CN108525259B - System for be used for football location ball to test - Google Patents
System for be used for football location ball to test Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/002—Training appliances or apparatus for special sports for football
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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Abstract
The invention discloses a system for testing a football positioning ball, which comprises a testing pad, a sensor group, an MCU (microprogrammed control unit) and a display screen, wherein the testing pad is arranged on the testing pad; the sensor group is arranged on the test pad and used for detecting the falling point of the football on the test pad; the output end of the sensor group is connected with the MCU, the MCU is connected with the display screen, and the display screen is used for displaying the test result. The sensor group is a pressure sensor array; the pressure sensor array is formed by arranging a plurality of pressure sensors (2) in a square array with multiple rows and multiple columns; the connecting lines of any adjacent 4 pressure sensors can form a rectangle, and the data output by the pressure sensor array is sent to the MCU for positioning calculation processing. The system for testing the football positioning ball is high in detection precision and high in automation degree.
Description
Technical Field
The invention relates to a system for testing a football locating ball.
Background
The conventional football positioning ball test generally adopts manual (examiner) visual measurement to read scores, has the problems of large error and poor consistency, and generally needs a plurality of people to participate in the test and supervision due to the problem of angles, so the effect of the manual test is not ideal.
Through retrieval, some technical means-based positioning ball testing schemes also exist, for example, chinese patent publication No. CN 106693335a discloses an auxiliary football positioning ball transfer tester, which uses a pressure sensor and a wireless communication module to realize auxiliary measurement of a positioning ball, and is characterized in that a plurality of carpet tiles are provided, each carpet tile is provided with a pressure sensor, the tester can assist in positioning ball testing, but the testing accuracy completely depends on the testing density of the pressure sensor, and if the number of the pressure sensors is too many, how to solve the communication problem also has a great problem.
Therefore, there is a need for a new system for soccer pool testing.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a system for testing the football positioning ball, which is easy to implement, high in automation degree and high in detection precision.
The technical solution of the invention is as follows:
a system for testing a football positioning ball comprises a test pad, a sensor group, an MCU and a display screen;
the sensor group is arranged on the test pad and used for detecting the falling point of the football on the test pad;
the output end of the sensor group is connected with the MCU, the MCU is connected with the display screen, and the display screen is used for displaying the test result.
The sensor group is a pressure sensor array; the pressure sensor array is formed by arranging a plurality of pressure sensors (2) in a square array with multiple rows and multiple columns; the connecting lines of any adjacent 4 pressure sensors can form a rectangle, and the data output by the pressure sensor array is sent to the MCU for positioning calculation processing.
The pressure sensors output digital signals to the MCU, and all the pressure sensors are in communication connection with the MCU through the CAN bus.
The pressure sensor outputs an analog signal, and the pressure sensor is connected with the MCU through a first multi-channel analog selector (also called a multi-channel analog switch), an amplifier and an A/D converter in sequence;
the amplifier is formed by 2 operational amplification modules in a cascade connection mode, the operational amplification module at the front stage is operational amplification with adjustable amplification factor, the adjustment is realized based on a second multi-path analog selector (a four-to-one multi-path switch), and all the pressure sensors are in communication connection with the MCU through the CAN bus.
The first multi-path analog selector is a 16-path 1-selection module switch or a 32-path 1-selection analog switch formed by connecting 2 16-path 1-selection module switches in parallel.
The MCU calculates a drop point position (specifically a first drop point position and a rebound drop point position are not counted) based on the detection values of the pressure sensors; the calculation method comprises the following steps:
step I: determining a rectangular unit where the drop point is located, namely a target rectangular unit;
sequencing the measured values, wherein the rectangular unit where the 3 connected pressure sensors with the largest measured values are located is a target rectangular unit;
step II: calculating the coordinates of 4 calculation points Q1-Q4 in the target rectangular unit;
converting the measured value into a radius; (the larger the measurement, the smaller the radius, the functional relationship between the measurement and the radius, which can be obtained by prior tests.)
Calculating the coordinates of calculation points determined by 2 connected pressure sensors in the target rectangular unit based on the cosine law;
step III: calculating the gravity center of 4 calculation points Q1-Q4 as the coordinate of the falling point P to finish the calculation of the falling point;
the position of the final positioning point P is the gravity center position of points Q1-Q4, namely P (x)p，yp) The coordinates of the points are calculated as follows:
xp＝(xQ1+xQ2+xQ3+xQ4)/4；
yp＝(yQ1+yQ2+yQ3+yQ4)/4；
wherein x isQ1、xQ2、xQ3、xQ4The abscissa of points Q1-Q4; y isQ1、yQ2、yQ3、yQ4The ordinate of the points Q1-Q4 respectively;
finally based on the drop point P (x)p，yp) The position of the football is converted into the testing result of the football locating ball.
In step II, the method for calculating the coordinates of the calculation points determined by the 2 connected pressure sensors in the target rectangular unit based on the cosine law is as follows:
setting the ABCD point as 4 pressure sensors of the target rectangular area, wherein r1, r2, r3 and r4 are the radiuses of the ABCD point respectively;
(1) method of calculating the intersection Q1 determined by point A, B:
based on the cosine theorem: cosB ═ c2+a2-b2)/(2ac)；
In triangular ABQ1, the AB length is known as a (i.e., the length of the upper side of the rectangle), and the lengths of AQ1 and BQ1 are r1 and r2, respectively;
assuming that the included angle between AB and AQ1 is α, there are:
cosα＝(a2+r12-r22)/(2*a*r1)；α＝arcos[(a2+r12-r22)/(2*a*r1)]；
the coordinate (x) of the point Q1Q1，yQ1) The following were used:
xQ1＝x0+r1*cosα；
yQ1＝y0-r1*sinα；
wherein x0 and y0 are respectively the abscissa and the ordinate of the point A;
(2) in the same manner, coordinates of an intersection Q2 defined by the BC point, an intersection Q3 defined by the CD point, and an intersection Q4 defined by the AD point are obtained.
