CN103127686A - Comprehensive exercise measurement and auxiliary analysis system for curling exercise training - Google Patents

Abstract

The invention relates to a comprehensive exercise measurement and auxiliary analysis system for curling exercise training. The comprehensive exercise measurement and auxiliary analysis system comprises a central control computer, a radio network gateway, a stepping force node, an ice brushing frequency node, a curling node, a human motion parameter node, a curling casting hand heart rate node, a photoelectric velocity measurement node and an image collection node, wherein the stepping force node, the ice brushing frequency node, the curling node, the human motion parameter node, the curling casting hand heart rate node and the photoelectric velocity measurement node are connected with the central control computer through the radio network gateway, and the image collection node is in wired connection with the central control computer. A set of complete data acquisition and analysis system for the curling exercise training is provided by the system, and the comprehensive exercise measurement and auxiliary analysis system is concise in whole structure, can complete exercise measurement and auxiliary analysis while an athlete completes a real motion and can be accordingly integrated into the process of site training of a sports team effectively. Therefore, the comprehensive exercise measurement and auxiliary analysis system provides supports for scientific optimization of correlation techniques of the athlete and deep analysis and improvement of competition tactics and promotes technique and tactics levels of each curling team.

Description

A kind of integrated motion for the curling training is measured and Computer Aided Analysis System

Technical field

The present invention relates to the sports data collecting field, particularly a kind of integrated motion for the curling training is measured and Computer Aided Analysis System.

Background technology

Curling stone is a kind of throwing event of carrying out on ice take team as unit, is again the leading class performance of a kind of skill accuracy item group project, and excellent technical capability is the key of winning.Obtain excellent technical capability, curling person must optimize repeatedly to the action of oneself.Objectively the observation and analysis means are prerequisites that sportsman's technical movements are effectively optimized, particularly for high-caliber sportsman, if can obtain fully reliable, the accurate and objective information about sportsman's technical movements, and feed back quickly, be very beneficial for the sportsman and obtain desirable technical performance.

Typical scene has: 1. be directed to and throw the kettle action, total guiding theory is the sportsman with the speed and vigor of the appropriateness curling stone of throwing out, and keeps simultaneously the stability of action and the balance of health.But owing to throwing the action that kettle is a high degree of skill, several factors such as athlete's physique situation, body gesture, gravity center shift, strength utilization all can affect the final result of throwing kettle.Even for final result--the curling stone of throwing out, it is inadequate depending merely under many circumstances its motion conditions of artificial judgment, some decision-makings depend on the understanding to its accurate kinematic parameter.In addition, throw and throw the kettle hand in the kettle process and can bear huge psychological pressure, so its psychologic status can affect again athletic technical merit performance.These factors intersect, and make certain successful degree of throwing the kettle action of exact evaluation sportsman become very difficult, also more difficult true cause of in depth analyzing this success of throwing kettle (or error).And the level that the data acquisition means can reach itself also can exert an influence to training effect.Feed back usually very high to ageing requirement to sportsman's information of carrying out, desirable feedback form should be Real-time Feedback (mirror-polishing training), feedback only can be caught up with sportsman's rhythm of uninterrupted training continuously, could help substantially the sportsman to improve the action of oneself.2. be directed to the action of brush ice, each athletic ice brush all can change the kinematic parameter of curling stone with respect to the position of curling stone, the strength of brush ice, the isoparametric variation of frequency of brush ice.To the careful analysis of these effect of parameters, also exceeded the mankind and observed and the intelligential limit, be badly in need of engineering circles corresponding technological means is provided, improve understanding and application power to the technical movements of brush ice.

For the problem that is similar to relevant parameter Real-time Obtaining in the curling stone training, usually adopt at present following two kinds of methods to solve.First method is to adopt motion capture system.The characteristic signals such as the light that motion capture system has by the captured target object, sound, electromagnetic wave can obtain the kinematic parameter such as position, speed of target object in real time.Present motion capture system can roughly be divided into the mechanical type tracking system, electromagnetic type tracking system, acoustics tracking system and optical profile type tracking system.The precision of these systems, delay, turnover rate, effectively following range is different, and wherein most typical is the optical profile type motion capture system, at present successful Application from virtual reality, physical culture to multiple occasions such as medical science.Therefore the problems such as but the equal life period of these subsystem or technologies postpones large, and perhaps efficient working range is little, expensive, friendly property is poor can't be applied in the occasion of curling parameter acquiring.The second is to adopt special multi parameter tester, is mainly used to obtain Human physiology (or psychology) parameter, the kinetic parameter be concerned about.But these equipment need to be laid various cables usually on the person, meeting exerts an influence to the process that the sportsman completes relevant action, these equipment bulky, complicated operation usually in addition, and lack each other necessary synchronizing function, can't carry out the several data combinatory analysis, so they are very limited for the help effect of hands-on.

Therefore, be sought after at present a kind of curling combined training back-up system that can possess real-time data acquisition, on-the-spot assistant analysis, so that the coach and athlete carries out careful deep analysis for the emphasis link of curling, thereby accelerate to improve athletic technical merit.

Summary of the invention

For the problems referred to above, the objective of the invention is to propose a kind of integrated motion for the curling training and measure and Computer Aided Analysis System, by different sensors and radio transmitting device are set, realize the collection to different pieces of information in the middle of training in different positions.

