is prompted to successfully catch the ball in a voice, vibration or display mode.

3. The intelligent acceleration-based fighting ball training ball catching recognition method as claimed in claim 1, wherein the calculating of the instantaneous variation of tangential acceleration of the fighting ball according to the tangential acceleration at the current time and the tangential acceleration at the last time comprises:

acceleration value a_nExpressing tangential acceleration and centripetal acceleration as a_n1And a_n2Wherein n represents a sampling time number;

calculating the tangential acceleration instantaneous variation delta a of the fighting ball_n1＝k₁·a_n1-k₂·a_(n-1)1Wherein k is₁And k₂Is a weight coefficient set in advance, and takes the tangential acceleration direction at the current moment as the positive direction.

4. The intelligent acceleration-based fighting ball training and catching identification method as claimed in claim 1, wherein the inertial navigation sensor is composed of a gyroscope and an accelerometer and is deployed inside the fighting ball for detecting the acceleration direction and magnitude of the fighting ball.

5. The intelligent fighting ball training and catching identification method based on acceleration as claimed in claim 1, wherein the swinging critical rest state is an instant rest state in which the fighting ball is at the moment when swinging to the highest point, and the centripetal acceleration of the fighting ball is 0.

6. The intelligent boxing ball training ball catching identification method based on acceleration as claimed in claim 1, wherein after the boxing ball is identified to be effectively hit, the method further comprises the following steps:

vector for acceleration direction

calculating the included angle between the acceleration direction and the vertical direction

Judging the included angle between the acceleration direction and the vertical direction

7. The intelligent boxing ball training ball catching identification method based on acceleration as claimed in claim 1, wherein after the boxing ball is identified to be effectively hit, the method further comprises the following steps:

vector for acceleration direction

calculating the included angle between the acceleration direction and the vertical direction

Judging the included angle between the acceleration direction and the vertical directionWhether the ball impact angle is less than the preset knee bending and leg folding ball impact oblique angle threshold value

8. The intelligent boxing ball training ball catching identification method based on acceleration as claimed in claim 6 or 7, wherein the included angle between the acceleration direction and the vertical direction is

9. The intelligent boxing ball training ball catching identification method based on the acceleration as claimed in claim 6 or 7, further comprising the steps of:

when the effective ball catching of the fighting ball training is judged, judging the ball catching movement as straight boxing or knee bending and leg folding for ball catching according to whether the ball catching is straight boxing or knee bending and leg folding;

and prompting the user to successfully make a straight punch or bend the knee and fold the leg to catch the ball in a voice, vibration or display mode.

10. The utility model provides an intelligence fight ball training recognition system that catches ball based on acceleration which characterized in that includes:

a boxing training device;

an inertial navigation sensor;

a computer;

and

one or more programs, wherein the one or more programs are stored in a memory of the computer and configured to be executed by a processor of the computer, the programs comprising the method of any of claims 1-9.

Technical Field

The invention belongs to the field of intelligent fighting training, and particularly relates to an intelligent fighting ball training ball catching identification method and system based on acceleration.

Background

The authorized bulletin number CN 204972956U is a utility model named as "a boxing function training device", which includes a holder, an elastic cord (elastic cord), and a beating object (boxing ball), and is used for personal boxing training.

The existing boxing training device based on the inertial navigation sensor cannot automatically and accurately identify whether boxing training is effective or not, so that effective batting data during boxing training cannot be subjected to statistical analysis.

At present, a technical scheme for automatically identifying whether a ball is effectively caught during training by a fighting trainer based on an inertial navigation sensor does not exist. Therefore, the patent provides an intelligent fighting ball training ball catching identification method and system based on acceleration.

Disclosure of Invention

The invention aims to solve the technical problem of how to identify whether the ball catching is effective or not during the fighting training of a fighting trainer based on an inertial navigation sensor, and provides an intelligent fighting ball training ball catching identification method and system based on acceleration.

The invention uses variable i to represent the effective hitting times of a fighting ball, the initial value of i is 0, i is 1 after the fighting ball is started in a fighting ball training, i is i +1 after the fighting ball is hit effectively each time, and the value of variable i is recorded and is reset to be 0 when the fighting ball training is finished.