The elastic layer is arranged on the testing pad and used for buffering the impact of the testing pad of the football team, and accurate measurement is facilitated. The elastic layer can be a soft sponge layer or an elastic needle layer consisting of a plurality of nails with springs and can automatically reset.
The system for testing the football positioning ball also comprises a communication module and an identity card verification module which are connected with the MCU; the communication module is used for transmitting the measurement data and the achievement to a server or a remote terminal.
The system for testing the football positioning ball further comprises a loudspeaker connected with the MCU and used for broadcasting the score of the tester.
The identity card verification module is an identity card reader or a campus card reader and is used for reading identity information of a tester.
The system for testing the football locating ball further comprises a detection aircraft, and the monitoring aircraft is used for shooting the site image and transmitting the site image to the server.
Has the advantages that:
the system for testing the football locating ball has the following outstanding characteristics:
(1) realizing accurate drop point calculation based on the detection result of the pressure sensor array;
in the process of the drop point calculation, 4 preliminary candidate drop points are calculated based on 2 adjacent points in the target rectangle and the cosine theorem of the triangle, and then accurate drop point coordinates are obtained based on the gravity center principle, so that the calculation is easy, the accuracy is high, and accurate results can be obtained even if the number of sensors in the array is small. Therefore, the problems of the number and the accuracy of the sensors are considered, a low-cost and high-accuracy solution is provided, and the method has great advantages compared with the prior art.
(2) Data transmission circuit with originality
In a test system based on a pressure sensor, 2 data transmission methods based on a CAN bus and a multiplexer are provided, and the method is easy to implement and low in cost.
In the scheme of adopting the multi-path selector, two stages of selectors are adopted, the amplification factor adjustment under the condition of weak signals is also considered, and the flexibility is better.
(3) The invention also provides a faster detection method based on photoelectric detection;
the drop point detection of the football is realized based on the infrared correlation tubes (including 2 groups of luminous tubes and 2 groups of light receiving tubes), and the detection can be realized by directly adopting port scanning, so that the detection speed is higher, and the implementation is easier.
(4) And carrying out on-site video monitoring by adopting an aircraft.
(5) Having on-site auxiliary equipment
The auxiliary equipment comprises a loudspeaker, a display screen, an identity authentication module and a wireless communication module and is used for displaying results in real time and uploading and backing up data.
(6) Pressure sensor based test systems (methods) and photoelectric detection based test systems (methods) may be utilized in combination to increase detection accuracy and provide reliability of the systems and detection methods.
In a word, the football positioning ball testing system is easy to implement, complete in function, high in automation degree and suitable for popularization and implementation.
Drawings
FIG. 1 is a schematic diagram of the general structure of a system for testing a soccer locating ball based on a pressure sensor group (using CAN bus communication);
FIG. 2 is a schematic diagram of the general structure of a system for testing a soccer location ball based on a pressure sensor group (data transmission by using a multiplexer);
FIG. 3 is a schematic view of 5X5 pressure sensors arranged on a test pad;
FIG. 4 is a schematic view of 9X9 pressure sensors arranged on a test pad;
FIG. 5 is a schematic diagram of determining a soccer ball drop point;
FIG. 6 is a schematic diagram of a drop point calculation based on the cosine theorem;
FIG. 7 is a schematic diagram of a test system employing photoelectric positioning;
FIG. 8 is a schematic diagram of a multi-channel polling and signal amplification circuit;
FIG. 9 is a schematic diagram of dimming;
FIG. 10 is a schematic diagram of a constant current charging;
FIG. 11 is an electrical schematic block diagram of a wireless charging system for an automobile;
FIG. 12 is a schematic view of the general structure of the multi-purpose aircraft;
fig. 13 is a schematic structural view (top view) of a quad-rotor telescopic boom and rotors;
FIG. 14 is a schematic view of the position relationship of the main rotor and the auxiliary rotor;
FIG. 15 is an exploded view of the telescoping boom;
FIG. 16 is a schematic structural view of the assembled telescopic boom;
FIG. 17 is a schematic view of the latch;
FIG. 18 is a schematic structural view of a leg;
FIG. 19 is a schematic view of a composite lens and a camera;
fig. 20 is a schematic view of a hexagram spider and rotor.
Description of reference numerals: 1-test pad, 2-pressure sensor, 3-base pad central point, 4-football, 5-light emission tube, 6-light receiving tube, 7-outer frame.
21-outer arm, 22-inner arm, 23-main rotor, 24-jack, 25-lock catch; 26-auxiliary rotor, 27-ducted fan mount, 28-leg, 29-chassis, 30-beam, 31-cross, 32-cradle; 33-a pan-tilt head; 51-shell, 52-pin, 53-barb, 511-shell, 512-pressing block, 513-pressing spring;
70-on-board camera, 71-sub-lens, 72-compound lens, 73-rotating shaft, 74-light reflection sheet, 75-photoelectric emitting and receiving device, 76-CCD sensor, 77-fuselage; 81-upper leg, 82-spring, 83-guide bar, 84-lower leg, 85-sleeve, 86-foot nail, 87-grommet.
