CN207591245U - A kind of shooting technique monitoring device of the attitude transducer based on three-dimensional motion - Google Patents
A kind of shooting technique monitoring device of the attitude transducer based on three-dimensional motion Download PDFInfo
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- CN207591245U CN207591245U CN201721415392.3U CN201721415392U CN207591245U CN 207591245 U CN207591245 U CN 207591245U CN 201721415392 U CN201721415392 U CN 201721415392U CN 207591245 U CN207591245 U CN 207591245U
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Abstract
The utility model provides a kind of shooting technique monitoring device of the attitude transducer based on three-dimensional motion, which is mounted on the shockproof bar of bow, records the kinematics parameters of bowgrip whole process of bow from pulling the bow to spreading in real time；It includes：Sensor (1) and USB data line；Wherein, the USB data line is used to charge；The sensor (1) is LPMS B2 sensors, has been internally integrated three-axis gyroscope, three axis accelerometer, three axle magnetometer.There is light-weight, high sensitivity, Real-time Feedback, it disclosure satisfy that the needs of archery event and obtain sportsman in all kinematics parameters for the process bent to dispenser of pulling the bow, technical movements is made to reach the degree to become more meticulous very much, all gathered datas can be into analyzing and processing under line.
Description
Technical Field
The utility model relates to an archery motion training auxiliary technical field, in particular to archery technology supervisory equipment of attitude sensor based on three-dimensional motion.
Background
The archery project is always regarded as a potentially advantageous competitive project in China, particularly after new rules are implemented in 2014, the positions of various countries in archery altars are changed, China archery fluctuates in international games, and compared with the situation that the position of a princess in Korea is unchanged, the difference not only exists in the game psychology in the confrontation with the Korea, but also is very large in the technical difference of archery. When scientific and technological service is carried out by a national archery, the communication with a coach discovers that only a modified laser test system designed by the research team in the past exists for equipment for monitoring archery auxiliary training at present, but the equipment has the limitations that operation is required by professionals, the time range of data acquisition is limited, and operating conditions are limited.
At present, although training aids of comparative systems are available, most are developed based on laboratory conditions and most are developed based on qualitative studies. The existing monitoring equipment for the archery technology, such as a high-speed camera, needs to be operated by professional personnel, and has a long processing period; the modified laser test instrument is also subjected to the characteristics of weather, difficult calibration and the like; the ultrasonic devices designed abroad have large delay and low precision.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing, there is foretell defect for solving current archery technique supervisory equipment, the utility model provides a three-dimensional archery technique supervisory equipment based on attitude sensor has light in weight, sensitivity height, the characteristics of real-time feedback, will archery technique supervisory equipment installs on the shockproof pole of archery sportsman's bow handle, can reflect archery sportsman from drawing the bow to spilling the situation of change of bow in-process in the training fast, and it includes: the kinematic parameter change of the bow in the whole process and the change of the rhythm characteristics of each stage are used for evaluating and diagnosing the technical characteristics of the athlete, the requirements of archery projects can be met, all the kinematic parameters of the process from bow drawing to bow spreading of the athlete can be obtained, the technical action reaches a very fine degree, and all the acquired data can be analyzed and processed offline.
In order to achieve the purpose, the utility model provides an archery technology monitoring equipment of attitude sensor based on three-dimensional motion, which is arranged on a shockproof rod of a bow and records the kinematic parameters of the whole process from bow drawing to bow spreading in real time; it includes: a sensor and a USB data line. The USB data line is used for charging and data transmission; the sensor is an LPMS-B2 sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer and other sensors are integrated inside the sensor, and three-dimensional motion is realized through the elements. Wherein,
the three-axis gyroscope is an acceleration sensor for measuring angular rate, can be used for measuring the angular speed of the bow along the X, Y, Z three-axis direction, and can obtain the angular change of the bow in the whole process through integration;
a three-axis accelerometer is an inertial sensor that calculates acceleration along axis X, Y, Z; specifically, the three-axis accelerometer is an oscillating system with one degree of freedom, which is composed of a detection mass, a support, a potentiometer, a spring and the like, and is used for continuously giving an acceleration signal; the three-axis accelerometer of the sensor can directly output original acceleration and linear acceleration, namely the acceleration after gravity influence is eliminated, and angular velocity of a bow and displacement in a motion process can be obtained by integrating the linear acceleration;
the three-axis magnetometer can estimate the position change of the sensor relative to the earth magnetic field according to the vertical axis of the earth magnetic field, namely the included angle between the current equipment and the four directions of the south, the east and the north is measured.