The object of the present invention is achieved like this: a kind of integrated motion for the curling training is measured and Computer Aided Analysis System, comprising:

Central control computer: be used for the curling training data is analyzed demonstration;

Radio network gateway: be connected with central control computer, be used for gathering the curling training data, and data are passed to central control computer;

Scrunch the power node: with the radio network gateway wireless connections, the rear riding force data when being used for gathering pitch-pot game hand-thrown kettle, and data are passed to radio network gateway;

Brush ice frequency node: with the radio network gateway wireless connections, be used for gathering curling person and brush the ice frequency data, and data are passed to radio network gateway;

Curling stone node: with the radio network gateway wireless connections, be used for gathering the motion state data of curling stone, and data are passed to radio network gateway;

Human body sport parameter node: with the radio network gateway wireless connections, described human body sport parameter node comprises the housing that is fixed on the movable position of athletes ' body, the wireless signal transmission circuit that acceleration transducer is installed in housing and is attached thereto, be used for gathering curling person in the motion parameter data of throwing the kettle process, and data are passed to radio network gateway;

Throw kettle palm of the hand rate node: with the radio network gateway wireless connections, described throw kettle palm of the hand rate node be colligation at the wireless heart rate band of experimenter's chest, be used for to gather curling person and throwing the real-time heart rate data of kettle process, and data are passed to radio network gateway;

Photoelectric velocity measurement node: with the radio network gateway wireless connections, described photoelectric velocity measurement node comprises photoemission source, photoelectricity receiver module and the wireless signal transmitting module that is attached thereto, and the both sides that photoemission source and photoelectricity receiver module are separately positioned on ice tunnel are used for gathering the speed that curling stone advances;

The IMAQ node: be connected with central control computer with wired mode with the DV video camera, the DV video camera is arranged on the ice tunnel both sides and the top is used for gathering the ice tunnel realtime graphic.

further, the described power of scrunching node includes one and scrunches the sliding support of rising of inclined-plane and wireless signal transmitting device, wireless signal transmitting device is arranged in support, tiltedly be provided with a transverse concave groove described scrunching, be fixed with the pressure sensor of four prisms cylinder shape in groove, the force plate/platform of pressure sensor is parallel with the pedaling surface that plays sliding support, the fixing metal pedal of a slice rigidity on force plate/platform, the shape of described metal pedal with rise sliding support to scrunch the inclined-plane identical, its in-plane is parallel with pedaling surface, the force plate/platform of pressure sensor and metal pedal do not come in contact with other parts that play sliding support, the pressure signal of pressure sensor is connected with wireless signal transmitting device.

Further, described brush ice frequency node comprises the ice brush with brush holder and brush, is provided with brush ice frequency testing device between brush and brush holder, the wireless signal transmission circuit that described brush ice frequency testing device includes acceleration transducer and is attached thereto.

Further, described curling stone node comprises the curling stone body, be provided with the curling stone handle on described curling stone body, be provided with an interlayer between described curling stone body and curling stone handle, be provided with data acquisition module in interlayer, described data acquisition module comprises and is referred to as gyrostatic angular-rate sensor, acceleration transducer, central processing unit, time generator and a wireless transmission circuit, angular-rate sensor, acceleration transducer are connected to central processing unit by the A/D change-over circuit respectively, and central processing unit is connected with the wireless transmission circuit line with time generator.

Further, described angular-rate sensor and acceleration transducer installation site all are on the rotation central shaft of curling stone.

Further, also be provided with the temperature sensor that changes for corrected acceleration sensor and angular-rate sensor parameter in described interlayer.

Further, also be provided with the three axle magnetometers that carry out complementary measurement with angular-rate sensor in described interlayer, the sensitive axis of three axle magnetometers is orthogonal.

The present invention to the contribution of prior art is: the data acquisition and analysis system that the complete curling training of a cover is provided, due to the data transfer mode that has adopted wireless transmission, terminal with compact integral structure, complete measurement and assistant analysis completing true action the sportsman when, thereby can effectively be integrated in the process of sports team's on-site training.Native system can be used for the each side information of curling stone project training or match is carried out complete documentation and on-the-spot feedback, thereby for in-depth analysis and the improvement of the scientific optimization of sportsman's correlation technique and competition tactics provides support, promote technology and the tactics level of each curling stone team.

Below in conjunction with embodiment and accompanying drawing, the present invention is done a detailed description.

Description of drawings

Fig. 1 is system architecture schematic diagram of the present invention;

Fig. 2 is for scrunching power node structure schematic diagram;

Fig. 3 is brush ice frequency node structure schematic diagram;

Fig. 4 is curling stone node structure schematic diagram;

Fig. 5 is human body sport parameter node layout schematic diagram;

Fig. 6 is for throwing kettle palm of the hand rate node structure schematic diagram;

Fig. 7 is photoelectric velocity measurement node layout schematic diagram.

The specific embodiment

A kind of integrated motion for the curling training is measured and Computer Aided Analysis System, and referring to Fig. 1, affiliated system comprises:

Central control computer 1: be used for the curling training data is analyzed demonstration;

Radio network gateway 2: be connected with central control computer, be used for gathering the curling training data, and data are passed to central control computer;

Scrunch power node 3: with the radio network gateway wireless connections, the rear riding force data when being used for gathering pitch-pot game hand-thrown kettle, and data are passed to radio network gateway;

Brush ice frequency node 4: with the radio network gateway wireless connections, be used for gathering curling person and brush the ice frequency data, and data are passed to radio network gateway;

Curling stone node 5: with the radio network gateway wireless connections, be used for gathering the motion state data of curling stone, and data are passed to radio network gateway;

Human body sport parameter node 6: with the radio network gateway wireless connections, be used for gathering curling person and throwing the condition data of kettle process, and data are passed to radio network gateway.

Throw kettle palm of the hand rate node 7: with the radio network gateway wireless connections, be used for gathering curling person and throwing the real-time heart rate data of kettle process, and data are passed to radio network gateway.

Photoelectric velocity measurement node 8: with the radio network gateway wireless connections, be used for curling stone in the motion parameter data between given zone on ice tunnel, and data are passed to radio network gateway.

IMAQ node 9: be connected with central control computer with wired mode with the DV video camera, be used for gathering each athletic technical movements details video, and curling stone be from beginning to throw until the overall process video that moves and stop.