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
example 1: football positioning ball test system based on pressure sensor group
The football positioning ball testing system based on the pressure sensor group comprises a testing pad, a sensor group, an MCU and a display screen;
the sensor group is arranged on the test pad and used for detecting the falling point of the football on the test pad;
the output end of the sensor group is connected with the MCU, the MCU is connected with the display screen, and the display screen is used for displaying the test result.
3-4, the sensor group is a pressure sensor array; the pressure sensor array is formed by arranging a plurality of pressure sensors 2 in a square array with a plurality of rows and a plurality of columns; the connecting lines of any adjacent 4 pressure sensors can form a rectangle, and the data output by the pressure sensor array is sent to the MCU for positioning calculation processing.
The pressure sensors output digital signals to the MCU, and all the pressure sensors are in communication connection with the MCU through a CAN bus, as shown in figure 1.
As shown in fig. 2, the pressure sensor outputs an analog signal, and the pressure sensor is connected to the MCU through a first multi-channel analog selector (also called a multi-channel analog switch), an amplifier, and an a/D converter in sequence;
the amplifier is formed by 2 operational amplification modules in a cascade connection mode, the operational amplification module at the front stage is operational amplification with adjustable amplification factor, the adjustment is realized based on a second multi-path analog selector (a four-to-one multi-path switch), and all the pressure sensors are in communication connection with the MCU through the CAN bus.
The first multi-path analog selector is a 16-path 1-selection module switch or a 32-path 1-selection analog switch formed by connecting 2 16-path 1-selection module switches in parallel.
The MCU calculates a drop point position (specifically a first drop point position and a rebound drop point position are not counted) based on the detection values of the pressure sensors; the calculation method comprises the following steps:
step I: determining a rectangular unit where the drop point is located, namely a target rectangular unit;
sequencing the measured values, wherein the rectangular unit where the 3 connected pressure sensors with the largest measured values are located is a target rectangular unit;
step II: calculating the coordinates of 4 calculation points Q1-Q4 in the target rectangular unit;
converting the measured value into a radius; (the larger the measurement, the smaller the radius, the functional relationship between the measurement and the radius, which can be obtained by prior tests.)
Calculating the coordinates of calculation points determined by 2 connected pressure sensors in the target rectangular unit based on the cosine law;
step III: as shown in fig. 5, the gravity center of 4 calculation points Q1-Q4 is the coordinate of the falling point P, and the falling point calculation is completed;
the position of the final positioning point P is the gravity center position of points Q1-Q4, namely P (x)p，yp) The coordinates of the points are calculated as follows:
xp＝(xQ1+xQ2+xQ3+xQ4)/4；
yp＝(yQ1+yQ2+yQ3+yQ4)/4；
wherein x isQ1、xQ2、xQ3、xQ4The abscissa of points Q1-Q4; y isQ1、yQ2、yQ3、yQ4The ordinate of the points Q1-Q4 respectively;
finally based on the drop point P (x)p，yp) The position of the football is converted into the testing result of the football locating ball.
In step II, the method for calculating the coordinates of the calculation points determined by the 2 connected pressure sensors in the target rectangular unit based on the cosine law is as follows:
setting the ABCD point as 4 pressure sensors of the target rectangular area, wherein r1, r2, r3 and r4 are the radiuses of the ABCD point respectively;
(1) method of calculating the intersection Q1 determined by point A, B:
based on the cosine theorem: cosB ═ c2+a2-b2)/(2ac)；
As shown in fig. 6, in the triangular ABQ1, the length of AB is known as a (i.e., the length of the upper side of the rectangle), and the lengths of AQ1 and BQ1 are r1 and r2, respectively;
assuming that the included angle between AB and AQ1 is α, there are:
cosα＝(a2+r12-r22)/(2*a*r1)；α＝arcos[(a2+r12-r22)/(2*a*r1)]；
the coordinate (x) of the point Q1Q1，yQ1) The following were used:
xQ1＝x0+r1*cosα；
yQ1＝y0-r1*sinα；
wherein x0 and y0 are respectively the abscissa and the ordinate of the point A;
(2) in the same manner, coordinates of an intersection Q2 defined by the BC point, an intersection Q3 defined by the CD point, and an intersection Q4 defined by the AD point are obtained.
The elastic layer is arranged on the testing pad and used for buffering the impact of the testing pad of the football team, and accurate measurement is facilitated. The elastic layer can be a soft sponge layer or an elastic needle layer consisting of a plurality of nails with springs and can automatically reset.
The football positioning ball testing system based on the pressure sensor group also comprises a communication module and an identity card verification module which are connected with the MCU; the communication module is used for transmitting the measurement data and the achievement to a server or a remote terminal.
The system for testing the football positioning ball further comprises a loudspeaker connected with the MCU and used for broadcasting the score of the tester.
The identity card verification module is an identity card reader or a campus card reader and is used for reading identity information of a tester.
The football positioning ball testing system based on the pressure sensor group further comprises a detection aircraft, and the monitoring aircraft is used for shooting field images and transmitting the field images to the server.