The archery technology monitoring equipment further comprises:
and the wireless communication device is used for connecting and communicating the sensor with the personal electronic terminal equipment, and acquiring all kinematic parameters including linear acceleration of the bow, an angle of the bow in the whole training process, an angular velocity of the bow, angular acceleration of the bow and displacement in the motion process from the bow drawing to the spreading process in real time at the terminal, so that the technical action reaches a refined degree. The wireless communication apparatus includes:
the wireless communication template is a Bluetooth communication template of the sensor, and the sensor is communicated with the personal electronic terminal in a WIFI or Bluetooth mode;
the wireless terminal receiving device can be an electronic device of a computer or an android system mobile phone and is used for receiving the processing signal of the measuring unit.
The archery technology monitoring equipment further comprises: a fixing device; the fixing device includes: the clamp comprises a base, a first semicircular hoop and a second semicircular hoop. The cross section of the base is of a U-shaped structure, a bulge is arranged on the back of the base, and a threaded hole is formed in the bulge; the two ends of the first semicircular hoop and the second semicircular hoop are provided with threaded holes, the first semicircular hoop and the second semicircular hoop form a circular hoop together, one end of the circular hoop and the protrusion are fixed together through screws, the other end of the sensor is fixed in the base, and the circular hoop is fixed on a shockproof rod of the bow. The sensor may be embedded in the base by pressing. The round hoop fixed on the shockproof rod is connected through a screw hole on the lower edge of the base, the width of the round hoop is about 15mm, the radius of the round hoop is about 20mm, and the upper edge end of the round hoop is fixedly connected with the bulge of the base through a screw of M2 type, so that the sensor can be prevented from rotating in the use process and is always kept on the horizontal plane. The lower edge of the round hoop is provided with another screw hole, so that the round hoop can be quickly installed on the shockproof rod of the bow handle, and data collection is facilitated.
The fixing device can be made of stainless steel materials and plasticized materials and is used for reinforcing the sensor on a shockproof rod of the bow, and data can be measured and collected conveniently.
The internal sampling frequency of the archery monitoring equipment is as high as 400 Hz.
The archery technology monitoring equipment is preferably square, the weight of the archery technology monitoring equipment is lower than 10g, the communication distance is smaller than 18m, the static accuracy is smaller than 0.5 degrees, the dynamic accuracy is smaller than 2 degrees RMS, the resolution is smaller than 0.01 degrees, and the working temperature is-20 to +60 degrees.
The archery technology monitoring equipment further comprises a processor, wherein the processor is based on an extended Kalman filter and processes through a data fusion algorithm to obtain corresponding kinematic parameters of each stage, and the kinematic parameters comprise: linear acceleration of the bow from the moment of pulling the bow to the moment of spreading, angle of the bow throughout the training, angular velocity of the bow and displacement during movement. So as to use the kinematic parameters to carry out analysis and diagnosis in combination with the motion technology of the athlete.
The raw data output by the archery technology monitoring equipment comprises: angular velocity, acceleration, and magnetic field strength; values that can be calculated in real time are attitude direction, linear acceleration and altitude.
The sensor is arranged on a shockproof rod of a bow handle, all kinematic parameters of an archer from bow drawing to spreading are collected and sent to the control center for processing, and then data analysis is carried out on attitude data and orientation data by under-line scientific research personnel. In the training process, the athlete starts to trigger immediately from the start of the bowing to acquire data, the acquired data is automatically sent to an internal control center to be processed and stored, and real-time feedback is carried out through a wireless communication device, so that the state of the athlete and the athletic ability of the athlete can be truly reflected.