Central control computer in system can be served as by same notebook computer.In order to adapt to the requirement that test, training and testing synchronously carry out while training of curling stone on-site training, native system adopts wireless sensor network technology to realize motion parameter collecting.Wireless sensor network is the comprehensive intelligent information system that integrates information gathering, communication, information processing, compare with technology for information acquisition in the past, at aspects such as element, topological structure, device shaped, system power dissipation, procotols, a great difference is arranged all, therefore have advantages of a series of very outstanding.Comprise: the collecting device volume is little, acquired information comprehensive, information timeliness is strong, transmission range is long, the fault-tolerance of system is high, it is simple to safeguard.System has formulated and has applied to curling technology collection wireless network communication protocol, and has developed radio network gateway according to this agreement, and multiple wireless sensor node.In actual applications, radio network gateway and wireless sensor node form a complete wireless network.Wireless sensor node by the on-air radio link with various kinematic parameter signal gatherings to radio network gateway, with realization to the real-time measurement of various critical movements parameters.

In motion parameter collecting, radio network gateway is responsible for the control and management of wireless sensor network, realizes the Information fusion processing, and further distribution and the transmission of responsible information.Radio network gateway is comprised of controller and wireless signal transceiver module.Transfer of data and the operand of radio network gateway are larger, and can adopt external power as energy supply, therefore need to adopt the arithmetic unit with stronger information processing capability and network function as controller, be here directly with portable notebook computer as controller.The wireless signal transceiver module adopts the IP-Link 1223 of Helicomm, and it communicates by UART interface and main control computer.

Zigbee network communication protocol that IP-Link 1223 modules are embedded has intactly embodied the power of Internet, can form star-like, dynamic tree type and mesh network with it.The radio frequency operation frequency is selected in 2.4GHz, adopts full duplex mode and direct sequence spread spectrum skill, and 16 channels are arranged; Adopt four phase frequency shift keyings (Quadrature Phase Shift Keying, QPSK), antijamming capability is strong, and peak transfer rate can reach 250kbit/s.The serial ports that adopts is 3.3V UART, i.e. universal asynchronous reception and transmitter.

In wireless sensor network, existing terminal device mainly is comprised of various sensors and wireless transmission receiver module.Sensor mainly is comprised of two parts: a part is used for comprising that curling stone is with respect to the collection of the curling parameters such as the sliding speed of ice tunnel, acceleration, angular speed; Another part is used for the collection of sportsman's relevant parameter: such as throwing each joint kinematic parameter of kettle hand, heart rate, scrunch power, brushing ice frequency etc.After sensor gathers various primary signals, need to carry out analog signal to the conversion of data signal, this process will be passed through the equipment such as analog signal generator, A/D converter, level comparator, signal processor, and the data signal that obtains after conversion is wirelessly transmitted to central control computer through wireless transmitter module.

in embodiment, as shown in Figure 2, the described power of scrunching node includes one and scrunches the sliding support 3-1 of rising of inclined-plane and wireless signal transmitting device, wireless signal transmitting device is arranged in support, be provided with a transverse concave groove 3-2 on the described inclined-plane that scrunches, be fixed with the pressure sensor 3-3 of four prisms cylinder shape in groove, the force plate/platform of pressure sensor is parallel with the pedaling surface that plays sliding support, the fixing metal pedal 3-4 of a slice rigidity on force plate/platform, the shape of described metal pedal with rise sliding support to scrunch the inclined-plane identical, its in-plane is parallel with pedaling surface, the force plate/platform of pressure sensor and metal pedal do not come in contact with other parts that play sliding support, the pressure signal of pressure sensor is connected with wireless signal transmitting device.Fig. 2 is the sliding support pictorial diagram of rising of the wireless power of scrunching node, can see in the figure long prismatic strain pressure transducer.Except playing sliding support, the wireless power of scrunching node also comprises a control box (not drawing in the drawings), and this control box is by making for light metal or engineering plastics, and the parts such as circuit board are equipped with in inside.Pressure sensor is connected by holding wire and aviation plug with control box.

In embodiment, as shown in Figure 3, described brush ice frequency node comprises the ice brush with brush 4-1 and brush holder 4-2, is provided with brush ice frequency testing device 4-3 between brush and brush holder, and described brush ice frequency testing device includes acceleration transducer and wireless signal transmission circuit.In the curling stone project, can ice the motion state of to change curling stone in to a certain degree by brush, and then extend the travel distance of curling stone or the degree of crook of control curling stone progress path.Therefore the athletic brush ice of brush ice technology is extremely important.In the action of the athletic brush ice of brush ice, the frequency of brush ice is the important content that curling stone team need to monitor.Because the frequency of brush ice is higher, less in the face of the resistance of the middle curling stone that advances by brush ice, the travel distance of curling stone is longer, otherwise the travel distance of curling stone shortens.Provide brush ice frequency information by brush ice frequency node in native system.Brush ice frequency testing device is a box, and appearance and size is approximately 15 millimeters x30 millimeter x50 millimeters, and shell is made by light metal or engineering plastics, and inside is equipped with the devices such as control circuit board.Box is fixed on an end of close brush on the brush holder of icing brush, and makes the sensitive axis of brush ice frequency testing device be parallel to the direction of motion of icing brush when brushing ice.

The operation principle of brush ice frequency node is: miniature acceleration sensor is set in box, and the sensitive direction of acceleration transducer is parallel to the direction of motion of icing brush when the sportsman brushes ice.Brush the ice process the sportsman, brush ice frequency node carries out continual high-speed data acquisition for the acceleration of ice brush, just half week of the acceleration information change curve that collects is to a complete cycle of negative half period, corresponding to the action of athletic once complete brush ice.Counted for such complete cycle by the microprocessor in brush ice frequency node, then calculate this periodicity for the derivative of time, the brush that obtains this ice brush is iced frequency.

in embodiment, described curling stone node is an intelligent curling stone, comprise curling stone body 5-1, be provided with curling stone handle 5-2 on described curling stone body, be provided with an interlayer 5-3 between described curling stone body and curling stone handle, be provided with data acquisition module in interlayer, described data acquisition module comprises and is referred to as gyrostatic angular-rate sensor, acceleration transducer, central processing unit, time generator and a wireless transmission circuit, angular-rate sensor and acceleration transducer are connected to central processing unit by the A/D change-over circuit respectively, central processing unit is connected with the wireless transmission circuit line with time generator.

