CN104971483A - Boxing auxiliary training apparatus based on pressure analysis - Google Patents

Abstract

The present invention relates to a boxing auxiliary training apparatus based on pressure analysis. The apparatus comprises a target body three dimensional pressure measuring unit, a boxing glove pressure measuring unit, a pose recognition unit, a speed recognition unit and a sensing system signal processor; the target body three dimensional pressure measuring unit, the boxing glove pressure measuring unit, the pose recognition unit and the speed recognition unit are respectively connected with the sensing system signal processor; the speed recognition unit is used for acquiring hand speed; and the pose recognition unit comprises a waist pressure sensor, a shoulder joint pressure sensor, an elbow joint pressure sensor, a calf muscle pressure tactile sensor and a thigh muscle pressure tactile sensor. By utilization of the three dimensional pressure sensor, force acting on x, y, z directions of a boxing target body can be detected, three dimensional pressure data acting on the target body are used for training guide, scores are improved, and the detection method is convenient and simple.

Description

Based on the boxing supplemental training device of Pressure Analysis

Technical field

The invention belongs to motion supplemental training field, relate to boxing, be specifically related to a kind of boxing supplemental training device based on Pressure Analysis.

Background technology

In the sports events of tae kwon do, boxing, sportsman's stroke can be divided into by compulsory exercise impact target body and arbitrarily impact target body two kinds of situations.Whether time interval when sportsman impacts target between the size and Orientation of power, stroke, impact position be accurate, can both depict the situation of player motion difficulty action accomplishment quantitatively.Allow coach sportsman can be instructed to carry out sentific training according to data.Improve training quality and strengthen warfighting capabilities, therefore having important realistic meaning.

In order to improve the science of tae kwon do, boxer's daily workout, according to the Some features of this kind of athletics sports with it is to some particular/special requirements of sensor characteristics, design a kind of novel three-dimensional force sensor.It can reflect the accuracy at time interval between the size and Orientation of power when mobilizing impact target, stroke, impact position accurately, in real time.

Summary of the invention

In order to overcome the deficiencies in the prior art, the invention provides a kind of boxing supplemental training device based on Pressure Analysis, capacitance pressure transducer, is adopted to gather plantar pressure, by to the drive electrode of capacitance pressure transducer, and the reasonable Arrangement of induction electrode position, and introduce differential capacitor method, the three-dimensional force realized sportsman acts on target body is measured.

Technical scheme of the present invention is: this Force measurement device comprises target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, pose recognition unit, speed recognition unit and sensor-based system signal processor, described target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, pose recognition unit, speed recognition unit is connected with sensor-based system signal processor respectively, described speed recognition unit is for gathering punch speed, described pose recognition unit comprises lumbar pressure sensor, shoulder joint pressure sensor, elbow joint pressure sensor, Calf muscle pressure tactility apparatus and leg muscle pressure tactility apparatus, described target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, lumbar pressure sensor, shoulder joint pressure sensor, elbow joint pressure sensor, Calf muscle pressure tactility apparatus and leg muscle pressure tactility apparatus all adopt groove type capacitive pressure transducer.The described boxing glove pressure measurement cell be arranged in each boxing glove includes ten groups of groove type capacitive pressure transducers and wireless communication unit, described ten groups of groove type capacitive pressure transducers correspond respectively to ten articulations digitorum manus of receipts, and described boxing glove pressure measurement cell carries out signal transmission by wireless communication unit and sensor-based system signal processor.Described data processing unit comprises data filtering units, data sorting unit, Data Fusion unit and Database Unit, described data filtering units is used for the wrong data that filtered sensor gathers, described data sorting unit is classified to the data after filtration, the data of each sensor collection that Data Fusion unit is classified according to data sorting unit are carried out fusion treatment and are exported two-dimensional data table, Database Unit detects data and normal data for storing, and described normal data is the optimal data of boxing target practice index.Described pressure sensor comprises annulus capacitor cell group and strip capacitor cell group, described strip capacitor cell group is arranged on the corner of the outer substrate of annulus capacitor cell group, annulus capacitor cell group comprises two to above annulus capacitor cell pair, described annulus capacitor cell is to comprising two annulus capacitor cells, described strip capacitor cell group comprises X-direction differential capacitor unit group and Y-direction differential capacitor unit group, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include two or more and mutually form differential capacitor cell module, the comb teeth-shaped structure that described capacitor cell module is made up of plural strip capacitor cell, each annulus capacitor cell and strip capacitor cell include the drive electrode of top crown and the induction electrode of bottom crown.