The utility model has the advantages that:
1. the weight is light, the weight of the sensor of the utility model is lower than 10g, and the combined packaging shell device is not more than 100g, so that the influence on the technical action of athletes can be ignored;
2. the technical dynamics of athletes can be fed back in real time, and all collected data can be fed back in real time and analyzed offline;
3. the operation is simple, the archery technology monitoring equipment of the utility model is fixed on the shockproof rod, and the coach can visually feed back and diagnose the athlete technology in real time without debugging; the real state and the competitive ability of the athlete can be reflected;
4. the cost is low. The cost of the sensor is low compared to high speed cameras, infrared spot motion capture systems.
Drawings
Fig. 1 is a schematic structural diagram of a sensor of an archery monitoring device based on a three-dimensional motion attitude sensor according to the present invention;
FIG. 2 is a schematic structural diagram of the archery technology monitoring equipment of the attitude sensor based on three-dimensional motion of the present invention, which is installed on a base;
FIG. 3 is a cross-sectional view of the archery technology monitoring device of the three-dimensional motion-based attitude sensor of the present invention mounted on a base;
fig. 4 is a schematic structural diagram of the archery technology monitoring device of the posture sensor based on three-dimensional motion of the present invention, which is installed on the shockproof rod of the bow.
The attached drawings are as follows:
1. sensor 2, base
3. A first semicircular hoop 4 and a second semicircular hoop
5. Projection
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model provides an archery technology monitoring device of attitude sensor based on three-dimensional motion, which is installed on the shockproof rod of the bow and records the kinematic parameters of the whole process from bow drawing to bow spreading in real time; it includes: sensor 1 and USB data line; the USB data line is used for charging and data transmission; the sensor 1 is an LPMS-B2 sensor, and is internally integrated with sensors such as a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer and the like, and three-dimensional motion is realized through the elements. Wherein,
the three-axis gyroscope is an acceleration sensor for measuring angular rate, can be used for measuring the angular speed of the bow along the X, Y, Z three-axis direction, and can obtain the angular change of the bow in the whole process through integration;
a three-axis accelerometer is an inertial sensor that calculates acceleration along axis X, Y, Z; specifically, the three-axis accelerometer is an oscillating system with one degree of freedom, which is composed of a detection mass, a support, a potentiometer, a spring and the like, and is used for continuously giving an acceleration signal; the three-axis accelerometer of the sensor can directly output original acceleration and linear acceleration, namely the acceleration after gravity influence is eliminated, and angular velocity of a bow and displacement in a motion process can be obtained by integrating the linear acceleration;
the three-axis magnetometer can estimate the position change of the sensor relative to the earth magnetic field according to the vertical axis of the earth magnetic field, namely the included angle between the current equipment and the four directions of the south, the east and the north is measured.
The archery technology monitoring equipment further comprises:
the wireless communication device is used for connecting and communicating with the personal electronic terminal equipment, and all kinematic parameters including linear acceleration of the bow, angle of the bow in the whole training process, angular velocity of the bow, angular acceleration of the bow and displacement in the motion process from the bow drawing to the spreading process are obtained in real time at the terminal, so that the technical action reaches the degree of refinement. The wireless communication apparatus includes:
the wireless communication template is a Bluetooth communication template of the sensor, and the sensor is communicated with the personal electronic terminal in a WIFI or Bluetooth mode;
the wireless terminal receiving device can be an electronic device of a computer or an android system mobile phone and is used for receiving the processing signal of the measuring unit.