The invention discloses an intelligent fighting ball training ball catching identification method based on acceleration, which comprises the following steps:

acquiring an acceleration value detected by an inertial navigation sensor;

the acceleration value is decomposed into tangential acceleration and centripetal acceleration according to the tangential direction and the centripetal direction of the swinging of the batting ball;

calculating the instantaneous variation of the tangential acceleration of the beating ball according to the tangential acceleration at the current moment and the tangential acceleration at the previous moment;

judging whether the instantaneous variation of the tangential acceleration is larger than an instantaneous acceleration threshold value or not, and if so, judging that the stroke ball at the current moment is effectively hit;

obtaining the value of the number i of times that the batting ball is effectively hit at the current moment, judging whether i is greater than 1, and if so, judging that the batting ball is opened at the moment;

acquiring centripetal acceleration data of the fighting ball between the striking and the last effective striking to form a set;

counting the number of centripetal acceleration data with the median value of 0 in the set, namely the number of times of the static state of the swinging of the fighting ball;

and judging whether the number of times of swinging the stroke ball to a static state is less than 2, if so, judging that the stroke ball is effectively caught in the fight training, and the number of times i of the stroke ball which is effectively hit is i + 1.

Preferably, the method further comprises the steps of: when the effective ball catching of the fighting ball training is judged, the user is prompted to successfully catch the ball in a voice, vibration or display mode.

Preferably, the calculating the instantaneous variation of the tangential acceleration of the stroke ball according to the tangential acceleration at the current moment and the tangential acceleration at the last moment comprises:

acceleration value a_nExpressing tangential acceleration and centripetal acceleration as a_n1And a_n2Wherein n represents a sampling time number;

calculating the tangential acceleration instantaneous variation delta a of the fighting ball_n1＝k₁·a_n1-k₂·a_(n+1)1Wherein k is₁And k₂Is a weight coefficient set in advance, and takes the tangential acceleration direction at the current moment as the positive direction.

Preferably, the inertial navigation sensor is composed of a gyroscope and an accelerometer, is deployed in the interior of the fighting ball, and is used for detecting the acceleration direction and magnitude of the fighting ball.

Preferably, the swinging critical rest state is an instant rest state in which the stroke ball is at the moment of swinging to the highest point, and the centripetal acceleration of the stroke ball is 0.

Preferably, after identifying that a stroke ball is effectively hit, the method further comprises the steps of:

vector for acceleration directionIndicating, vector for vertical directionRepresents;

calculating the included angle between the acceleration direction and the vertical direction

Judging the included angle between the acceleration direction and the vertical directionWhether the deviation value from 90 degrees is less than a preset deviation threshold value of the straight punch angle

If yes, the shot is judged to be a straight punch shot.

Preferably, after identifying that a stroke ball is effectively hit, the method further comprises the steps of:

vector for acceleration direction

Indicating, vector for vertical directionRepresents;

calculating the included angle between the acceleration direction and the vertical direction

Judging the included angle between the acceleration direction and the vertical direction

Whether the ball impact angle is less than the preset knee bending and leg folding ball impact oblique angle threshold value

If yes, the hitting is judged to be the hitting with knees bent and legs folded.

Further preferably, the angle between the acceleration direction and the vertical direction

Further preferably, the method further comprises the following steps:

when the effective ball catching of the fighting ball training is judged, judging the ball catching movement as straight boxing or knee bending and leg folding for ball catching according to whether the ball catching is straight boxing or knee bending and leg folding;

and prompting the user to successfully make a straight punch or bend the knee and fold the leg to catch the ball in a voice, vibration or display mode.

The utility model provides an intelligence fight ball training recognition system that catches ball based on acceleration which characterized in that includes:

a boxing training device;

an inertial navigation sensor;

a computer;

and

one or more programs, wherein the one or more programs are stored in the memory of the computer and configured to be executed by the processor of the computer, the programs comprising the method as described above.

The invention has the advantages that:

(1) according to whether the instantaneous tangential acceleration variation when the batting ball is hit is larger than a threshold value or not, whether effective batting is carried out or not can be accurately judged, and non-batting stress interference is eliminated.

(2) By recording the number i of times that the batting ball is effectively hit, whether the batting ball is opened at the moment can be effectively judged.

(3) According to whether the centripetal acceleration value of the stroke ball in the swinging process is 0 or not, whether the stroke ball is in the swinging critical static state or not can be accurately judged, and the ball catching can be effectively identified.

(4) According to the deviation value of the included angle between the acceleration direction and the vertical direction of the boxing ball and 90 degrees, whether straight boxing ball hitting is carried out or not can be accurately judged.

(5) According to whether the included angle between the acceleration direction and the vertical direction is smaller than the knee bending and leg folding batting oblique angle threshold or not, whether the knee bending and leg folding batting is performed or not can be accurately judged.