(II) Standby test System of example 1: automatic football positioning ball testing device and system based on photoelectric positioning
Referring to fig. 7, the automatic testing device for the soccer positioning ball based on photoelectric positioning is characterized by comprising a testing pad 1, an outer frame 7 and an MCU;
the test pad is arranged in the shell, the outer frame is rectangular (preferably square), M and N luminous tubes 5 are respectively arranged on the first side and the second side of the outer frame, and the first side is adjacent to the second side;
the third side and the fourth side of the shell are respectively provided with M and N light receiving tubes 7; the third side is adjacent to the fourth side; the first side is opposite to the third side, and the second side is opposite to the fourth side;
the M luminous tubes and the M receiving tubes are correspondingly arranged, and when the M luminous tubes and the M receiving tubes are not blocked, light rays emitted by the M luminous tubes can correspondingly emit to the M receiving tubes;
the N luminous tubes and the N receiving tubes are correspondingly arranged, and when the N luminous tubes and the N receiving tubes are not blocked, light rays emitted by the N luminous tubes can correspondingly emit into the N receiving tubes;
all the light emitting tubes are controlled by the MCU, and the MCU controls the simultaneous opening and closing of all the light emitting tubes or can control the closing or opening of any light emitting tube;
the output electric signals of all the light receiving tubes are sent to the MCU; the MCU judges the falling point of the football according to the electric signal;
the interval of 2 adjacent luminotrons with same side is less than the diameter of football, and the interval between 2 adjacent light-receiving tubes with same side is less than the diameter of football to guarantee that the football can both be detected in any position.
The light emitting tubes on the same side are arranged at equal intervals or at variable intervals (for example, the arrangement density of the middle part can be higher than that of the two side parts).
To ensure uniform detection accuracy, the plurality of light emitting tubes on the first side and the third side are arranged at equal intervals, and the interval between the light emitting tubes on the first side is equal to the interval between the light emitting tubes on the third side. MCU adopts the mode of polling to detect the light-receiving tube of specifically blockked the light path to realize the location of football and detect.
Polling (i.e., alternate cycle detection) is accomplished using multiple multi-way switches in parallel. Thereby achieving the detection of the most paths with the least port cost.
A sensor group is arranged on the test pad; the sensor group is a pressure sensor array; the pressure sensor array is formed by arranging a plurality of pressure sensors (2) in a square array with multiple rows and multiple columns; the connecting line of any adjacent 4 pressure sensors can form a rectangle, the data output by the pressure sensor array is sent to the MCU for positioning calculation processing, the MCU obtains 2 positioning results, namely one positioning result obtained through the sensor array, the other positioning result is obtained through the light receiving tube, one positioning result is used as a final result, and the other positioning result is used as a spare positioning result. (if the precision is higher, the former can be adopted, if the precision is equivalent, and the speed of the latter is higher, the 2 nd is selected, if one result is obviously wrong, the other is adopted, the reliability is high)
The elastic layer is arranged on the testing pad and used for buffering the impact of the testing pad of the football team, and accurate measurement is facilitated. The elastic layer can be a soft sponge layer or an elastic needle layer consisting of a plurality of nails with springs and can automatically reset.
A football positioning ball automatic test system based on photoelectric positioning adopts the football positioning ball automatic test device;
the test system also comprises a server; the MCU is connected with the server through the communication module.
The MCU is connected with the display screen, and the display screen is used for displaying the test results;
the automatic football positioning ball testing system also comprises an identity card verification module connected with the MCU; the automatic football positioning ball testing device based on photoelectric positioning further comprises a loudspeaker connected with the MCU and used for broadcasting the score of a tester.
The identity card verification module is an identity card reader or a campus card reader and is used for reading identity information of a tester.
The automatic football positioning ball testing system based on photoelectric positioning further comprises a detection aircraft, and the monitoring aircraft is used for shooting field images and transmitting the field images to the server.
Preferably, one light emitting tube is arranged every 5-20cm, and the preferred interval is 5, 6,8,10,12, 14,16,18,20 cm.
(III) test method corresponding to example 1: a football positioning ball test method based on a pressure sensor measures the position of a positioning ball drop point by adopting the pressure sensor and comprises the following steps: step 1: building a test system based on a pressure sensor array;
the test system based on the pressure sensor array comprises a test pad, a sensor group, an MCU and a display screen; the sensor group is arranged on the test pad and used for detecting the falling point of the football on the test pad;
the output end of the sensor group is connected with the MCU, the MCU is connected with the display screen, and the display screen is used for displaying the test result;
the sensor group is a pressure sensor array; the pressure sensor array is formed by arranging a plurality of pressure sensors (2) in a square array with multiple rows and multiple columns; the connecting lines of any adjacent 4 pressure sensors can form a rectangle, and the data output by the pressure sensor array is sent to the MCU for positioning calculation processing;
step 2: data acquisition:
the MCU collects the data of each pressure sensor and stores the data in the memory;
and step 3: calculating the position of a drop point;
calculating a position coordinate of a drop point (specifically, a first drop point position and a rebound drop point position are not counted) based on the acquired data;
and 4, step 4: outputting a test result;
and (4) converting the coordinates of the position of the falling point into test results, and displaying the results in a display screen.
The step 3 comprises the following steps:
step I: determining a rectangular unit where the drop point is located, namely a target rectangular unit;
sequencing the measured values, wherein the rectangular unit where the 3 connected pressure sensors with the largest measured values are located is a target rectangular unit;
step II: calculating the coordinates of 4 calculation points Q1-Q4 in the target rectangular unit;
converting the measured value into a radius; the larger the measurement value, the smaller the radius. The functional relationship between the measured value and the radius can be obtained by preliminary tests.