As shown in fig. 2, 3 and 4, the archery monitoring device further includes: a fixing device; the fixing device includes: a base 2, a first semicircular hoop 3 and a second semicircular hoop 4. The cross section of the base 2 is of a U-shaped structure, a protrusion 5 is arranged on the back of the base 2, a threaded hole is formed in the protrusion 5, the first semicircular hoop 3 and the second semicircular hoop 4 jointly form a circular hoop, one end of the circular hoop and the protrusion 5 are fixed together through screws, the sensor 1 is fixed in the base 2, and the circular hoop is fixed on a shockproof rod of a bow. The base of middle part for fixed sensor 1, the shape of design is the square, and the length of side is about 40mm, constitutes with the plastify material to be equipped with special draw-in groove and be used for fixed and dismantle sensor 1, draw-in groove thickness is about 5mm, and the sensor accessible is pressed the mode and is imbedded in the base. The round hoop fixed on the shockproof rod is connected through the screw hole on the bulge of the base, the width of the round hoop is about 15mm, the radius of the round hoop is about 20mm, and the upper edge end of the round hoop is fixedly connected with the bulge of the base through a screw of M2 type, so that the sensor can be prevented from rotating in the use process and is always kept on the horizontal plane. The lower edge of the round hoop is provided with another screw hole, so that the round hoop can be quickly installed on the shockproof rod of the bow handle, and data collection is facilitated.
The fixing device can be made of stainless steel materials and plasticized materials and is used for reinforcing the sensor on a shockproof rod of the bow, and data can be measured and collected conveniently.
The internal sampling frequency of the archery monitoring equipment is as high as 400 Hz.
The archery technical monitoring equipment is preferably square, the weight of the archery technical monitoring equipment is less than 10g, the total weight of the combined shell device is less than 100g, the communication distance is less than 18m, the static precision is less than 0.5 degrees, the dynamic precision is less than 2 degrees RMS, the resolution is less than 0.01 degrees, and the working temperature is-20 to +60 ℃.
The archery technology monitoring equipment further comprises a processor, wherein the processor is based on an extended Kalman filter and processes through a data fusion algorithm to obtain corresponding kinematic parameters of each stage, and the kinematic parameters comprise: linear acceleration of the bow from the moment of pulling the bow to the moment of spreading, angle of the bow throughout the training, angular velocity of the bow and displacement during movement. So as to use the kinematic parameters to carry out analysis and diagnosis in combination with the motion technology of the athlete.
The raw data output by the archery technology monitoring equipment comprises: angular velocity, acceleration, and magnetic field strength; values that can be calculated in real time are attitude direction, linear acceleration and altitude.
The sensor is arranged on a shockproof rod of a bow handle, all kinematic parameters of an archer from bow drawing to spreading are collected and sent to the control center for processing, and then data analysis is carried out on attitude data and orientation data by under-line scientific research personnel. In the training process, the athlete starts to trigger immediately from the start of the bowing to acquire data, the acquired data is automatically sent to an internal control center to be processed and stored, and real-time feedback is carried out through a wireless communication device, so that the state of the athlete and the athletic ability of the athlete can be truly reflected.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art will understand that modifications and equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all of them shall fall within the scope of the claims of the present invention.
Claims (10)
1. An archery technology monitoring device of a posture sensor based on three-dimensional motion is characterized in that the device is arranged on a shockproof rod of a bow and used for recording kinematic parameters of the whole process from bow pulling to bow spreading of the bow in real time; the apparatus comprises: a sensor (1) and a USB data line; wherein,
the USB data line is used for charging and data transmission;
the sensor (1) is internally integrated with a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer.
2. The archery monitoring device of claim 1 wherein the three-axis gyroscope is an acceleration sensor measuring angular rate for measuring angular velocity of the bow along X, Y, Z three-axis directions.
3. The archery monitoring device of claim 1 wherein the three-axis accelerometer is a one-degree-of-freedom oscillatory system consisting of proof masses, supports, potentiometers and springs for continuously providing acceleration signals; the three-axis accelerometer directly outputs original acceleration and linear acceleration, and angular velocity of the bow and displacement in the motion process are obtained by integrating the linear acceleration.
4. The archery technology monitoring device of claim 1, wherein the three axis magnetometer estimates the position of the sensor relative to the earth's magnetic field according to the vertical axis of the earth's magnetic field, measuring the angle of the current device to the east, south, west, and north directions.
