CN108579057A - A kind of football positioning ball test method - Google Patents
A kind of football positioning ball test method Download PDFInfo
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- CN108579057A CN108579057A CN201810394533.0A CN201810394533A CN108579057A CN 108579057 A CN108579057 A CN 108579057A CN 201810394533 A CN201810394533 A CN 201810394533A CN 108579057 A CN108579057 A CN 108579057A
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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
- 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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/12—Absolute positions, e.g. by using GPS
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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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- 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
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
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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
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
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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
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/807—Photo cameras
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a kind of football positioning ball test methods to be included the following steps using pressure sensor measurement and positioning placement position：Step 1：Build the test system based on array of pressure sensors；Test system based on array of pressure sensors includes testing cushion, sensor group, MCU and display screen；The line of 4 pressure sensors of arbitrary neighborhood can form a rectangle, and the data of array of pressure sensors output are sent to MCU and carry out location Calculation processing；Step 2：Data acquire：MCU acquires the data of each pressure sensor and stores in memory；Step 3：Drop point site calculates；Data based on acquisition calculate drop point site coordinate；Step 4：Output test result；Drop point site coordinate is changed into test result, and the results are shown in display screen.The football positions ball test method accuracy of detection height, and high degree of automation.
Description
Technical field
The present invention relates to a kind of footballs to position ball test method.
Background technology
Existing football positioning ball test, which is generally estimated using artificial (examiner), reads achievement, has error big, consistency
The problem of difference, and the problem of due to angle, generally require more people and participate in test and supervision, therefore, the effect of manual testing is not
Ideal to the greatest extent.
Through retrieval, there is also some to carry out the scheme that positioning ball is tested, such as Publication No. CN based on technological means
The Chinese patent of 106693335A, discloses a kind of quasi- assisted tester of football positioning ball biography, and this tester is passed using pressure
Sensor and wireless communication module realize that the subsidiary of positioning ball, core are that multi-disc rug is arranged, each piece small
Pressure sensor is both provided on blanket, although this tester can assist carrying out positioning ball test, its measuring accuracy is complete
Depending on the test density of pressure sensor, and if pressure sensor it is excessive, how communication issue solves that there is also great
Problem.
Therefore, it is necessary to design a kind of new football positioning ball test method.
Invention content
Technical problem to be solved by the invention is to provide a kind of footballs to position ball test method, which positions ball test
Method is easy to implement, and high degree of automation, and accuracy of detection is high.
The technical solution of invention is as follows：
A kind of football positioning ball test method is included the following steps using pressure sensor measurement and positioning placement position：
Step 1：Build the test system based on array of pressure sensors；
Test system based on array of pressure sensors includes testing cushion, sensor group, MCU and display screen；Sensor group
It is arranged in testing cushion, for detecting drop point of the football in testing cushion；
The output end of sensor group is connected with MCU, and MCU is connect with display screen, and display screen is for showing test result；
The sensor group is array of pressure sensors；Array of pressure sensors is by multiple pressure sensors (2) in more
The square array of row multiple row is arranged；The line of 4 pressure sensors of arbitrary neighborhood can form a rectangle, pressure sensing
The data of device array output are sent to MCU and carry out location Calculation processing；
Step 2：Data acquire：
MCU acquires the data of each pressure sensor and stores in memory；
Step 3：Drop point site calculates；
Data based on acquisition calculate drop point site coordinate (being specially first falling point position, rebound drop point site is disregarded)；
Step 4：Output test result；
Drop point site coordinate is changed into test result, and the results are shown in display screen.
Step 3 includes the following steps：
Step I：Rectangular element where determining drop point, i.e. target rectangle unit；
Measured value is ranked up, the rectangular element where removing the maximum 3 connected pressure sensors of measured value is mesh
Mark rectangular element；
Step II：Calculate 4 coordinates for calculating point Q1~Q4 in the target rectangle unit；
Measured value is converted into radius；(then radius is smaller greatly for measured value.Functional relation between measured value and radius, can
To be obtained by advance test.)
The seat for the calculating point that the pressure sensor that 2 connected in the target rectangle unit determines is calculated based on the cosine law
Mark；
Step III：It is the coordinate of drop point P to seek 4 centers of gravity for calculating point Q1~Q4, completes impact point calculation；
Then the position of final anchor point P is the position of centre of gravity of Q1-Q4 points, i.e. P (xp, yp) point coordinate calculate it is as follows：
xp=(xQ1+xQ2+xQ3+xQ4)/4；
yp=(yQ1+yQ2+yQ3+yQ4)/4；
Wherein, xQ1、xQ2、xQ3、xQ4The abscissa of respectively Q1-Q4 points；yQ1、yQ2、yQ3、yQ4Respectively Q1-Q4 points are indulged
Coordinate.
In step II, the meter that the pressure sensor that 2 connected in the target rectangle unit determines is calculated based on the cosine law
The seat calibration method for calculating point is as follows：
If 4 pressure sensors of the ABCD points for target rectangle region, r1, r2, r3 and r4 are respectively the radius of ABCD points；
(1) method for calculating the intersection point Q1 determined by A, B point：
Based on the cosine law：CosB=(c2+a2-b2)/(2ac)；
In triangle ABQ1, it is known that a length of a of AB (i.e. the upper length of side of rectangle), the length of AQ1 and BQ1 are respectively r1 and r2；
If the angle of AB and AQ1 is α, then have：
Cos α=(a2+r12-r22)/(2*a*r1)；α=arcos [(a2+r12-r22)/(2*a*r1)]；
Then coordinate (the x of Q1 pointsQ1, yQ1) as follows：
xQ1=x0+r1*cos α；
yQ1=y0-r1*sin α；
Wherein, x0 and y0 is respectively the abscissa and ordinate of A points；
(2) the intersection point Q2 determined by BC points is similarly acquired, the intersection point Q3 determined by CD points, the intersection point Q4's determined by AD points
Coordinate.