Drawings

FIG. 1 is a schematic view of an intelligent fighting training device on which the present invention is based;

FIG. 2 is a flow chart of an intelligent fighting ball training ball catching identification method based on acceleration in the first embodiment of the invention;

FIG. 3 is a flowchart of the method of step S041 of step S04 in the second embodiment of the present invention;

FIG. 4 is a flowchart of the method of step S042 in addition to step S04 in the second embodiment of the present invention;

FIG. 5 is a flowchart of the method of the additional step S10 of the second embodiment of the present invention;

fig. 6 is a schematic structural diagram of an intelligent fighting ball training ball-catching recognition system based on acceleration in the third embodiment of the invention.

Detailed Description

The following describes in detail preferred embodiments of the present invention.

The invention relies on an intelligent fighting training system as shown in figure 1, which comprises a fixer (1), an elastic rope (2), a fighting ball (3), an inertial navigation sensor (31) for detecting the acceleration and the direction of the fighting ball, a program for carrying out operation processing on data detected by the inertial navigation sensor and a server for running the program.

The intelligent fighting ball training ball-catching identification method based on the acceleration disclosed by the embodiment of the invention is characterized in that a flow chart of the method is shown in figure 2, and comprises the following steps:

step S01, acquiring an acceleration value detected by an inertial navigation sensor;

step S02, decomposing the acceleration value into tangential acceleration and centripetal acceleration according to the tangential and centripetal of the swinging of the stroke ball;

step S03, calculating the instantaneous variation of the tangential acceleration of the stroke ball according to the tangential acceleration at the current moment and the tangential acceleration at the previous moment;

step S04, judging whether the instantaneous variation of the tangential acceleration is larger than a preset instantaneous acceleration threshold value, if so, judging that the batting ball at the current moment is effectively hit;

step S05, obtaining the value of the number i of times that the batting ball is effectively hit at the current moment, judging whether i is larger than 1, if so, judging that the batting ball is opened at the moment;

s06, obtaining centripetal acceleration data of the fighting ball between the current striking and the last effective striking to form a set A;

step S07, counting the number of centripetal acceleration data with the value of 0 in the set A, namely the number of times of the static state of the strolling ball swinging, and expressing the number of times of the static state of the strolling ball swinging by using a variable m;

and step S08, judging whether the variable m is smaller than 2, if so, judging that the boxing training is effective for catching the stroke, and the number i of times that the boxing stroke is effectively hit is i + 1.

In a preferred mode, the method further includes step S09: when the effective ball catching of the fighting ball training is judged, the user is prompted to successfully catch the ball in a voice, vibration or display mode. In this embodiment, when it is determined that a user performs a batting training and kicking off, a vibration feedback mode is adopted to prompt the user to catch the ball, and the vibration feedback device is deployed in the boxing glove by adopting an existing vibration feedback unit.

In a preferred mode, the inertial navigation sensor in step S01 is composed of a gyroscope and an accelerometer and is disposed inside the fighting ball for detecting the acceleration direction and magnitude of the fighting ball. In the embodiment, the inertial navigation sensor is composed of a gyroscope and an accelerometer and is deployed in the interior of the fighting ball, the preset sampling time interval is 0.5 second, and the acceleration value f obtained at the current sampling moment of the inertial navigation sensor_n200 meters per square second.

In this embodiment, in step S02, the angle between the current string pendulum and the vertical direction is 45 °, and the acceleration value is divided into tangential acceleration and centripetal acceleration according to the tangential and centripetal directions of the swing of the stroke ball, a_n1＝a_n1100 meters per square second.

In one preferable embodiment, the step S03 of calculating the instantaneous variation of the tangential acceleration of the teeing ball according to the tangential accelerations at the current time and the previous time includes:

acceleration value a_nExpressing tangential acceleration and centripetal acceleration as a_n1And a_n2Wherein n represents a sampling time number;

calculating the tangential acceleration instantaneous variation delta a of the fighting ball_n1＝k₁·a_n1-k₂·a_(n-1)1Wherein k is₁And k₂Is a weight coefficient set in advance, and takes the tangential acceleration direction at the current moment as the positive direction.

In this embodiment, the current time a_n1100 m/s, last time a_(n-1)1-5 meters per square second (opposite to the tangential acceleration direction at the present moment), a weight coefficient k set in advance₁＝k₂1, calculating the tangential acceleration instantaneous variation delta a of the batting ball_n1＝k₁·a_n1-k₂·a_(n-1)1100- (-5) 105 meters per square second.