5. Archery monitoring apparatus according to claim 1, characterized in that it further comprises:
and the wireless communication device is used for connecting and communicating with the personal electronic terminal equipment, and all kinematic parameters including linear acceleration of the bow, the angle of the bow in the whole training process, the angular velocity of the bow, the angular acceleration of the bow and the displacement in the motion process from the bow drawing to the spreading process are acquired in real time at the terminal.
6. Archery monitoring equipment according to claim 5, characterized in that the wireless communication means comprise:
the wireless communication module is used for communicating the sensor with the personal electronic terminal in a WIFI or Bluetooth mode;
and the wireless terminal receiving device is used for receiving the processing signal of the measuring unit.
7. Archery monitoring apparatus according to claim 1, characterized in that it further comprises: a fixing device; the fixing device includes: the device comprises a base (2), a first semicircular hoop (3) and a second semicircular hoop (4); the cross section of the base (2) is of a U-shaped structure, a bulge (5) is arranged on the back of the base (2), and a threaded hole is formed in the bulge (5); first semicircle hoop (3) with the both ends of second semicircle hoop (4) all are equipped with the screw hole, and the two constitutes a circle hoop jointly, the one end of circle hoop with arch (5) are in the same place through the screw fixation, will sensor (1) embedding is fixed in base (2), the other end of circle hoop is fixed on the shockproof pole of bow.
8. The archery monitoring device of claim 7 wherein the securing means is a strap located on the outside extension of the opposite sides of the base for reinforcing the sensor on the shock bar of the bow.
9. The archery technical monitoring device of claim 1, wherein the archery technical monitoring device is square, has a weight of less than 10g, a communication distance of less than 18m, a static accuracy of less than 0.5 °, a dynamic accuracy of less than 2 ° RMS, a resolution of less than 0.01 °, and an operating temperature of-20 ° +60 ℃.
10. The archery technical monitoring device of claim 1, further comprising a processor, wherein the processor is based on an extended kalman filter, and performs processing by a data fusion algorithm to obtain kinematic parameters corresponding to each stage, wherein the kinematic parameters include: linear acceleration of the bow from the moment of pulling the bow to the moment of spreading, angle of the bow throughout the training, angular velocity of the bow and displacement during movement.
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| CN201721415392.3U CN207591245U (en) | 2017-10-30 | 2017-10-30 | A kind of shooting technique monitoring device of the attitude transducer based on three-dimensional motion |
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| CN201721415392.3U CN207591245U (en) | 2017-10-30 | 2017-10-30 | A kind of shooting technique monitoring device of the attitude transducer based on three-dimensional motion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110189374A (en) * | 2019-05-30 | 2019-08-30 | 北京理工大学 | A kind of archery posture immediate feedback system |
| CN110393906A (en) * | 2019-08-29 | 2019-11-01 | 成都大学 | Skill action training correction auxiliary machine is penetrated by a kind of China |
-
2017
- 2017-10-30 CN CN201721415392.3U patent/CN207591245U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110189374A (en) * | 2019-05-30 | 2019-08-30 | 北京理工大学 | A kind of archery posture immediate feedback system |
| CN110189374B (en) * | 2019-05-30 | 2021-06-08 | 北京理工大学 | Archery posture instant feedback system |
| CN110393906A (en) * | 2019-08-29 | 2019-11-01 | 成都大学 | Skill action training correction auxiliary machine is penetrated by a kind of China |
| CN110393906B (en) * | 2019-08-29 | 2024-03-15 | 成都大学 | Auxiliary instrument for training and correcting Chinese shooting skill actions |
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Effective date of registration: 20230616 Address after: Room 103, Building 17, Old Summer Palace East Road (Tiyuan District I), Haidian District, Beijing, 100084 Patentee after: Beijing Beiti Education Technology Development Co.,Ltd. Address before: 100084 No. 48, information road, Beijing, Haidian District Patentee before: BEIJING SPORT University |