Angular-rate sensor and acceleration transducer described in embodiment intelligence curling stone, its installation site all is on the rotation central shaft of curling stone.

Described in embodiment intelligence curling stone, acceleration transducer is two axles or 3-axis acceleration sensor, if two axle acceleration sensors two axles of two axle acceleration sensors be parallel to the lower surface of curling stone, and these two axles are mutually orthogonal; If one of them sensitive axis is perpendicular to the lower surface of curling stone for 3-axis acceleration sensor, two other axle is parallel to the lower surface of curling stone, and three sensitive axis are mutually orthogonal.

Described in embodiment intelligence curling stone, angular-rate sensor is single shaft or three axis angular rate sensors; If the single shaft angular-rate sensor its sensitive axis perpendicular to the lower surface of curling stone; If one of them sensitive axis is perpendicular to the lower surface of curling stone for three axis angular rate sensors, two other sensitive axis is parallel to the lower surface of curling stone, and three sensitive axis should be mutually orthogonal.

Also be provided with the temperature sensor for corrected acceleration sensor and the variation of angular-rate sensor parameter in the described interlayer of embodiment intelligence curling stone.

Also be provided with the three axle magnetometers that carry out complementary measurement with angular-rate sensor in the described interlayer of embodiment intelligence curling stone, the sensitive axis of three axle magnetometers is orthogonal.

The described interlayer of embodiment curling stone node is fixed on the curling stone body by gluing or bolted mode, then with the kettle bolt, curling stone handle, interlayer and curling stone body is coupled together.Be provided with rubber washer and other damping, buffering materials between the outer wall of interlayer and the circuit unit of data acquisition module, these padded coamings avoid it to damage because of the collision between curling stone in order to protect the aforementioned circuit assembly.Be provided with insulating cover on interlayer internal cavity surface in addition.

The below is an intelligent curling stone specific embodiment, and the size of intelligent curling stone and profile and normally used curling stone basic identical is one and has the upper surface of indent and the spheroid of lower surface.Its girth is about 91.44 centimetres, highly is about 13.43 centimetres, and weight is approximately 20 kilograms.According to actual user's needs, its size and shape can be adjusted in the scope of World Curling Federation (ICF) regulation.

In the present embodiment, intelligent curling stone is by an original curling stone transformation is obtained.The part of intelligence curling stone frame for movement comprises kettle body, Handleset, kettle bolt (the vertical direction stay bolt that connects kettle body and handle) and fixed disc, wherein kettle body, Handleset and kettle bolt are the building block of original curling stone, are the new units that specialized designs is made as the fixed disc of intermediate course.This fixed disc external diameter is about 210 millimeters, and its thickness is about 15 millimeters, and material may be metal, timber, engineering plastics or other sturdy material.In the upper horizontal surface of fixed disc, a processed cylinder shape groove concentric with fixed disc.There is a through hole concentric with fixed disc in the lower wall central authorities of cylinder shape groove, are used for holding the kettle bolt.Can make and stick with glue or bolted method is connected to fixed disc on the kettle body.After fixed disc being connected on the kettle body, then with the kettle bolt, kettle body and Handleset are fixed as one.The intelligent curling stone that obtains according to the method described above is enough firm, can adapt to the various collision situations in the curling stone match.Except aforesaid way, also can otherwise realize the frame for movement of intelligent curling stone, and not affect the spirit and scope of the present invention.

The common cylindrical cavity that forms a sealing of fixed disc and Handleset has been placed the circuit unit as data acquisition module in this cavity.A plurality of specific sensors and electronic device have been installed on this circuit unit, have been used to provide following data: the situation of the position time to time change of curling stone, and curling stone is in each temperature constantly.Circuit unit can be fixed in cavity by the mode of gluing or fasteners.The size of cavity can change according to the shape of circuit unit, the prerequisite that changes be to guarantee the sidewall of fixed disc and lower wall enough thick, avoid destroying with the collision of other curling stones the time with the holding circuit assembly, and can give curling stone with suitable weight.

The circuit unit of intelligence curling stone comprises various sensors (being used for collecting the data about curling stone) and auxiliary electron device, these devices comprise a microcontroller, storage stack (comprises volatile memory, can be the devices such as SRAM, and nonvolatile memory, can be the devices such as Flash), one group of sensor, a power-supply system, the Voltaic battery that is used to provide each electronic device institute energy requirement (only is the use of explanation, concrete numerical value does not possess essential meaning), and an I/O COM1.This COM1 can be a wireless communication port.By using this COM1, can be in real time with collected transfer of data to an external computing device (for example PC) in the curling process.

In order to ensure the safety of the significant data in intelligent curling stone, can by the mode of update routine, the microcontroller in curling stone will be kept in nonvolatile memory by the collected data of sensor at work in real time.Nonvolatile memory is characterised in that, though intelligent curling stone because of the collapse of abnormal cause (such as system cut-off) generation systems, its inner data of preserving can not lost yet.Particular moment after training or end of match, the data in nonvolatile memory can download in an external computing device by the I/O port.This I/O port can be wireless communication port, can be also an electrical outlets (for example USB socket or similar socket).In situation about downloading by electrical outlets, need to intelligent curling stone be connected to external computing device with an order wire.The method of this introducing nonvolatile memory can improve the safety coefficient of significant data in intelligent curling stone greatly.

Each sensor on circuit unit is connected to microcontroller, with the related data of collecting curling stone within the specific time cycle.In this, can use various different sensors, for example, motion state by micro electronmechanical (MEM) accelerometer (or independent multiaxis accelerometer) sensing curling stone of a plurality of single shafts changes, provide three reference angles of curling stone with respect to the ice tunnel coordinate system by a plurality of single shaft MEM gyroscopes (or independent multiaxis gyroscope) and a plurality of single shaft magnetometer (or independent multiaxis magnetometer), by the temperature of a temperature sensor senses curling stone present position of containing thermal resistance.