Calculating the coordinates of calculation points determined by 2 connected pressure sensors in the target rectangular unit based on the cosine law;
step III: calculating the gravity center of 4 calculation points Q1-Q4 as the coordinate of the falling point P to finish the calculation of the falling point;
the position of the final positioning point P is the gravity center position of points Q1-Q4, namely P (x)p，yp) The coordinates of the points are calculated as follows:
xp＝(xQ1+xQ2+xQ3+xQ4)/4；
yp＝(yQ1+yQ2+yQ3+yQ4)/4；
wherein x isQ1、xQ2、xQ3、xQ4The abscissa of points Q1-Q4; y isQ1、yQ2、yQ3、yQ4The ordinate of the points Q1-Q4.
The system also comprises a standby test method, wherein the standby test method is implemented based on a standby test system, and the standby test system is an automatic football positioning ball test system based on photoelectric positioning;
if the test system based on the pressure sensor array fails (such as the error of the detection result is too large, or the sensor is damaged), the result obtained by measuring by using the standby test system is used as the final test result. Or, a football positioning ball automatic test system based on photoelectric positioning can be used as a priority test system, and if the system fails, a test system based on a pressure sensor array can be used as a standby test system.
(IV) the test method of the standby test system comprises the following steps: when the automatic football positioning ball testing system based on photoelectric positioning is used for testing, the testing method comprises the following steps:
step A: building a test system;
building a football positioning ball automatic test system based on photoelectric positioning;
and B: bidirectional photoelectric scanning;
starting the photoelectric scanning in the X and Y directions to obtain the scanning results in the X direction and the Y direction
Scanning means that the light-emitting tube is made to emit light, the receiving tube outputs a high level if not shielded, and outputs a low level if shielded, and the level signal of the light-receiving tube is polled (scanned), so that which one or more light-receiving tubes are shielded at a certain time can be determined.
And C: determining a drop point position (specifically, a first drop point position and a rebound drop point position are not counted) based on the scanning result;
determining an X coordinate of a drop point based on a scanning result in the X direction; determining a Y coordinate of the drop point based on the scanning result in the Y direction; finally obtaining the position coordinates of the falling point;
based on the distribution density of the luminous tubes, there are various cases:
(1) if only one light receiving tube is blocked in the X direction, the position of the receiving tube is the X coordinate;
if the plurality of light receiving tubes are blocked, the X coordinate of the middle points of the plurality of light receiving tubes is the X coordinate of the final drop point;
if 3 adjacent light receiving tubes are blocked, the X coordinate corresponding to the middle light receiving tube of the 3 light receiving tubes is the X coordinate of the final drop point.
The same principle is that:
(2) if only one light receiving tube is blocked in the Y direction, the position of the receiving tube is the Y coordinate;
if the plurality of light receiving tubes are blocked, the Y coordinate of the middle points of the plurality of light receiving tubes is the final Y coordinate of the drop point;
step D: outputting a test result;
and (4) converting the coordinates of the position of the falling point into test results, and displaying the results in a display screen.
And an automatic football positioning ball testing system based on photoelectric positioning is also used as a priority testing system, and if the system fails, a testing system based on a pressure sensor array is used as a standby testing system.
Specially, be equipped with acceleration sensor and communication module in the football, acceleration sensor is used for detecting whether the football is lifted, if the acceleration obviously increases, explains that the football testee plays this moment, then notifies MCU and begins to gather data. And finishing the data acquisition after the effective data or the football is tested to stop.
As shown in fig. 8, the circuit operation process is illustrated as follows:
(1) the voltage value of the V0-V15 circuit is output from an IO end after passing through a 16-to-1 analog data selector, namely V1;
(2) the circuit adopts a two-stage discharge circuit, comprises 2 operational amplifiers, namely AMP1 and AMP2 which are both inverse proportion amplifiers; the AMP1 can adjust the discharge times, specifically has 4-step adjustment times, has the settings of resistors which are respectively 2.4 times, 1 time, 0.51 time and 0.27 time, and the AMP2 has the amplification factor of 1, namely equivalent to an inverter; the amplification factor of the operational amplifier AMP1 is switched by a 4-to-1 analog selector;
the final amplified signal is V0, and then enters the ADC terminal for analog-to-digital conversion.
(3) The 16-to-1 analog data selector and the 4-to-1 analog selector are both gated and controlled by the MCU.
In addition, several technical points involved in the system are explained as follows:
(1) a backlight adjusting circuit is also arranged at the display screen;
as shown in fig. 9, the brightness adjusting circuit includes an MCU, a LED string, a triode, a potentiometer Rx and an a/D converter; the triode is an NPN type triode; a knob switch is arranged above a fixing frame of the display screen and is coaxially connected with the potentiometer Rx;
the potentiometer Rx and the first resistor R1 are connected in series to form a voltage division branch, one end of the voltage division branch is connected with the positive electrode Vcc of the power supply, and the other end of the voltage division branch is grounded; the connection point of the potentiometer Rx and the first resistor R1 is connected with the input end of the A/D converter; the output end of the A/D converter is connected with the data input port of the MCU;
the LED lamp string comprises a plurality of LED lamps which are connected in series; the anode of the LED lamp string is connected with the anode Vcc of the power supply; the negative electrode of the LED lamp string is connected with the C electrode of the triode, and the E electrode of the triode is grounded through a second resistor R2; the B pole of the triode is connected with the output end of the MCU. The power supply positive pole Vcc is 5V, and the A/D converter is an 8-bit serial output type converter.