The induction electrode of described each annulus capacitor cell and drive electrode just to and shape is identical, the drive electrode of described each strip capacitor cell is identical with induction electrode width, the drive electrode length of strip capacitor cell is greater than induction electrode length, the drive electrode length two ends reserved left poor position δ respectively of strip capacitor cell _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell.The left poor position δ of described strip capacitor cell _left=right poor position δ _right, and wherein d ₀for elastic fluid thickness, G is the modulus of rigidity of elastic fluid, τ _maxfor maximum stress value.Described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode are provided with the skew that initially misplaces in the width direction, and dislocation bias size is identical, direction is contrary.Described annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitor cells.X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _flatfor the length of parallel-plate, a _{δ bar}for the electrode spacing between adjacent two strip capacitor cells, a ₀the width of strip capacitor cell.The width r of described donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitor cell electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for elastic fluid thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.Described annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, the induction electrode of each annulus capacitor cell of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, and described X-direction differential capacitor unit group is connected with sensor-based system signal processor respectively by a lead-out wire with the capacitor cell module induction electrode of Y-direction differential capacitor unit group.Described annulus capacitor cell, be respectively equipped with intermediate translator between capacitor cell module and sensor-based system signal processor, intermediate translator is for arranging voltage to electric capacity or frequency to the transmission coefficient of electric capacity.Described sensor system signals processor comprises multiple signals high speed commutation circuit, A/D translation circuit and control circuit, described high speed commutation circuit comprises three grades of commutation circuits, the output of previous stage commutation circuit is the input signal of next stage commutation circuit, and afterbody commutation circuit sends into control circuit through A/D translation circuit.

The present invention has following good effect: utilize three-dimensional force pressure sensor, and can detect the power acting on x, y, z three directions on boxing target body, the three-dimensional pressure data acted on target body are used for training guidance, and assay method is convenient and simple.In addition, sensor of the present invention can simultaneous measurement method to power and tangential force, highly sensitive, pole plate utilization ratio is high, and whole annulus capacitor cell group is all made contributions to normal force, and has good dynamic property.

Accompanying drawing explanation

Fig. 1 is the donut skew dislocation areal analysis figure of the specific embodiment of the present invention.

Fig. 2 be the specific embodiment of the present invention for the dislocation of outer donut is to external diameter circle analysis chart.

Fig. 3 is the plane design drawing of the parallel plate capacitor of the specific embodiment of the present invention.

Fig. 4 is the structure chart of the drive electrode of the specific embodiment of the present invention.

Fig. 5 is the rectangular coordinate system of the capacity plate antenna plate of the specific embodiment of the present invention.

Fig. 6 is two groups of annulus capacitance group structure charts of the specific embodiment of the present invention.

Fig. 7 is the initial dislocation figure of the differential strip capacitor cell of the specific embodiment of the present invention.

Fig. 8 is the stressed rear deflection graph of differential strip capacitor cell of the specific embodiment of the present invention.

Fig. 9 is the differential schematic diagram of signal that the cell capacitance of the specific embodiment of the present invention is right.

Figure 10 is the plane-parallel capacitor cross-section structure of the specific embodiment of the present invention.

Wherein, 1, upper PCB substrate, 2, lower PCB substrate, 3, drive electrode, 4, induction electrode, 5, elastic fluid.

Detailed description of the invention

Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and operation principle, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.

Main thought of the present invention is: Boxing dummy distribution in vivo is provided with multiple pressure sensor, pressure sensor is used for detecting three-dimensional force when boxing, the capacitance interval read by computer judges the frequency of boxing, each sensor is numbered, by the position one_to_one corresponding of sensor number with boxing target body, carry out impact position analysis of the accuracy.

Measurement mechanism of the present invention comprises target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, pose recognition unit, speed recognition unit and sensor-based system signal processor, described target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, pose recognition unit, speed recognition unit is connected with sensor-based system signal processor respectively, described speed recognition unit is for gathering punch speed, described pose recognition unit comprises lumbar pressure sensor, shoulder joint pressure sensor, elbow joint pressure sensor, Calf muscle pressure tactility apparatus and leg muscle pressure tactility apparatus, described target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, lumbar pressure sensor, shoulder joint pressure sensor, elbow joint pressure sensor, Calf muscle pressure tactility apparatus and leg muscle pressure tactility apparatus all adopt groove type capacitive pressure transducer.

The described boxing glove pressure measurement cell be arranged in each boxing glove includes ten groups of groove type capacitive pressure transducers and wireless communication unit, described ten groups of groove type capacitive pressure transducers correspond respectively to ten articulations digitorum manus of receipts, and described boxing glove pressure measurement cell carries out signal transmission by wireless communication unit and sensor-based system signal processor.