As everyone knows, it is very difficult a plurality of sensors (accelerometer, gyroscope, magnetometer, temperature sensor) being integrated together with required auxiliary electron device (microcontroller, I/O, memory, power supply).Wave filter, analog-digital converter (ADC) and I/O etc. have been increased for the device of supporting working sensor in the design of circuit unit.The design of circuit unit is enough firm, can be suitable for the playing condition of curling stone.And circuit unit can be collected required data under the condition that only consumes little energy.This design also must provide enough functions, in order to provide a plurality of mode of operations (for example gather, wait for, then collection, dormancy, the transmission of data etc.) for the user.

Microcontroller (perhaps microprocessor) provides a good basis for solving this difficult problem.The microprocessor that uses in embodiment is Farnell C8051F020, and it has following technical parameter: voltage range: 2.7V ~ 3.6V; Converter: 12; Maximum clock frequency: 25MHz; Ram in slice: 4Kbyte; The maximum external memory of supporting: 64Kbyte; Support RS232 and I2C.In order to collect test data, microcontroller has also connected other several parts: such as amplifier, and reference voltage, the DC-DC converter, real-time clock works in the wireless transceiver of 2.4GHz, RS232 interface, and sufficient SRAM.

The circuit unit of intelligence curling stone is implemented as the PCB(Printed Circuit Board of a circle, printed circuit board) motherboard.Arranged a plurality of integrated circuits and discrete semiconductor device on this PCB motherboard, and several small-sized pcb board/circuit independently.These small-sized PCB circuit comprise multiple sensors circuit and wireless I/O circuit.Acceleration analysis uses accelerometer as sensing device, measures towards the pace of change at angle and uses gyroscope as sensing device.Because the accuracy of accelerometer and gyroscope image data is the position on pcb board and difference with them, in order to improve the accuracy of parameter measurement, need to make the acceleration analysis module, try one's best towards the installation site of angle pace of change measurement module near the axis of rotation (center line of vertical its lower surface of curling stone) of curling stone.For above-mentioned situation, acceleration analysis module and be implemented as separately an independently small-sized pcb board/circuit towards angle pace of change measurement module.To tie up or gluing mode is separately fixed on the kettle bolt, then the mode by flexible cord is connected with the PCB motherboard respectively with these two pcb boards.Curling stone relatively accuracy and the installation site of magnetometer on pcb board of the measured value of magnetic direction is irrelevant, so magnetometer need not to install near the axis of rotation of curling stone, can be with magnetometer chips welding optional position on the PCB motherboard.Acceleration analysis possesses the acceleration analysis ability of at least two axles.In the situation of the acceleration information of measuring three axles, can use independent three axis accelerometer, also can use the accelerometer of three single shafts, perhaps adopt other implementations.Three sensitive axis in above-mentioned various implementation are all orthogonal, and one of them sensitive axis is perpendicular to the lower surface of curling stone, and two other sensitive axis is parallel to the lower surface of curling stone.If the supposition curling stone is when motion, it can not be subjected to displacement in the direction perpendicular to ice tunnel, can only measure the acceleration information of two axles, and can use two independent axis accelerometers this moment, also can use two independent accelerometers.Two sensitive axis in above-mentioned various implementation are all orthogonal, and all are parallel to the lower surface of curling stone.The measurement capability that possesses the angular speed of at least one axle towards the pace of change measurement module at angle.In the situation of the angular speed of measuring three axles, can use independent three-axis gyroscope, also can use three independently single axis gyroscopes, perhaps adopt other implementations.Three sensitive axis in above-mentioned various implementation are all orthogonal, and one of them sensitive axis is perpendicular to the lower surface of curling stone, and two other sensitive axis is parallel to the lower surface of curling stone.Only under the prerequisite that its axis of rotation (center line of vertical its lower surface of curling stone) rotates, can only measure curling stone around the angular velocity data of its axis of rotation at the supposition curling stone, only use a single axis gyroscope this moment.Magnetometer possesses the sensing function of the magnetic field intensity of three axles, and these three sensitive axis are orthogonal, and one of them sensitive axis is perpendicular to the lower surface of curling stone, and two other sensitive axis is parallel to the lower surface of curling stone.In addition, can provide under the prerequisite of suitable precision, can also use the chip that two kinds of data (such as 3-axis acceleration and three axis angular rates, perhaps acceleration and earth's magnetic field) is provided integrated the time, installation method is just simpler.In the different various implementations of the sensing number of axle of above-mentioned accelerometer, gyroscope and magnetometer, the corresponding sensitive axis of each sensor is all parallel and in the same way, and the sensing center of all the sensors all is in same plane and (guarantees that at least the sensing center of accelerometer and the sensing of magnetometer are centered close in same plane, and make gyrostatic sensing center as far as possible near this plane), this plane parallel is called sense plane in the lower surface of curling stone.The intersection point of sense plane and the curling stone axis of rotation is called the central point of curling stone.In the situation that the data of three axles of every kind of equal sensing of physical parameter (curling stone acceleration need sensing X, Y, three dimensions of Z, curling stone needs sensing X, Y, three dimensions of Z towards the angle, etc.), the corresponding sense axle (X-axis, Y-axis, Z axis) of all sensing devices (accelerometer, gyroscope and magnetometer) is respectively parallel and in the same way, and common X-axis and Y-axis all are positioned at sense plane and orthogonal.Common Z axis is perpendicular to sense plane, and positive direction is for pointing to the direction of its upper surface from the lower surface of curling stone.Common Y-axis is parallel to the kettle handle of curling stone, and positive direction is the opposite direction of kettle handle, namely points to the direction of its stiff end from the end of curling stone handle.Take the central point of curling stone as initial point O_C, set up right hand rectangular coordinate system.The Y-axis of this coordinate system and Z axis are parallel with common Y-axis, the Z axis of sensing device and in the same way respectively.By the right hand rectangular co-ordinate set attribute of this coordinate system, and the definition mode of Y-axis, Z axis, can determine the positive direction of X-axis.It is called curling stone coordinate system (O with the coordinate system of said method definition_CX_CY_CZ_C).Defining by this way the curling stone coordinate system, is the convenience of processing and showing for follow-up data.The define method of curling stone coordinate system is applicable to all implementations of intelligent curling stone.Desirable mounting means is to make acceleration take into account gyrostatic sensing center and sensitive axis overlaps fully with the curling stone coordinate system.Under this target is beyond one's reach situation, make accelerometer and gyrostatic Y sensitive axis all parallel with the Y-axis of curling stone coordinate system and in the same way, the Z sensitive axis is all parallel with the Z axis of curling stone coordinate system and in the same way, and the X sensitive axis overlaps fully and the initial point O by the curling stone coordinate system_C, this is the error that causes because of the sensor sensing misalignment curling stone axis of rotation for the ease of compensation.At 2 axles of accelerometer sensing, 1 axle of gyroscope sensing, in the situation of 3 axles of magnetometer sensing, the corresponding sensitive axis of accelerometer, magnetometer overlaps, and their Z axis overlaps with gyrostatic sensitive axis.The rest may be inferred for other situations.At last, by adjusting the installation site of each element on circular PCB motherboard, make the quality of each element roughly distribute equably on whole PCB motherboard, and the large device of quality distribute as far as possible in the inboard of PCB motherboard.Above-mentioned measure can make the rotary inertia of intelligent curling stone identical with the conventional curling stone maintenance before transformation.Can take other measures in addition, make the gross weight of intelligent curling stone approach the gross weight of the front conventional curling stone of transformation as far as possible.By taking above-mentioned measure, reduce installing and measuring device to the impact of the kinetic characteristic of curling stone own.