In this embodiment, in step S04, the instantaneous acceleration threshold a is set to 100 m/S according to the instantaneous acceleration caused by the ineffective touch or collision of the stroke ball, and the tangential acceleration instantaneous variation Δ a of the stroke ball at the current time is set to be equal to the instantaneous acceleration Δ a_n1＝105>And A, judging that the batting ball at the current moment is effectively hit. Step S05, obtaining the number of times i of the current time beat ball being hit effectively as 2, i>1, judging that the ball is opened at the moment. And step S06, acquiring 10 centripetal acceleration data of the boxing balls between the current impact and the last effective impact to form a set A. In step S07, there are 1 centripetal acceleration data with a value of 0 in the set a, that is, the number m of times of the static state of the strolling ball swing is 1. Step S08, putting the fighting ball in a static stateNumber m is 1<And 2, judging that the boxing training is effective for catching the stroke, and the number i of times that the stroke is effectively hit is i +1 is 3.

In a preferred mode, the swinging critical rest state in step S07 or step S08 is a momentary rest state in which the stroke ball is swung to the highest point, and the centripetal acceleration of the stroke ball is 0.

The second intelligent fighting ball training ball catching identification method based on acceleration comprises the following steps:

step S01, acquiring an acceleration value detected by an inertial navigation sensor;

step S02, decomposing the acceleration value into tangential acceleration and centripetal acceleration according to the tangential and centripetal of the swinging of the stroke ball;

step S03, calculating the instantaneous variation of the tangential acceleration of the stroke ball according to the tangential acceleration at the current moment and the tangential acceleration at the previous moment;

step S04, judging whether the instantaneous variation of the tangential acceleration is larger than a preset instantaneous acceleration threshold value, if so, judging that the batting ball at the current moment is effectively hit;

step S05, obtaining the value of the number i of times that the batting ball is effectively hit at the current moment, judging whether i is larger than 1, if so, judging that the batting ball is opened at the moment;

s06, obtaining centripetal acceleration data of the fighting ball between the current striking and the last effective striking to form a set A;

step S07, counting the number of centripetal acceleration data with the value of 0 in the set A, namely the number of times of the static state of the strolling ball swinging, and expressing the number of times of the static state of the strolling ball swinging by using a variable m;

and step S08, judging whether the variable m is smaller than 2, if so, judging that the boxing training is effective for catching the stroke, and the number i of times that the boxing stroke is effectively hit is i + 1.

In a preferred mode, the method further includes step S09: when the effective ball catching of the fighting ball training is judged, the user is prompted to successfully catch the ball in a voice, vibration or display mode. In this embodiment, when it is determined that a user performs a batting training and kicking off, a vibration feedback mode is adopted to prompt the user to catch the ball, and the vibration feedback device is deployed in the boxing glove by adopting an existing vibration feedback unit.

In a preferred mode, the inertial navigation sensor in step S01 is composed of a gyroscope and an accelerometer and is disposed inside the fighting ball for detecting the acceleration direction and magnitude of the fighting ball. In the embodiment, the inertial navigation sensor is composed of a gyroscope and an accelerometer and is deployed in the interior of the fighting ball, the preset sampling time interval is 0.5 second, and the acceleration value f obtained at the current sampling moment of the inertial navigation sensor_n200 meters per square second.

In this embodiment, in step S02, the angle between the current string pendulum and the vertical direction is 45 °, and the acceleration value is divided into tangential acceleration and centripetal acceleration according to the tangential and centripetal directions of the swing of the stroke ball, a_n1＝a_n1100 meters per square second.

In one preferable embodiment, the step S03 of calculating the instantaneous variation of the tangential acceleration of the teeing ball according to the tangential accelerations at the current time and the previous time includes:

acceleration value a_nExpressing tangential acceleration and centripetal acceleration as a_n1And a_n2Wherein n represents a sampling time number;

calculating the tangential acceleration instantaneous variation delta a of the fighting ball_n1＝k₁·a_n1-k₂·a_(n-1)1Wherein k is₁And k₂Is a weight coefficient set in advance, and takes the tangential acceleration direction at the current moment as the positive direction.

In this embodiment, the current time a_n1100 m/s, last time a_(n-1)1-5 meters per square second (opposite to the tangential acceleration direction at the present moment), a weight coefficient k set in advance₁＝k₂1, calculating the tangential acceleration instantaneous variation delta a of the batting ball_n1＝k₁·a_n1-k₂·a_(n-1)1100- (-5) 105 meters per square second.