(2) The detection pad or MCU may be powered by a lithium battery.
The detection pad can be provided with a plurality of photovoltaic panels, and the photovoltaic panels can charge lithium batteries.
The lithium battery is charged by adopting a constant current charging circuit, and the constant current charging circuit comprises a constant voltage driving chip and a current feedback circuit;
(a) the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;
the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-;
(b) the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +;
the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series;
the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >;
the connection point of the resistors R1 and R2 is connected with the feedback terminal FB of the constant voltage driving chip.
The constant current charging circuit also comprises a voltage feedback circuit;
the voltage feedback circuit comprises resistors R3 and R4 and a diode D1;
the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected to the feedback terminal FB of the constant voltage driving chip.
Description of the working principle:
the stable reference power supply is used as a reference voltage, and the voltage which is equal to the voltage FB is obtained by dividing the voltage by R1, R2 and R5, so that the internal PWM of the DCDC IC is adjusted by the voltage FB to control the magnitude of the output current. For example, when the output current becomes larger, the voltage across the sampling resistor R5 will increase, and since VRFE + is a fixed value, the FB voltage becomes larger, FB becomes larger, the duty cycle will decrease, and the output current decreases, thereby completing a complete feedback to achieve the purpose of stabilizing the current output.
(3) Multifunctional aerial photography aircraft
As shown in fig. 11-18, the multifunctional aerial vehicle includes a cradle 32, a rotor, a base plate 29, a pan-tilt 33, legs 28, and a camera 70;
the rotor and the holder are arranged on the bracket;
the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder;
the supporting legs are fixed at the bottom of the bottom plate;
the camera includes a body 77 and a compound lens 72; a CCD sensor 76 is arranged in the machine body, and a photoelectric transmitting and receiving device 75 for lens alignment is arranged on the machine body;
the composite lens is provided with a rotating shaft 73; 4 sub-lenses 71 are integrated in the compound lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet 74 matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body. The photoelectric transmitting and receiving device and the light reflection sheet can be a plurality of sets, preferably 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so that the alignment precision is higher.
4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the legs include an upper leg 81, a lower leg 84 and a foot peg 86; the lower end of the upper leg is provided with a guide groove; the upper end of the lower leg is provided with a guide rod 83; the guide rod is inserted in the guide groove; a spring 82 is arranged in the guide groove; the spring is arranged between the top wall (the inner wall at the innermost end) of the guide groove and the top end of the guide rod; the lower end of the lower leg is provided with a foot peg 86. The outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve 85 with internal threads, and the lower end of the sleeve is provided with a backing ring 87. The chassis is also provided with a gyroscope and a wireless communication module. The gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to the ground receiving end equipment. The bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm 21 and an inner arm 22; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch 25; the lock catch is provided with a pin 52 with a barb 53; the number of the lock catches is multiple; a plurality of groups of jacks 24 for pins to pass through are arranged at the inner end of the outer arm and the outer end of the inner arm; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing part 7; the lock catch has a housing 51; the shell comprises an outer shell 511, a pressing block 512 and a pressure spring 513; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin, and the pressure spring is sleeved at the root of the pin. The inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each set of jacks on the inner arm includes 2 jacks. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; preferred values are 0.25 and 0.3. The backing ring is made of rubber, and the foot nails are made of stainless steel.
Another aircraft is shown in fig. 20, in which the support is a hexagonal star-shaped support composed of 6 transverse struts with the same length; each angular position of the hexagonal star-shaped support is provided with a rotor wing. The rotor comprises a main rotor and an auxiliary rotor;
the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor is a ducted fan and is fixed to the bottom of the outer arm by a ducted fan fixing member 27. Furthermore, each cross position of the hexagram-shaped support is provided with a rotor wing, and the cross position is a position corresponding to X cross formed by the adjacent transverse struts; such an aircraft would have 12 or 12 sets of rotors. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.25 or 0.3.
The aircraft has the following outstanding characteristics:
adopting a hexagonal star-shaped rotor wing; the novel hexagram-shaped support is adopted, the stability of the support is good, each rotor wing is located at an angular position, each angular position is located at a vertex of a triangle and is supported by 2 supporting rods, and due to the stability of the triangle, the vertex cannot have any offset or drift in flight, so that the support has great stability advantages relative to a regular hexagon support or a cross-shaped support or other supports. In addition, the arrangement mode of 6 rotors has better aerodynamic configuration than the arrangement mode of 2-4 rotors, and in conclusion, the six-rotor aircraft has ingenious structure and good stability.
(4) Composite lens for aircraft
As shown in fig. 19, the aircraft camera adopts a compound lens capable of switching sub-lenses, and 4 lenses with different focal lengths are integrated in the compound lens and used for taking pictures with different viewing angles on a target object, so that the flexibility is good; the photoelectric transmitting and receiving device arranged on the camera and the light reflection sheet arranged on the lens are used for aligning the sub-lens with the CCD sensor, the combined type lens is driven by the stepping motor, the alignment precision is high, and the sub-lens is convenient to switch. The camera has the excellent quality of a fixed focus head and also has the flexibility of changing the focal length, so the camera has good practicability.