At work, the suffered impact of curling stone can surpass 700G(1G=9.81m/s2).For the holding circuit assembly, use possibly buffering device in intelligent curling stone, such as increasing rubber washer being used for fixing on the securing member of pcb board, and use conformal filler.These devices all play the effect of impact-absorbing, and they can not damage electronic unit, also can not make the data that collect occur worsening.For the risk of preventing the electric short circuit problem to cause, the inner surface of cavity is made the cover layer of insulation with insulating tape.

Also be provided with the temperature sensor for corrected acceleration sensor and the variation of angular-rate sensor parameter described in embodiment intelligence curling stone in interlayer.

Also be provided with the three axle magnetometers that carry out complementary measurement with angular-rate sensor in interlayer described in embodiment intelligence curling stone, the sensitive axis of three axle magnetometers is orthogonal.

In embodiment, described human body sport parameter node is micro radio inertia node, Fig. 5 has illustrated the layout of node at the human motion position, 6-1 is that the human body sport parameter node comprises miniature lithium battery and microcircuit module, the microcircuit module comprises acceleration transducer and the wireless signal transmission circuit that is attached thereto, miniature lithium battery and microcircuit module are arranged on and are fixed on each main joint part of throwing kettle hand health in a housing, are used for gathering throwing the kettle hand in the kinematics parameters in each main joint of throwing kettle process health.These kinematics parameters can accurately reflect throws the difficulty action accomplishment of throwing the kettle action that the kettle hand completes, and improves and important realistic meaning is arranged aspect action helping to throw the kettle hand.The kinematics parameters that can gather comprises: any time, this characteristic point was with respect to the rectilinear motion situation (three-dimensional coordinate, three-dimensional line speed, three-dimensional acceleration) of ice tunnel coordinate system and angular movement situation (three-dimensional towards, three dimensional angular speed, three dimensional angular acceleration).the operation principle of micro radio inertia node is the inertia reckoning, its operation principle, function realizing method and using method and curling stone node are identical, it is node built-in miniature three axis accelerometer, three axis angular rate meter and magnetometers, at work incessantly acquisition node self with respect to the acceleration of inertial coodinate system, angular speed and with respect to the three-dimensional in earth's magnetic field towards the angle, then these data are carried out filtering, integration, the operations such as Coordinate Conversion, thereby obtain with respect to the ice tunnel coordinate system kinematics parameters of (being equivalent to geographic coordinate system), this is also the relevant kinematics parameters of coach and sportsman's real concern.Although the operation principle of human body sport parameter node, function realizing method and using method and curling stone node are identical, but because the mounting arrangement of device used on circuit board is different, and the shell that the final encapsulation of node is adopted is different, make the volume and weight of human body sport parameter node very little, adapt to the specific demand that is arranged on the enterprising row data collection of human body.Can there be at most 255 micro radio inertia module synchronous workings to carry out data acquisition in native system.

In embodiment, the described kettle palm of the hand rate node of throwing is that colligation is at the wireless heart rate band of experimenter's chest as shown in Figure 6.What the wireless heart rate band adopted is that China Patent No. is " a kind of Electrocardial data collection band " of ZL2010202021527,7-1 is sensor and the sender unit that is fixed on the heart rate band, the heart rate band is worn on the chest of throwing the kettle hand, is used for throwing the wireless heart rate test of kettle hand.A big event feature of curling stone is to seek to stable, ask accurate, and the mental power of throwing the kettle hand is had higher requirement.Throwing under the different mental state of kettle hand, specific variation can occur in its heart rate, therefore by carrying out the wireless heart rate test to throwing the kettle hand, can understand in real time its psychological condition, and then can also utilize hrv parameter to carry out psychological skill training.The operation principle of wireless heart rate test is the skin Electric signal processing, namely by the heart rate band with special electrode.In use, coated with conductive cream on electrode, and with the chest of heart rate band lashing the experimenter, make the skin of electrode and experimenter's chest realize good electrically contacting, thereby by electrode can the continuous collecting experimenter the skin potential signal.This simulation electric potential signal is processed via single-chip microcomputer filtering, draws athletic heart rate and carries out wireless uploading.