MCU is connected with communication module and ID card verification module；Communication module is for measurement data and achievement to be transmitted to
Server or remote terminal, ID card verification module is identification card reader or campus card reader, for read test person's
Identity information.
Football positioning ball test method further includes spare test method, and it is real that spare test method is based on spare test system
It applies, spare test system is that the football positioned based on photoelectricity positions ball Auto-Test System；
If (such as testing result error is excessive or sensor degradation for the test thrashing based on array of pressure sensors
Deng), then implement to measure obtained result as final test result using spare test system.【It can also use and be based on photoelectricity
The football positioning ball Auto-Test System of positioning is preferential test system, if the system breaks down, to be based on pressure sensor
The test system of array is as spare test system】
Football positioning ball Auto-Test System based on photoelectricity positioning includes testing cushion (1), outline border (7) and MCU；
Testing cushion is arranged in the shell, and outline border is rectangle (preferably square), and the first side of outline border and the second side are set respectively
There are M and N number of luminous tube (5), the first side adjacent with the second side；
The third side and the 4th side of shell are respectively equipped with M and N number of light receiving tube (7)；Third side is adjacent with the 4th side；And the
Side and third side are opposite, and the second side is opposite with the 4th side；
M luminous tube is correspondingly arranged with M reception pipe, and when not stopping, light that M luminous tube is sent out, which can correspond to, to be mapped to
In M reception pipe；
N number of luminous tube is correspondingly arranged with N number of reception pipe, and when not stopping, light that N number of luminous tube is sent out, which can correspond to, to be mapped to
In N number of reception pipe；
All luminous tubes are controlled by MCU, and MCU is opened and closed while controlling all luminous tubes, or can control any shine
Pipe closes or opens；
The output electric signal of all light receiving tubes is sent in MCU；MCU judges the drop point of football according to the electric signal；
The diameter for being smaller than football of adjacent 2 luminous tubes of the same side, adjacent 2 light receiving tubes of the same side
Between the diameter for being smaller than football, to ensure that football can be detected in any position.
When football positioning ball Auto-Test System based on photoelectricity positioning is tested, test method is as follows：
Step A：Test system building；
Build the football positioning ball Auto-Test System for being based on photoelectricity positioning；
Step B：Two-way optoelectronic scanning step；
Start X, the optoelectronic scanning of Y-direction obtains the scanning result of X-direction and Y-direction
Scanning refers to so that luminous tube shines, if reception pipe is not blocked, output high level, if being blocked, output is low
Level, the level signal of poll (scanning) light receiving tube, you can determine that a certain moment which or multiple light receiving tubes are blocked.
Step C：Drop point site (being specially first falling point position, rebound drop point site is disregarded) is determined based on scanning result；
The X-coordinate of drop point is determined based on the scanning result of X-direction；Determine that the Y of drop point is sat based on the scanning result of Y-direction
Mark；Finally obtain the position coordinates of drop point；
Distribution density based on luminous tube, there are many situations：
(1) if X-direction is only blocked there are one light receiving tube, the position of the reception pipe is X-coordinate；
It is blocked if any multiple light receiving tubes, then the midpoint X-coordinate of multiple light receiving tubes is the X-coordinate of final drop point；
It is blocked if any 3 adjacent light receiving tubes, then that light receiving tube of the centre of 3 light receiving tubes corresponds to
X-coordinate be final drop point X-coordinate.
Similarly：
(2) if Y-direction is only blocked there are one light receiving tube, the position of the reception pipe is Y coordinate；
It is blocked if any multiple light receiving tubes, then the midpoint Y coordinate of multiple light receiving tubes is the final Y coordinate of drop point；
Step D：Output test result；
Drop point site coordinate is changed into test result, and the results are shown in display screen.
Test system based on array of pressure sensors and the football positioning ball Auto-Test System based on photoelectricity positioning are same
Shi Qidong is measured, and test result is uploaded onto the server or intelligent wireless terminal (such as smart mobile phone), by examination person's (such as sport
Teacher) determine final test result.
Advantageous effect：
The football of the present invention positions ball test method, has the characteristics that following prominent：
(1) test method based on photodetector system is proposed, when detection rapidly and efficiently；
The drop point detection that football is realized based on infrared emission pipe (including 2 groups of luminous tubes and 2 groups of light receiving tubes), is directly used
Detection can be realized in port scan, thus detection speed is faster, and is more easily performed.And precision is higher, is entirely capable of meeting and examine
The requirement of examination.
(2) there is the data transmission circuit of original creation
In the test system based on pressure sensor, it is proposed that 2 kinds of data based on CAN bus and multiple selector pass
Transmission method, it is easy to implement, it is at low cost.
Wherein, using in the scheme of multiple selector, using two-stage selector, it is also contemplated that putting in the case of signal is weak
Big multiple adjustment, flexibility is more preferably.
(3) the present invention also provides a kind of testing results based on array of pressure sensors to realize accurate impact point calculation
Detection method；
During impact point calculation, the cosine law first based on adjacent 2 points in target rectangle and combination triangle calculates
The candidate drop point of preliminary 4, then accurate landing point coordinates are sought based on centre-of-gravity principle, it is easy to calculate, and accuracy is high, even if battle array
Sensor in row is less also to obtain accurate result.It the problem of to take into account number of sensors and accuracy, provides
The solution of one low-cost and high-precision has great advantage compared with prior art.
(4) aircraft is used to carry out live video monitoring.