Claims (1)
1. A system for testing a football positioning ball is characterized by comprising a test pad, a sensor group, an MCU and a display screen;
the sensor group is arranged on the test pad and used for detecting the falling point of the football on the test pad;
the output end of the sensor group is connected with the MCU, the MCU is connected with the display screen, and the display screen is used for displaying the test result;
the sensor group is a pressure sensor array; the pressure sensor array is formed by arranging a plurality of pressure sensors (2) in a square array with multiple rows and multiple columns; the connecting lines of any adjacent 4 pressure sensors can form a rectangle, and the data output by the pressure sensor array is sent to the MCU for positioning calculation processing;
the pressure sensors output digital signals to the MCU, and all the pressure sensors are in communication connection with the MCU through a CAN bus;
the pressure sensor outputs an analog signal, and is connected with the MCU through a first multi-channel analog selector, an amplifier and an A/D converter in sequence;
the first multi-path analog selector is a 16-path 1-selection module switch or a 32-path 1-selection analog switch formed by connecting 2 16-path 1-selection module switches in parallel;
the MCU calculates the position of a drop point based on the detection value of each pressure sensor; the calculation method comprises the following steps:
step I: determining a rectangular unit where the drop point is located, namely a target rectangular unit;
sequencing the measured values, wherein the rectangular unit where the 3 connected pressure sensors with the largest measured values are located is a target rectangular unit;
step II: calculating the coordinates of 4 calculation points Q1-Q4 in the target rectangular unit;
converting the measured value into a radius;
calculating the coordinates of calculation points determined by 2 connected pressure sensors in the target rectangular unit based on the cosine law;
step III: calculating the gravity center of 4 calculation points Q1-Q4 as the coordinate of the falling point P, and finishing the calculation of the falling point;
the final position of the falling point P is the gravity center position of points Q1-Q4, namely P (x)p，yp) The coordinates of the points are calculated as follows:
xp=（x Q1+ x Q2+ x Q3+ x Q4）/4;
yp=（y Q1+ y Q2+ y Q3+ y Q4）/4;
wherein x is Q1、 x Q2、 x Q3、 x Q4The abscissa of points Q1-Q4; y is Q1、 y Q2、y Q3、y Q4The ordinate of the points Q1-Q4 respectively;
finally based on the drop point P (x)p，yp) Converting the position of the football locating ball into a football locating ball test result;
in step II, the method for calculating the coordinates of the calculation points determined by the 2 connected pressure sensors in the target rectangular unit based on the cosine law is as follows:
setting the ABCD point as 4 pressure sensors of the target rectangular area, wherein r1, r2, r3 and r4 are the radiuses of the ABCD point respectively;
(1) method of calculating the intersection Q1 determined by point A, B:
based on the cosine theorem: cos (chemical oxygen demand)B=(c2+a2-b2)/(2ac);
In triangular ABQ1, AB length is known as a, and AQ1 and BQ1 have lengths r1 and r2, respectively;
assuming that the included angle between AB and AQ1 is α, there are:
cosα=(a2+r12-r22)/(2*a*r1)；α=arcos[(a2+r12-r22)/(2*a*r1)];
the coordinate (x) of the point Q1 Q1，y Q1) The following were used:
x Q1=x0+r1*cosα;
y Q1=y0-r1*sinα;
wherein x0 and y0 are respectively the abscissa and the ordinate of the point A;
(2) obtaining coordinates of an intersection point Q2 determined by the BC point, an intersection point Q3 determined by the CD point and an intersection point Q4 determined by the AD point;
the elastic layer is arranged on the testing pad and used for buffering the impact of the testing pad of the football team, so that accurate measurement is facilitated;
the system also comprises a communication module and an identity card verification module which are connected with the MCU; the communication module is used for transmitting the measurement data and the achievement to a server or a remote terminal;
still include reserve test system: a football positioning ball automatic testing device and system based on photoelectric positioning;
the automatic football positioning ball testing device based on photoelectric positioning comprises a testing pad, an outer frame and an MCU (microprogrammed control unit);
the test pad is arranged in the shell, the outer frame is rectangular, M and N luminous tubes are respectively arranged on the first side and the second side of the outer frame, and the first side is adjacent to the second side;
the third side and the fourth side of the shell are respectively provided with M and N light receiving tubes; the third side is adjacent to the fourth side; the first side is opposite to the third side, and the second side is opposite to the fourth side;
the M luminous tubes and the M receiving tubes are correspondingly arranged, and when the M luminous tubes and the M receiving tubes are not blocked, light rays emitted by the M luminous tubes can correspondingly emit to the M receiving tubes;
the N luminous tubes and the N receiving tubes are correspondingly arranged, and when the N luminous tubes and the N receiving tubes are not blocked, light rays emitted by the N luminous tubes can correspondingly emit into the N receiving tubes;
all the light emitting tubes are controlled by the MCU, and the MCU controls the simultaneous opening and closing of all the light emitting tubes or can control the closing or opening of any light emitting tube;
the output electric signals of all the light receiving tubes are sent to the MCU; the MCU judges the falling point of the football according to the electric signal;
the distance between the adjacent 2 luminous tubes on the same side is smaller than the diameter of the football, and the distance between the adjacent 2 light receiving tubes on the same side is smaller than the diameter of the football, so that the football can be detected at any position;
the luminotrons on the same side are arranged at equal intervals or at variable intervals;
in order to ensure uniform detection precision, the multiple light emitting tubes on the first side and the second side are arranged at equal intervals, and the interval between the light emitting tubes on the first side is equal to the interval between the light emitting tubes on the second side;
the MCU detects the light receiving tube of a specific blocked light path in a polling mode, so that the positioning detection of the football is realized;
the system also comprises a detection aircraft, a monitoring aircraft and a server, wherein the monitoring aircraft is used for shooting the site image and transmitting the site image to the server;
when the automatic football positioning ball testing system based on photoelectric positioning is used for testing, the testing method comprises the following steps:
step A: building a test system;
building an automatic football positioning ball testing system based on photoelectric positioning;
and B: bidirectional photoelectric scanning;
starting the photoelectric scanning in the X and Y directions to obtain the scanning results in the X direction and the Y direction
Scanning refers to enabling the light-emitting tube to emit light, outputting high level if the receiving tube is not shielded, outputting low level if the receiving tube is shielded, and polling level signals of the light-receiving tubes to determine which one or more light-receiving tubes are shielded at a certain moment;
and C: determining a drop point position based on the scanning result, specifically a first drop point position, and counting a rebound drop point position;
determining an X coordinate of a drop point based on a scanning result in the X direction; determining a Y coordinate of the drop point based on the scanning result in the Y direction; finally obtaining the position coordinates of the falling point;
the amplifier is formed by cascading 2 operational amplification modules, the operational amplification module at the front stage is operational amplification with adjustable amplification factor, the adjustment is realized based on a second multi-path analog selector, and all the pressure sensors are in communication connection with the MCU through a CAN bus;
the circuit adopts a two-stage discharge circuit, comprises 2 operational amplifiers, namely AMP1 and AMP2 which are both inverse proportion amplifiers; the AMP1 can adjust the discharge times, specifically has 4-step adjustment times, has the settings of resistors which are respectively 2.4 times, 1 time, 0.51 time and 0.27 time, and the AMP2 has the amplification factor of 1, namely equivalent to an inverter; the amplification factor of the operational amplifier AMP1 is switched by a 4-to-1 analog selector; the final amplified signal is V0, and then enters an ADC end for analog-to-digital conversion;
the testing system based on the pressure sensor and the testing system based on the photoelectric detection are combined for use, the MCU obtains 2 positioning results, namely one positioning result obtained through the sensor array, the other positioning result obtained through the light receiving tube, one positioning result is used as a final result, and the other positioning result is used as a standby result; if the precision is higher according to the former, the former can be adopted, if the precision is equivalent, and the speed of the latter is higher, the 2 nd is selected, if one result is obviously wrong, the other is adopted, and the reliability is high;
a plurality of photovoltaic panels are arranged at the detection pad and charge the lithium battery;
the lithium battery is charged by adopting a constant current charging circuit, and the constant current charging circuit comprises a constant voltage driving chip and a current feedback circuit;
the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;
the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-;
the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +;
the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series;
the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >;
the connection point of the resistors R1 and R2 is connected with the feedback end FB of the constant voltage driving chip;
the constant current charging circuit also comprises a voltage feedback circuit;
the voltage feedback circuit comprises resistors R3 and R4 and a diode D1;
the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected with the feedback end FB of the constant voltage driving chip;
the aircraft comprises a bracket, a rotor wing, a bottom plate, a holder, supporting legs and a camera; the rotor and the holder are arranged on the bracket; the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder; the supporting legs are fixed at the bottom of the bottom plate; the camera comprises a camera body and a compound lens; a CCD sensor is arranged in the machine body, and a photoelectric transmitting and receiving device for lens alignment is arranged on the machine body; the composite lens is provided with a rotating shaft; 4 sub-lenses are integrated in the composite lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body; the photoelectric transmitting and receiving device and the light reflection sheet are 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of the photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor; 4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the supporting legs comprise upper supporting legs, lower supporting legs and foot nails; the lower end of the upper leg is provided with a guide groove; the upper end of the lower support leg is provided with a guide rod; the guide rod is inserted in the guide groove; a spring is arranged in the guide groove; the spring is arranged between the top wall of the guide groove and the top end of the guide rod; the lower end part of the lower supporting leg is provided with a foot nail; the outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve with internal threads, and the lower end of the sleeve is provided with a backing ring; the chassis is also provided with a gyroscope and a wireless communication module; the gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to ground receiving end equipment; the bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm and an inner arm; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch; the lock catch is provided with a pin with an agnail; the number of the lock catches is multiple; the inner end part of the outer arm and the outer end part of the inner arm are both provided with a plurality of groups of jacks for the pins to pass through; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor and an auxiliary cantilever; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing piece; the lock catch is provided with a shell; the shell comprises an outer shell, a pressing block and a pressure spring; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin and sleeved at the root of the pin; the inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each group of jacks on the inner arm comprises 2 jacks; the ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; the backing ring is made of rubber, and the foot nails are made of stainless steel.
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| CN109289180A (en) * | 2018-11-23 | 2019-02-01 | 徐执允 | A kind of the Multifunctional football training device and its application method of dismountable foldable |
| CN114307116A (en) * | 2021-12-24 | 2022-04-12 | 杭州电子科技大学 | Intelligent digital table tennis training system based on system scoring and working method thereof |
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| CN202460034U (en) * | 2011-12-31 | 2012-10-03 | 哈尔滨师范大学 | Badminton returning falling point training device based on acceleration sensor |
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