In embodiment, as shown in Figure 7, described photoelectric velocity measurement node is a plurality of, the photoelectric velocity measurement node be separately positioned on the ice tunnel both sides and with the radio network gateway wireless connections, each photoelectric velocity measurement node forms by photoemission source 8-1, photoelectricity receiver module 8-2 and wireless signal transmitting module, and these modules are completed the Split Time function jointly.Photoemission source and photoelectricity receiver module have respectively semiconductor laser tube and phototriode.In working order, semiconductor laser tube is launched the fabulous red laser of directionality.Phototriode in photoelectric receiving tube can sensing sees through the luminous intensity of its transparency window institute incident.At work, photoemission source and photoelectricity receiver module are placed on ice tunnel both sides and use in pairs, and the laser vertical that send in the photoemission source is injected in the phototriode of photoelectricity receiver module, so that phototriode remains on conducting state.After this, when the laser beam between photoemission source and photoelectricity receiver module is cut off, the light quantity of injecting phototriode sharply reduces, and makes phototriode become cut-off state, and the photoelectricity receiver module is by the inner clock circuit recording laser tractotomy time of moment.Photoemission source and photoelectricity receiver module be used for to gather curling stone movement velocity between given zone on ice tunnel, and data are passed to radio network gateway.Before setup test, at first all photoemission sources and photoelectricity receiver module are arranged in pairs ice tunnel both sides, adjust between them towards, make the laser that send in the photoemission source inject the transparency window of phototriode fully, and make they between line perpendicular to ice tunnel (referring to here perpendicular to the line between home base central point and barracks and the endosing walls central point).In addition, adjust the height of the distance ice face of all laser beams, make the operation of curling stone can block reliably laser beam.A photoemission source and a photoelectricity receiver module of placing in pairs form a timing point.Interval between two adjacent timing points is the interval that needs the test curling stone speed of service.Before formally beginning to test speed, with meter ruler or additive method, measure respectively the length L between each speed trial ground, and input calculating equipment (PC).Then system powers on, and all photoelectric velocity measurement nodes begin timing with unified global clock.Suppose to throw the kettle hand at the t0 curling stone of constantly throwing out, after this curling stone namely moves forward with specific speed.

After this, curling stone runs to first pair of photoelectricity Nodes, and blocks article one laser beam.First photoelectricity receiving node senses incident light quantity to be changed, and records current moment t1.

After this, curling stone runs to second pair of photoelectricity Nodes, and blocks the second laser beam.Second photoelectricity receiving node senses incident light quantity to be changed, and records current moment t2.According to formula

Calculate the speed of service of curling stone.The speed of service of the curling stone that obtains with the method, actual is the average speed of curling stone between this speed trial ground.

Because can there be a plurality of photoelectric velocity measurement nodes in system, so the method can obtain the curling speed in a plurality of intervals.In addition, after correct the layout, the ratio of precision curling stone node of photoelectric velocity measurement node test speed is high, so it can together use with the curling stone node, thereby reaches the target that improves the curling parameters precision.

By shell and the support of specialized designs photoemission source and photoelectricity receiver module, the stability when increasing it and placing in the venue.In addition, can make at photoemission source autoshutdown power supply when attitude is abnormal by increasing some automatic protection circuits, prevent that laser from injecting a target of interior personnel's eyes thereby reach.

In embodiment, described IMAQ node: be connected with central control computer with wired mode with the DV video camera, the DV video camera is arranged on the ice tunnel both sides and the top is used for gathering the ice tunnel realtime graphic.The DV video camera be used for to be taken and to be thrown the kettle sportsman and throwing the action details of kettle process, the athletic brush ice of brush ice action details, and curling stone is from beginning to throw until the overall process video information of moving and stopping.The DV video camera passes through the IEEE1394 holding wire with main control computer communication.A DV is deployed in home base one side of ice tunnel, realization is taken throwing the athletic closely close-up shot of kettle, is used for the technical Analysis that the sportsman throws the kettle action, another video camera barracks and the endosing walls one side, overlook and take curling stone from throwing kettle, brush ice until the overall process of shock occupy-place is mainly used in tactical analysis.For the visual field of the video camera that guarantees to take for overall process, can video camera be fixed in the barracks and the endosing walls tops with support, or it is arranged on the Spectator Seating of barracks and the endosing walls one side.The canonical parameter of video camera: resolution ratio is the 640*480 pixel, and frequency acquisition is 25 frame/seconds (50/second).

Take playback or closed-circuit television system with respect to the action that relies on the DV video camera fully in the past, above-mentioned video rapid feedback method possesses the high and video frequency searching of video pictures definition advantage easily.In addition, the installation position of video camera, visual angle and picture distance etc. can dynamically be adjusted, and are convenient to obtain the picture of the current motion link of being concerned about most.Closed-circuit television system is difficult to realize to monitoring the convenient replacing of scene.The video that the DV video camera records is to manage by means of computer, and fast and easy is located the video content that needs broadcast.These characteristics are very suitable for the fast pace requirement of curling stone on-site training.