(5) has live ancillary equipment
Ancillary equipment includes loud speaker, display screen, authentication module and wireless communication module, for the real-time aobvious of result
Show and the upload and backup of data.
(6) the test system (method) based on pressure sensor and the test system (method) based on Photoelectric Detection can be with
Merge and utilize, to increase accuracy of detection, and provides the reliability of system and detection method.
To sum up, this football positioning ball test system is easy to implement, perfect in shape and function, high degree of automation is suitble to push away
It is wide to implement.
Description of the drawings
Fig. 1 is that the football based on pressure sensor group positions the general structure schematic diagram of ball Auto-Test System (using CAN
Bus communication)；
Fig. 2 is that the football based on pressure sensor group positions the general structure schematic diagram of ball Auto-Test System (using more
Road selector transmission data)；
Fig. 3 is that 5X5 pressure sensor is arranged in the schematic diagram in testing cushion；
Fig. 4 is that 9X9 pressure sensor is arranged in the schematic diagram in testing cushion；
Fig. 5 is to seek football drop point schematic diagram；
Fig. 6 is to seek drop point schematic diagram based on the cosine law；
Fig. 7 is the test system schematic positioned using photoelectricity；
Fig. 8 is that multivariable road wheel inquires about signal amplification circuit schematic diagram；
Fig. 9 is light modulation schematic diagram；
Figure 10 is constant-current charge schematic diagram；
Figure 11 is the electric functional block diagram of automobile wireless charging system；
Figure 12 is the general structure schematic diagram of multifunction aircraft；
Figure 13 is the structural schematic diagram (vertical view) of quadrotor telescope support and rotor；
Figure 14 is the position relationship schematic diagram of main rotor and secondary rotor；
Figure 15 is the explosive view of telescopic cantilever；
Figure 16 is the structural schematic diagram after telescopic cantilever is completed；
Figure 17 is the structural schematic diagram of lock；
Figure 18 is the structural schematic diagram of supporting leg；
Figure 19 is the structural schematic diagram of combined type camera lens and camera；
Figure 20 is the structural schematic diagram of hexagram holder and rotor.
Label declaration：1- testing cushions, 2- pressure sensors, 3- base wad central points, 4- footballs, 5- light-emitting tubes, 6- light connect
Closed tube, 7- outline borders.
21- outer arms, 22- inner arms, 23- main rotors, 24- jacks, 25- locks；26- pair rotors, 27- ducted fans are fixed
Part, 28- supporting legs, the chassis 29-, 30- crossbeams, 31- intersect position, 32- holders；33- holders；51- shells, 52- pins, 53- hangnails,
511- outer housings, 512- briquettings, 513- compression springs；
Camera on 70- aircraft, 71- camera lenses, 72- combined type camera lenses, 73- shafts, 74- light-reflecting sheets, 75- photoelectricity hair
It penetrates and reception device, 76-CCD sensors, 77- fuselages；81- upper supporting legs, 82- springs, 83- guide rods, supporting leg under 84-, 85- sets
Cylinder, 86- feet nail, 87- gasket rings.
Specific implementation mode
The present invention is described in further details below with reference to the drawings and specific embodiments：
(1) embodiment 1：Football based on pressure sensor positions ball test method
A kind of football positioning ball test method is included the following steps using pressure sensor measurement and positioning placement position：
Step 1：Build the test system based on array of pressure sensors (system refers to hereinafter)；
Test system based on array of pressure sensors includes testing cushion, sensor group, MCU and display screen；Sensor group
It is arranged in testing cushion, for detecting drop point of the football in testing cushion；
The output end of sensor group is connected with MCU, and MCU is connect with display screen, and display screen is for showing test result；
The sensor group is array of pressure sensors；Array of pressure sensors is in multirow by multiple pressure sensors 2
The square array of multiple row is arranged；The line of 4 pressure sensors of arbitrary neighborhood can form a rectangle, pressure sensor
The data of array output are sent to MCU and carry out location Calculation processing；
Step 2：Data acquire：
MCU acquires the data of each pressure sensor and stores in memory；
Step 3：Drop point site calculates；
Data based on acquisition calculate drop point site coordinate (being specially first falling point position, rebound drop point site is disregarded)；
Step 4：Output test result；
Drop point site coordinate is changed into test result, and the results are shown in display screen.
Step 3 includes the following steps：
Step I：Rectangular element where determining drop point, i.e. target rectangle unit；
Measured value is ranked up, the rectangular element where removing the maximum 3 connected pressure sensors of measured value is mesh
Mark rectangular element；
Step II：Calculate 4 coordinates for calculating point Q1~Q4 in the target rectangle unit；
Measured value is converted into radius；Then radius is smaller greatly for measured value.Functional relation between measured value and radius, can be with
It is obtained by advance test.
The seat for the calculating point that the pressure sensor that 2 connected in the target rectangle unit determines is calculated based on the cosine law
Mark；
Step III：It is the coordinate of drop point P to seek 4 centers of gravity for calculating point Q1~Q4, completes impact point calculation；
Then the position of final anchor point P is the position of centre of gravity of Q1-Q4 points, i.e. P (xp, yp) point coordinate calculate it is as follows：
xp=(xQ1+xQ2+xQ3+xQ4)/4；
yp=(yQ1+yQ2+yQ3+yQ4)/4；
Wherein, xQ1、xQ2、xQ3、xQ4The abscissa of respectively Q1-Q4 points；yQ1、yQ2、yQ3、yQ4Respectively Q1-Q4 points are indulged
Coordinate.