In this embodiment, in step S04, the instantaneous acceleration threshold a is set to 100 m/sec according to the instantaneous acceleration caused by the ineffective touch or collision of the stroke ball, and the stroke ball is played at the current timeInstantaneous change amount delta a of ball tangential acceleration_n1＝105>And A, judging that the batting ball at the current moment is effectively hit. Step S05, obtaining the number of times i of the current time beat ball being hit effectively as 2, i>1, judging that the ball is opened at the moment. And step S06, acquiring 10 centripetal acceleration data of the boxing balls between the current impact and the last effective impact to form a set A. In step S07, there are 1 centripetal acceleration data with a value of 0 in the set a, that is, the number m of times of the static state of the strolling ball swing is 1. Step S08, the number of times m of the static state of the striking ball swing is 1<And 2, judging that the boxing training is effective for catching the stroke, and the number i of times that the stroke is effectively hit is i +1 is 3.

In a preferred mode, the swinging critical rest state in step S07 or step S08 is a momentary rest state in which the stroke ball is swung to the highest point, and the centripetal acceleration of the stroke ball is 0.

In a preferred mode as shown in fig. 3, after identifying that the stroke ball is effectively hit in step S04, the method further includes step S041:

step S0411, vector for acceleration directionIndicating, vector for vertical direction

Represents;

step S0412, calculating the included angle between the acceleration direction and the vertical direction

The included angle between the acceleration direction and the vertical direction

Step S0413, judging the included angle between the acceleration direction and the vertical directionWhether the deviation value from 90 degrees is less than a preset deviation threshold of the straight punch angleValue ofIf yes, the shot is judged to be a straight punch shot.

In this embodiment, the coordinate system of the gyroscope is that the x-axis and the y-axis form a horizontal plane, the z-axis is vertical upward, and the acceleration direction is expressed as a vector value

The vertical direction being expressed as a vector

Calculating the included angle between the acceleration direction and the vertical direction

Preset deviation threshold value of straight boxing ball hitting angleAt the moment, the included angle between the acceleration direction and the vertical direction

A deviation from 90 DEG of

It is determined that the shot is not a straight punch.

In a preferred mode as shown in fig. 4, after identifying that the stroke ball is effectively hit in step S04, the method further includes step S042:

step S0421 vector for acceleration direction

Indicating, vector for vertical directionRepresents;

step S0422, calculating the included angle between the acceleration direction and the vertical direction

The included angle between the acceleration direction and the vertical direction

Step S0423, judging the included angle between the acceleration direction and the vertical direction

Whether the ball impact angle is less than the preset knee bending and leg folding ball impact oblique angle threshold value

If yes, the hitting is judged to be the hitting with knees bent and legs folded.

In this embodiment, the coordinate system of the gyroscope is that the x-axis and the y-axis form a horizontal plane, the z-axis is vertical upward, and the acceleration direction is expressed as a vector valueThe vertical direction being expressed as a vectorCalculating the included angle between the acceleration direction and the vertical direction Preset knee bending leg folding batting oblique angle thresholdAt this timeThe hitting ball is judged to be a knee bending and leg folding hitting ball.

In a preferred embodiment as shown in fig. 5, the method further includes step S10:

step S101, when effective ball catching in fighting ball training is judged, judging that the ball catching movement is used as straight boxing or knee bending leg folding for ball catching according to whether the ball catching is straight boxing or knee bending leg folding;

and S102, prompting the user to successfully bend a straight fist or bend a knee and fold a leg to catch a ball in a voice, vibration or display mode. In this embodiment, when a fighting ball is used for receiving a ball in a training mode, the hitting action is taken as a knee bending and leg folding hitting action, and a voice mode is adopted to prompt a user to successfully bend the knee bending and leg folding for receiving the ball.

The third embodiment of the invention provides an intelligent fighting ball training ball catching identification system based on acceleration, a structural schematic diagram of which is shown in fig. 6, and the system comprises:

a boxing training device;

an inertial navigation sensor;

a computer;

and

one or more programs, wherein the one or more programs are stored in the memory of the computer and configured to be executed by the processor of the computer, the programs comprising the method of any of the above embodiments.

Of course, those skilled in the art should realize that the above embodiments are only used for illustrating the present invention, and not as a limitation to the present invention, and that the changes and modifications of the above embodiments will fall within the protection scope of the present invention as long as they are within the scope of the present invention.