As everyone knows, for a system that has a plurality of measurement devices, the time synchronized between each measurement device is the problem that must consider.Only accomplish time synchronized, could realize the combinatory analysis of the data of separate sources, and then deepened the understanding to the actual change process.Native system is realized the time synchronized of each measurement device by following measures: 1. each wireless measurement equipment all is provided with inner real-time clock, all data acquisitions of specific wireless measurement device are all take this inside real-time clock as benchmark, undertaken by certain time interval, and the data that collect in each sampling instant, all at first stabbed with the sampling instant additional period, then the wireless cruise Control Module that uploads to; 2. each wireless measurement equipment all is provided with the clock function.To the external wireless signals of clock function based on a specific format.All wireless measurement equipment all can receive and identify this wireless signal, and after receiving this wireless signal, wireless measurement equipment is set to zero constantly with the real-time clock of itself immediately.Because each wireless device all is in a smaller spatial dimension in native system, so wireless signal arrives the difference enough little (below 0.1 millisecond) of the time of each wireless measurement equipment, complete to the time after, all wireless measurement equipment will be with the operation of unified clock.3. because the equal not built-in time synchronized function of common DV video camera, so adopt the synchronizing signal receiving system of exploitation separately to realize the synchronous of wireless measurement equipment and video camera.Concrete grammar is in the visual field of each DV video camera, a synchronizing signal receiving system to be set all.This device can receive and identify above-mentioned wireless synchronization signal, and sends the sound and light signal of a DV video camera in can being recorded in video in the moment of receiving this signal.In the real work of system, when system needs synchronous acquisition, first start the operation (wireless measurement equipment is in wait state, video camera is in shooting state) of all devices, then send wireless synchronization signal by computer, all wireless measurement equipment moment begins data acquisition, and the synchronizing signal receiving system sends sound and light signal and is recorded in video simultaneously.After data acquisition finishes, come from the data of wireless measurement equipment for all, carry out synchronously according to timestamp subsidiary on data, for wireless measured data with from the video of DV video camera, carry out synchronously according to the time point at the sound and light signal place on the DV video.According to this method, can realize in system that the effective time of all devices is synchronous.

Any dependence is not arranged between intrasystem all devices, this just means, if the user needs, can carry out data acquisition by one or more interior equipment of a selective system, and the action link of being concerned about is analyzed, this has also strengthened the adaptive capacity of system to the hands-on environment greatly.

Claims (7)

1. an integrated motion that is used for the curling training is measured and Computer Aided Analysis System, it is characterized in that, described system comprises:

Central control computer: be used for the curling training data is analyzed demonstration;

Radio network gateway: be connected with central control computer, be used for gathering the curling training data, and data are passed to central control computer;

Scrunch the power node: with the radio network gateway wireless connections, the rear riding force data when being used for gathering pitch-pot game hand-thrown kettle, and data are passed to radio network gateway;

Brush ice frequency node: with the radio network gateway wireless connections, be used for gathering curling person and brush the ice frequency data, and data are passed to radio network gateway;

Curling stone node: with the radio network gateway wireless connections, be used for gathering the motion state data of curling stone, and data are passed to radio network gateway;

Human body sport parameter node: with the radio network gateway wireless connections, described human body sport parameter node comprises the housing that is fixed on the movable position of athletes ' body, the wireless signal transmission circuit that acceleration transducer is installed in housing and is attached thereto, be used for gathering curling person in the motion parameter data of throwing the kettle process, and data are passed to radio network gateway;

Throw kettle palm of the hand rate node: with the radio network gateway wireless connections, described throw kettle palm of the hand rate node be colligation at the wireless heart rate band of experimenter's chest, be used for to gather curling person and throwing the real-time heart rate data of kettle process, and data are passed to radio network gateway;

Photoelectric velocity measurement node: with the radio network gateway wireless connections, described photoelectric velocity measurement node comprises photoemission source, photoelectricity receiver module and the wireless signal transmitting module that is attached thereto, and the both sides that photoemission source and photoelectricity receiver module are separately positioned on ice tunnel are used for gathering the speed that curling stone advances;

The IMAQ node: be connected with central control computer with wired mode with the DV video camera, described DV video camera is arranged on the ice tunnel both sides and the top is used for gathering the ice tunnel realtime graphic.

2. a kind of integrated motion for the curling training according to claim 1 is measured and Computer Aided Analysis System, it is characterized in that, the described power of scrunching node includes one and scrunches the sliding support of rising of inclined-plane and wireless signal transmitting device, wireless signal transmitting device is arranged in support, tiltedly be provided with a transverse concave groove described scrunching, be fixed with the pressure sensor of four prisms cylinder shape in groove, the force plate/platform of pressure sensor is parallel with the pedaling surface that plays sliding support, the fixing metal pedal of a slice rigidity on force plate/platform, the shape of described metal pedal with rise sliding support to scrunch the inclined-plane identical, its in-plane is parallel with pedaling surface, the force plate/platform of pressure sensor and metal pedal do not come in contact with other parts that play sliding support, the pressure signal of pressure sensor is connected with wireless signal transmitting device.

3. a kind of integrated motion for the curling training according to claim 1 is measured and Computer Aided Analysis System, it is characterized in that, described brush ice frequency node comprises the ice brush with brush holder and brush, be provided with brush ice frequency testing device between brush and brush holder, the wireless signal transmission circuit that described brush ice frequency testing device includes acceleration transducer and is attached thereto.

4. a kind of integrated motion for the curling training according to claim 1 is measured and Computer Aided Analysis System, it is characterized in that, described curling stone node comprises the curling stone body, be provided with the curling stone handle on described curling stone body, be provided with an interlayer between described curling stone body and curling stone handle, be provided with data acquisition module in interlayer, described data acquisition module comprises and is referred to as gyrostatic angular-rate sensor, acceleration transducer, central processing unit, time generator and a wireless transmission circuit, angular-rate sensor, acceleration transducer is connected to central processing unit by the A/D change-over circuit respectively, central processing unit is connected with the wireless transmission circuit line with time generator.

5. a kind of integrated motion for curling training according to claim 4 is measured and Computer Aided Analysis System, it is characterized in that, described angular-rate sensor and acceleration transducer installation site all are on the rotation central shaft of curling stone.

6. a kind of integrated motion for the curling training according to claim 4 is measured and Computer Aided Analysis System, it is characterized in that, also is provided with the temperature sensor for corrected acceleration sensor and the variation of angular-rate sensor parameter in described interlayer.

7. a kind of integrated motion for the curling training according to claim 4 is measured and Computer Aided Analysis System, it is characterized in that, also be provided with the three axle magnetometers that carry out complementary measurement with angular-rate sensor in described interlayer, the sensitive axis of three axle magnetometers is orthogonal.

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