Further include spare test method, spare test method is implemented based on spare test system, and spare test system is base
Ball Auto-Test System is positioned in the football of photoelectricity positioning；
If (such as testing result error is excessive or sensor degradation for the test thrashing based on array of pressure sensors
Deng), then implement to measure obtained result as final test result using spare test system.It can also be determined with based on photoelectricity
The football positioning ball Auto-Test System of position is preferential test system, if the system breaks down, to be based on pressure sensor battle array
The test system of row is as spare test system.
(2) embodiment 2：A kind of football based on photoelectricity positioning positions the test method of ball Auto-Test System：
Step A：Test system building；
It builds and is based on the football positioning ball Auto-Test System of photoelectricity positioning (the football positioning ball of photoelectricity positioning is automatic
Test system refers to hereinafter)；
Step B：Two-way optoelectronic scanning step；
Start X, the optoelectronic scanning of Y-direction obtains the scanning result of X-direction and Y-direction
Scanning refers to so that luminous tube shines, if reception pipe is not blocked, output high level, if being blocked, output is low
Level, the level signal of poll (scanning) light receiving tube, you can determine that a certain moment which or multiple light receiving tubes are blocked.
Step C：Drop point site (being specially first falling point position, rebound drop point site is disregarded) is determined based on scanning result；
The X-coordinate of drop point is determined based on the scanning result of X-direction；Determine that the Y of drop point is sat based on the scanning result of Y-direction
Mark；Finally obtain the position coordinates of drop point；
Distribution density based on luminous tube, there are many situations：
(1) if X-direction is only blocked there are one light receiving tube, the position of the reception pipe is X-coordinate；
It is blocked if any multiple light receiving tubes, then the midpoint X-coordinate of multiple light receiving tubes is the X-coordinate of final drop point；
It is blocked if any 3 adjacent light receiving tubes, then that light receiving tube of the centre of 3 light receiving tubes corresponds to
X-coordinate be final drop point X-coordinate.
Similarly：
(2) if Y-direction is only blocked there are one light receiving tube, the position of the reception pipe is Y coordinate；
It is blocked if any multiple light receiving tubes, then the midpoint Y coordinate of multiple light receiving tubes is the final Y coordinate of drop point；
Step D：Output test result；
Drop point site coordinate is changed into test result, and the results are shown in display screen.
Also it is preferential test system with the football positioning ball Auto-Test System positioned based on photoelectricity, if event occurs in the system
Barrier, using the test system based on array of pressure sensors as spare test system.
Particularly, acceleration transducer and communication module are equipped in football, whether acceleration transducer is for detecting football
It is raised, if acceleration significantly increases, illustrates that football testee kicks up at this time, then notifies MCU to start gathered data.It tests
After valid data or football stop, terminating the acquisition of this data.
(3) embodiment 1 corresponds to test system：Football positioning ball based on pressure sensor group tests system
Football positioning ball test system based on pressure sensor group includes testing cushion, sensor group, MCU and display screen；
Sensor group is arranged in testing cushion, for detecting drop point of the football in testing cushion；
The output end of sensor group is connected with MCU, and MCU is connect with display screen, and display screen is for showing test result.
Such as Fig. 3-4, the sensor group is array of pressure sensors；Array of pressure sensors is by multiple pressure sensors
2 arrange in the square array of multiple lines and multiple rows；The line of 4 pressure sensors of arbitrary neighborhood can form a rectangle, pressure
The data of force sensor array output are sent to MCU and carry out location Calculation processing.
For pressure sensor output digit signals to MCU, all pressure sensors pass through CAN bus and MCU communication links
It connects, such as Fig. 1.
Such as Fig. 2, pressure sensor exports analog signal, and pressure sensor (is also known as through the first multi-channel analog selector successively
Multiway analog switch), amplifier and A/D converter be connected with MCU；
Amplifier is cascaded by 2 operational amplifying modules, and the operational amplifying module of prime is the adjustable fortune of amplification factor
Amplification is calculated, is realized and is adjusted based on the second multi-channel analog selector (four select a variable connector), all pressure sensors pass through
CAN bus is communicated to connect with MCU.
First multi-channel analog selector is that 1 module switch is selected on 16 tunnels, or selects 1 module switch to be formed in parallel by 2 16 tunnels
32 select 1 analog switch.
It (is specially first falling point position, rebound drop point position that detected values of the MCU based on each pressure sensor, which calculates drop point site,
It sets and disregards)；Computational methods are：
Step I：Rectangular element where determining drop point, i.e. target rectangle unit；
Measured value is ranked up, the rectangular element where removing the maximum 3 connected pressure sensors of measured value is mesh
Mark rectangular element；
Step II：Calculate 4 coordinates for calculating point Q1~Q4 in the target rectangle unit；
Measured value is converted into radius；(then radius is smaller greatly for measured value.Functional relation between measured value and radius, can
To be obtained by advance test.)
The seat for the calculating point that the pressure sensor that 2 connected in the target rectangle unit determines is calculated based on the cosine law
Mark；
Step III：Such as Fig. 5, it is the coordinate of drop point P to seek 4 centers of gravity for calculating point Q1~Q4, completes impact point calculation；
Then the position of final anchor point P is the position of centre of gravity of Q1-Q4 points, i.e. P (xp, yp) point coordinate calculate it is as follows：
xp=(xQ1+xQ2+xQ3+xQ4)/4；
yp=(yQ1+yQ2+yQ3+yQ4)/4；
Wherein, xQ1、xQ2、xQ3、xQ4The abscissa of respectively Q1-Q4 points；yQ1、yQ2、yQ3、yQ4Respectively Q1-Q4 points are indulged
Coordinate；
It is finally based on drop point P (x againp, yp) position be converted into football positioning ball test result.
In step II, the meter that the pressure sensor that 2 connected in the target rectangle unit determines is calculated based on the cosine law
The seat calibration method for calculating point is as follows：
If 4 pressure sensors of the ABCD points for target rectangle region, r1, r2, r3 and r4 are respectively the radius of ABCD points；
(1) method for calculating the intersection point Q1 determined by A, B point：
Based on the cosine law：CosB=(c2+a2-b2)/(2ac)；
Such as Fig. 6, in triangle ABQ1, it is known that a length of a of AB (i.e. the upper length of side of rectangle), the length of AQ1 and BQ1 are respectively r1
And r2；
If the angle of AB and AQ1 is α, then have：
Cos α=(a2+r12-r22)/(2*a*r1)；α=arcos [(a2+r12-r22)/(2*a*r1)]；
Then coordinate (the x of Q1 pointsQ1, yQ1) as follows：
xQ1=x0+r1*cos α；
yQ1=y0-r1*sin α；
Wherein, x0 and y0 is respectively the abscissa and ordinate of A points；
(2) the intersection point Q2 determined by BC points is similarly acquired, the intersection point Q3 determined by CD points, the intersection point Q4's determined by AD points
Coordinate.
Testing cushion is equipped with elastic layer, and the impact for buffering football team's testing cushion is conducive to accurately measure.Elastic layer can
So that soft spongy layer, can also be the molecular elastic needle layer of multiple nails with spring, can automatically reset.
Football positioning ball test system based on pressure sensor group further includes the communication module being connect with MCU and identity card
Authentication module；Communication module is used to measurement data and achievement being transmitted to server or remote terminal.
Test system further includes the loud speaker being connect with MCU, the achievement for reporting tester.
ID card verification module is identification card reader or campus card reader, is used for the identity information of read test person.
Football positioning ball test system based on pressure sensor group further includes sense aircraft, and monitoring aircraft is for clapping
Image scene is taken the photograph, and image scene is transferred to server.
Such as Fig. 8, circuit course of work explanation：
(1) roads V0-V15 voltage value exports after 16 select 1 analogue data selector from the ends IO, as V1；
(2) this circuit uses two-stage discharge circuit, including 2 amplifiers, is AMP1 and AMP2 respectively, is inverse proportion amplification
Device；Wherein AMP1 can adjust electric discharge multiple, and specially there are 4 grades to adjust multiples, the setting with resistance, and respectively 2.4,1,
0.51 and 0.27 times, and the amplification factor of AMP2 is 1, that is, phase inverter；And the switching of amplifier AMP1 amplification factors, be by
4 select 1 analogue selector to realize；
Final amplified signal is V0, enters back into the ends ADC and carries out analog-to-digital conversion.
(3) 16 select 1 analogue data selector and 4 to select 1 analogue selector and have MCU to be gated and controlled.
(4) 2 corresponding test system of embodiment：Football positioning ball automatic testing equipment and system based on photoelectricity positioning
Such as Fig. 7, the football based on photoelectricity positioning positions ball automatic testing equipment, which is characterized in that including testing cushion 1, outside
Frame 7 and MCU；
Testing cushion is arranged in the shell, and outline border is rectangle (preferably square), and the first side of outline border and the second side are set respectively
There are M and N number of luminous tube 5, the first side adjacent with the second side；
The third side and the 4th side of shell are respectively equipped with M and N number of light receiving tube 7；Third side is adjacent with the 4th side；And first
Side and third side are opposite, and the second side is opposite with the 4th side；
M luminous tube is correspondingly arranged with M reception pipe, and when not stopping, light that M luminous tube is sent out, which can correspond to, to be mapped to
In M reception pipe；
N number of luminous tube is correspondingly arranged with N number of reception pipe, and when not stopping, light that N number of luminous tube is sent out, which can correspond to, to be mapped to
In N number of reception pipe；
All luminous tubes are controlled by MCU, and MCU is opened and closed while controlling all luminous tubes, or can control any shine
Pipe closes or opens；
The output electric signal of all light receiving tubes is sent in MCU；MCU judges the drop point of football according to the electric signal；
The diameter for being smaller than football of adjacent 2 luminous tubes of the same side, adjacent 2 light receiving tubes of the same side
Between the diameter for being smaller than football, to ensure that football can be detected in any position.
(layout density of such as middle section can be more than both sides for the luminous tube spaced set of the same side or the setting of change spacing
Partial density).
To ensure that accuracy of detection is uniform, multiple luminous tubes of the first side and third side are equally spaced, and the first side
Spacing between luminous tube is equal with the spacing between the luminous tube of third side.
MCU detects the specific light receiving tube for being blocked light path by the way of poll, to realize the detection and localization of football.
Using the realization poll (i.e. cycle detection in turn) of multiple variable connectors in parallel.To with minimum port cost
Realize the detection of most multichannel.
Sensor group is equipped in testing cushion；The sensor group is array of pressure sensors；Array of pressure sensors
It is arranged in the square array of multiple lines and multiple rows by multiple pressure sensors (2)；The line of 4 pressure sensors of arbitrary neighborhood
A rectangle can be formed, the data of array of pressure sensors output are sent to MCU and carry out location Calculation processing, and MCU, which obtains 2, to be determined
As a result, i.e. one positioning result obtained by sensor array, another is the positioning result obtained by light receiving tube for position,
, as final result, a conduct is spare for one of them.If (according to the former precision higher, may be used it is previous, if precision phase
When, and the latter's speed is faster, then selects the 2nd.If a result is obviously wrong, another is used.Reliability is high)
Testing cushion is equipped with elastic layer, and the impact for buffering football team's testing cushion is conducive to accurately measure.Elastic layer can
So that soft spongy layer, can also be the molecular elastic needle layer of multiple nails with spring, can automatically reset.
A kind of football positioning ball Auto-Test System based on photoelectricity positioning, is tested automatically using football above-mentioned positioning ball
Device；
Test system further includes server；MCU is connected by communication module with server.
MCU is connect with display screen, and display screen is for showing test result；
It further includes the ID card verification module being connect with MCU that football, which positions ball Auto-Test System,；Based on photoelectricity positioning
It further includes the loud speaker being connect with MCU, the achievement for reporting tester that football, which positions ball automatic testing equipment,.
ID card verification module is identification card reader or campus card reader, is used for the identity information of read test person.
The football positioning ball Auto-Test System based on photoelectricity positioning further includes sense aircraft, monitors aircraft
It is transferred to server for floor image, and by image scene.
Preferably, a luminous tube is set per 5-20cm, is preferably at intervals for 5,6,8,10,12,14,16,18,20cm.
In addition, several technology points that this system is related to are described as follows:
(1) it is additionally provided with backlight regulating circuit at display screen；
Such as Fig. 9, brightness regulating circuit includes MCU, LED light string, triode, potentiometer Rx and A/D converter；Triode is
NPN type triode；The fixed frame Shanghai of display screen is coaxially connected equipped with rotary switch with potentiometer Rx；
Potentiometer Rx and first resistor R1 concatenates to form partial pressure branch, and partial pressure branch one terminates positive pole Vcc, partial pressure branch
The other end on road is grounded；The tie point of potentiometer Rx and first resistor R1 connect the input terminal of A/D converter；A/D converter it is defeated
Go out to terminate the data-in port of MCU；
LED light string includes the LED light of multiple concatenations；The anode of LED light string meets positive pole Vcc；The cathode of LED light string connects
The poles E of the poles C of triode, triode are grounded through second resistance R2；The output end for meeting MCU of the poles B of triode.Positive pole
Vcc is 5V, and A/D converter is 8 Bits Serial output type converters.
(2) detecting pad or MCU can be by lithium battery power supplies.
Polylith photovoltaic panel can be set at detecting pad, and photovoltaic panel can be that lithium battery charges.
Lithium battery is charged using constant-current charging circuit, and constant-current charging circuit includes constant pressure driving chip and current feedback electricity
Road；
(a) voltage output end of constant pressure driving chip is the positive output end VOUT+ of constant-current charging circuit；Constant pressure driving chip
Negative output terminal ground connection；
Constant pressure driving chip is powered by DC-voltage supply end VIN+ and VIN-；
(b) current feedback circuit described in includes resistance R1, R2 and R5 and reference voltage end VREF+；
Reference voltage end VREF+ is grounded by resistance R1, R2 and the R5 being sequentially connected in series；
The tie point of resistance R5 and R2 are the negative output terminal VOUT- of constant-current charging circuit；
The tie point of resistance R1 and R2 meet the feedback end FB of constant pressure driving chip.
Constant-current charging circuit further includes voltage feedback circuit；
Voltage feedback circuit includes resistance R3 and R4 and diode D1；
Resistance R3 and R4 series connection is followed by between the positive output end VOUT+ and ground of constant-current charging circuit；Resistance R3's and R4
Tie point connects the anode of diode D1；The cathode of diode D1 meets the feedback end FB of constant pressure driving chip.
Operation principle explanation：
Using stable reference power supply as reference voltage, divide to obtain the voltage equal with FB using R1, R2, R5, to
The size of output current is controlled by the way that FB removes the inside PWM of adjustment DCDC IC.For example, when output current becomes larger, in sampling electricity
Voltage on resistance R5 will increase, and since VRFE+ is fixed value, to be that FB voltages become larger, FB becomes larger, and duty ratio will subtract
It is few, to be that output current is reduced, and completes a complete feedback, achieve the purpose that stabling current exports.
(3) multi-functional aerial photography aircraft
Such as Figure 11-18, multi-functional aerial photography aircraft includes holder 32, rotor, bottom plate 29, holder 33, supporting leg 28 and camera
70；
Rotor and holder are arranged on holder；
Bottom plate is fixed on frame bottom；Camera is mounted on holder；
Supporting leg is fixed on the bottom of bottom plate；
Camera includes fuselage 77 and combined type camera lens 72；Ccd sensor 76 is equipped in fuselage, fuselage, which is equipped with, is used for camera lens
The photoemission of alignment and reception device 75；
Combined type camera lens is equipped with shaft 73；4 sub- camera lenses 71 are integrated in combined type camera lens；Sub- camera lens is along combined type mirror
Head is arranged circumferentially；The rear end of combined type camera lens is additionally provided with the light-reflecting sheet being adapted to reception device with the photoemission
74；The stepper motor for driving rotation of lens is additionally provided in fuselage.Photoemission can be with reception device and light-reflecting sheet
More sets, preferably 2 sets, be in axisymmetrical, alignment result is more preferable, and only 2 sets of photoemission and reception device and light-reflecting sheet are all right
After standard, just think that camera lens is targeted by with ccd sensor, such alignment precision higher.
Supporting leg is 4, and supporting leg is vertically arranged, and horizontal crossbeam is provided between adjacent legs；Supporting leg includes upper supporting leg
81, lower supporting leg 84 and foot nail 86；Upper supporting leg lower end is equipped with guide groove；Lower supporting leg upper end is equipped with guide rod 83；Guide rod is inserted into
In guide groove；Spring 82 is equipped in guide groove；Roof (inner wall of innermost end) and guide rod top in guide groove is arranged in spring
Between end；The lower end of lower supporting leg is equipped with foot and follows closely 86.The outer wall of the lower end of lower supporting leg is equipped with external screw thread；The lower end of lower supporting leg
It is socketed with tapped sleeve 85, the lower end of sleeve is equipped with gasket ring 87.Gyroscope and radio communication mold are additionally provided on chassis
Block.For gyroscope for navigating, wireless communication module is used to receive the instruction of remote controler, and the photo of shooting and video information are passed
It is sent to ground receiver end equipment.The holder is the cross-shaped cantilever frame being made of the identical telescopic cantilever of 4 structures；Often
One telescopic cantilever includes outer arm 21 and inner arm 22；The inner end of outer arm is connected with the outer end of inner arm by lock 25；Lock
It buckles and is equipped with the pin 52 with hangnail 53；Lock is multiple；The inner end of outer arm and the outer end of inner arm are equipped with multigroup be used for
The jack 24 that pin passes through；Every group of jack includes at least two jack；Rotor includes main rotor and secondary rotor；In the outer end of outer arm
Portion is equipped with main rotor 23 and secondary cantilever 26；Main rotor and secondary cantilever are coaxially arranged, and main rotor is located at the top of outer arm, pair rotation
The wing is located at the lower section of outer arm；The paddle diameter of main rotor is more than the paddle diameter of secondary rotor；Secondary rotor is ducted fan, and secondary rotor passes through duct
Fan fixing member 7 is fixed on the bottom of outer arm；Lock has shell 51；Shell includes outer housing 511, briquetting 512 and compression spring
513；Pin is 2；Pin is fixed on outer housing；Briquetting is located in outer housing and is sleeved on 2 pins；Briquetting can be along slotting
Foot moves；Compression spring is equipped between briquetting and pin, compression spring sleeve is mounted in the root of pin.The inner end of outer arm is equipped with 2 groups for inserting
The jack that foot passes through；Every group of jack on outer arm includes 2 jacks；Lock is 2；4 are equidistantly equipped on the outer end of inner arm
The jack that group is passed through for pin；Every group of jack on inner arm includes 2 jacks.The paddle diameter of secondary rotor and the paddle diameter of main rotor it
Than for 0.2-0.35；Preferred value is 0.25 and 0.3.Gasket ring is rubber material, and foot nail is stainless steel.
Another aircraft is as shown in figure 20, and holder is the hexagram branch being made of the identical lateral strut of 6 root long degree
Frame；Each angle position of hexagram holder is both provided with rotor.Rotor includes main rotor and secondary rotor；
It is equipped with main rotor 23 and secondary cantilever 26 in the outer end of outer arm；Main rotor and secondary cantilever are coaxially arranged, and main rotation
The wing is located at the top of outer arm, and secondary rotor is located at the lower section of outer arm；The paddle diameter of main rotor is more than the paddle diameter of secondary rotor；Secondary rotor is to contain
Road fan, secondary rotor are fixed on the bottom of outer arm by ducted fan fixing piece 27.Further, in the every of hexagram holder
Rotor is equipped at one intersection position, the position that intersects is the position corresponding to the X that adjacent lateral strut is formed intersects；This
One aircraft of sample just has 12 or 12 groups of rotors.The ratio between the paddle diameter of secondary rotor and the paddle diameter of main rotor are 0.25 or 0.3.
Aircraft has the characteristics that following prominent：
Using hexagram rotor；Using the hexagram holder of original creation, this support stability is good, due to each rotation
The wing be all located at angle position, and each angle position all in vertex of a triangle, by 2 strut supports, and due to triangle itself
Stability, there is no any offset or drifts on the vertex when flight, accordingly, with respect to regular hexagon, criss-cross branch
Frame or other holders are with the advantage in terms of great stability.In addition, the arrangement of 6 rotors, compares the cloth of 2-4 rotors
Mode is set, there is better aerodynamic arrangement, to sum up, this six rotorcraft clever structure, stability are good.
(4) it is used for the combined type camera lens of aircraft
Such as Figure 19, aircraft camera use can switch the combined type camera lens of sub- camera lens, 4 are integrated in combined type camera lens
The camera lens of different focal length, the photo for shooting different visual angles to object, flexibility are good；The photoemission that is arranged on camera with
The light-reflecting sheet being arranged in reception device and camera lens is aligned for sub- camera lens with ccd sensor, and combined type camera lens is by stepper motor
Driving, alignment precision is high, and sub- Shot change is convenient.This camera has the outstanding quality of fixed-focus head, it may have changes focal length
Flexibility, therefore, practicability are good.
Claims (8)
1. a kind of football positions ball test method, which is characterized in that pressure sensor measurement and positioning placement position is used, including
Following steps：
Step 1：Build the test system based on array of pressure sensors；
Test system based on array of pressure sensors includes testing cushion, sensor group, MCU and display screen；Sensor group is arranged
In testing cushion, for detecting drop point of the football in testing cushion；
The output end of sensor group is connected with MCU, and MCU is connect with display screen, and display screen is for showing test result；
The sensor group is array of pressure sensors；Array of pressure sensors is more in multirow by multiple pressure sensors (2)
The square array of row is arranged；The line of 4 pressure sensors of arbitrary neighborhood can form a rectangle, pressure sensor battle array
The data of row output are sent to MCU and carry out location Calculation processing；
Step 2：Data acquire：
MCU acquires the data of each pressure sensor and stores in memory；
Step 3：Drop point site calculates；
Data based on acquisition calculate drop point site coordinate (being specially first falling point position, rebound drop point site is disregarded)；
Step 4：Output test result；
Drop point site coordinate is changed into test result, and the results are shown in display screen.
2. football according to claim 1 positions ball test method, which is characterized in that step 3 includes the following steps：
Step I：Rectangular element where determining drop point, i.e. target rectangle unit；
Measured value is ranked up, the rectangular element where removing the maximum 3 connected pressure sensors of measured value is target square
Shape unit；
Step II：Calculate 4 coordinates for calculating point Q1~Q4 in the target rectangle unit；
Measured value is converted into radius；
The coordinate for the calculating point that the pressure sensor that 2 connected in the target rectangle unit determines is calculated based on the cosine law；
Step III：It is the coordinate of drop point P to seek 4 centers of gravity for calculating point Q1~Q4, completes impact point calculation；
Then the position of final anchor point P is the position of centre of gravity of Q1-Q4 points, i.e. P (xp, yp) point coordinate calculate it is as follows：
xp=(xQ1+xQ2+xQ3+xQ4)/4；
yp=(yQ1+yQ2+yQ3+yQ4)/4；
Wherein, xQ1、xQ2、xQ3、xQ4The abscissa of respectively Q1-Q4 points；yQ1、yQ2、yQ3、yQ4The ordinate of respectively Q1-Q4 points.
3. football according to claim 2 positions ball test method, which is characterized in that in step II, be based on the cosine law
The seat calibration method for calculating the calculating point that the pressure sensor that 2 connected in the target rectangle unit determines is as follows：
If 4 pressure sensors of the ABCD points for target rectangle region, r1, r2, r3 and r4 are respectively the radius of ABCD points；
(1) method for calculating the intersection point Q1 determined by A, B point：
Based on the cosine law：CosB=(c2+a2-b2)/(2ac)；
In triangle ABQ1, it is known that a length of a of AB (i.e. the upper length of side of rectangle), the length of AQ1 and BQ1 are respectively r1 and r2；
If the angle of AB and AQ1 is α, then have：
Cos α=(a2+r12-r22)/(2*a*r1)；α=arcos [(a2+r12-r22)/(2*a*r1)]；
Then coordinate (the x of Q1 pointsQ1, yQ1) as follows：
xQ1=x0+r1*cos α；
yQ1=y0-r1*sin α；
Wherein, x0 and y0 is respectively the abscissa and ordinate of A points；
(2) the intersection point Q2 determined by BC points is similarly acquired, the intersection point Q3 determined by CD points, by the seat for the intersection point Q4 that AD points determine
Mark.
4. football according to claim 1 positions ball test method, which is characterized in that MCU is connected with communication module and body
Part card authentication module；Communication module is used to measurement data and achievement being transmitted to server or remote terminal, ID card verification mould
Block is identification card reader or campus card reader, is used for the identity information of read test person.
5. positioning ball test method according to claim 1-4 any one of them footballs, which is characterized in that further include spare test
Method, spare test method are implemented based on spare test system, and spare test system is that the football positioned based on photoelectricity positions ball
Auto-Test System；
If the test thrashing based on array of pressure sensors, implement to measure obtained result work using spare test system
For final test result.
6. football according to claim 5 positions ball test method, which is characterized in that the football positioning based on photoelectricity positioning
Ball Auto-Test System includes testing cushion (1), outline border (7) and MCU；
Testing cushion is arranged in the shell, and outline border is rectangle (preferably square), the first side of outline border and the second side be respectively equipped with M and
N number of luminous tube (5), the first side are adjacent with the second side；
The third side and the 4th side of shell are respectively equipped with M and N number of light receiving tube (7)；Third side is adjacent with the 4th side；And first side
Opposite with third side, the second side is opposite with the 4th side；
M luminous tube is correspondingly arranged with M reception pipe, and when not stopping, light that M luminous tube is sent out, which can correspond to, is mapped to M
In reception pipe；
N number of luminous tube is correspondingly arranged with N number of reception pipe, when not stopping, light that N number of luminous tube is sent out can correspond to be mapped to it is N number of
In reception pipe；
All luminous tubes are controlled by MCU, and MCU is opened and closed while controlling all luminous tubes, or can control any luminous tube and close
It closes or opens；
The output electric signal of all light receiving tubes is sent in MCU；MCU judges the drop point of football according to the electric signal；
The diameter for being smaller than football of adjacent 2 luminous tubes of the same side, between adjacent 2 light receiving tubes of the same side
The diameter for being smaller than football.
7. football according to claim 6 positions ball test method, which is characterized in that the football positioning based on photoelectricity positioning
When ball Auto-Test System is tested, test method is as follows：
Step A：Test system building；
Build the football positioning ball Auto-Test System for being based on photoelectricity positioning；
Step B：Two-way optoelectronic scanning step；
Start X, the optoelectronic scanning of Y-direction obtains the scanning result of X-direction and Y-direction；
Step C：Drop point site is determined based on scanning result；
The X-coordinate of drop point is determined based on the scanning result of X-direction；The Y coordinate of drop point is determined based on the scanning result of Y-direction；Most
The position coordinates of drop point are obtained eventually；
Step D：Output test result；
Drop point site coordinate is changed into test result, and the results are shown in display screen.
8. positioning ball test method according to claim 1-7 any one of them footballs, which is characterized in that be based on pressure sensor
The test system of array and football positioning ball Auto-Test System based on photoelectricity positioning start measurement simultaneously, and by test result
It uploads onto the server or intelligent wireless terminal, final test result is determined by examination person.
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| CN206366151U (en) * | 2016-12-20 | 2017-08-01 | 湖南师范大学 | Football place kick passes quasi- assisted tester |
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| WO2012137231A1 (en) * | 2011-04-08 | 2012-10-11 | Bertoli Giacomo | Impact board with individually damped movable panel inserts |
| US20130066588A1 (en) * | 2011-09-14 | 2013-03-14 | Lance Sherry | Agility Training and Assessment |
| CN102357297A (en) * | 2011-11-02 | 2012-02-22 | 上海乐莱尔健身科技发展有限公司 | Football passing training device controlled by system |
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