Described data processing unit comprises data filtering units, data sorting unit, Data Fusion unit and Database Unit, described data filtering units is used for the wrong data that filtered sensor gathers, described data sorting unit is classified to the data after filtration, the data of each sensor collection that Data Fusion unit is classified according to data sorting unit are carried out fusion treatment and are exported two-dimensional data table, Database Unit detects data and normal data for storing, and described normal data is the optimal data of boxing target practice index.According to each data gathering impact boxing, and fusion treatment is carried out to data, promote the precision that boxing is analyzed further.All groove type capacitive pressure transducers are all connected in data processing unit after amplifier through A/D conversion.

Described sensor comprises annulus capacitor cell group and strip capacitor cell group, described annulus capacitor cell group is for surveying the size of tangential force and normal force, institute's strip capacitor cell group is for measuring the direction of tangential force, and described strip capacitor cell group is arranged on the corner outside substrate annulus capacitor cell group.Annulus capacitor cell group comprises annulus capacitor cell pair more than two, described annulus capacitor cell is to comprising two annulus capacitor cells, described strip capacitor cell group comprises X-direction differential capacitor unit group and Y-direction differential capacitor unit group, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include two or more and mutually form differential capacitor cell module, described capacitor cell module adopts the comb teeth-shaped structure be made up of plural strip capacitor cell, each annulus capacitor cell and strip capacitor cell include the drive electrode of top crown and the induction electrode of bottom crown.The induction electrode of described each annulus capacitor cell and drive electrode just to and shape is identical, the drive electrode of described each strip capacitor cell is identical with induction electrode width, the drive electrode length of strip capacitor cell is greater than induction electrode length, the drive electrode length two ends reserved left poor position δ respectively of strip capacitor cell _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell.The left poor position δ of described strip capacitor cell _left=right poor position δ _right, and wherein d ₀for dielectric thickness, G is the modulus of rigidity of elastic fluid, τ _ymaxfor maximum stress value.Described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode are provided with the skew that initially misplaces in the width direction, and dislocation bias size is identical, direction is contrary.Described annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitance.Described capacitor cell module adopts comb teeth-shaped structure, and X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _flatfor the length of parallel-plate, a _{δ bar}for the electrode spacing between adjacent two strip capacitor cells, a ₀the width of strip capacitor cell.The width r of described donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitor cell electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for dielectric thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.Described annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, the induction electrode of each annulus capacitor cell of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, and described X-direction differential capacitor unit group is drawn each via a lead-out wire respectively with the capacitor cell module induction electrode of Y-direction differential capacitor unit group and is connected with sensor-based system signal processor.Described annulus capacitor cell, be respectively equipped with intermediate translator between capacitor cell module and sensor-based system signal processor, converter is for arranging voltage or frequency to the transmission coefficient of electric capacity.

Below in conjunction with accompanying drawing 1-10 to derivation of the present invention and principle, to effect and operation principle, manufacturing process and the operation using method etc. of the mutual alignment between each several part shape, structure, each several part and annexation, each several part, be described in further detail.

1.1 capacitance equation and input-output characteristic thereof

The initial capacitance of parallel-plate is:

$C_0=\frac{{\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\·A_0}{d_0}---\left(1\right)$

In formula, ε ₀vacuum medium electric constant is 8.85PF/m, ε _r=2.5 is dielectric relative dielectric constant, A ₀for the initial right opposite of upper bottom crown amasss.D ₀by σ _nexcitation produce relative deformation ε _n=δ _n/ d ₀=σ _n/ E, (1) formula of substitution obtains input-output characteristic

$C_n={\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\frac{A_0}{d_0(1-{\mathrm{\ϵ}}_n)}={\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\frac{A_0}{d_0\left(1-\frac{F_n}{AE}\right)}---\left(2\right)$

The linearity under 1.2 normal stress effects and sensitivity

1.2.1 the normal direction linearity

(2) F in formula _nin the denominator, therefore C _n=f (F _n) relation be nonlinear.Because of the maximum σ in conversion range _nmaxcompared with dielectric resilient constant E, ε _na very little amount, i.e. ε in denominator _n<<1, omits the higher-order shear deformation of more than quadratic power by (2) formula by series expansion, can be reduced to:

$C_n=C_0(1+\mathrm{\&epsiv;})=C_0(1+\frac{F_n}{A\&CenterDot;E})---\left(3\right)$

Visible at C _nwith F _ntransfer characteristic in the maximum relative error of the normal direction linearity close to zero.

1.2.2 sensitivity

By the definition of normal direction sensitivity

By (2) formula then

$s_{n2}=\frac{{\mathrm{dC}}_n}{{\mathrm{dF}}_n}=C_0\&CenterDot;\frac{1}{1-2\mathrm{\&epsiv;}}=C_0\&CenterDot;\frac{1}{1-2\frac{F_n}{A\&CenterDot;E}}---\left(4\right)$

Can linear sensitivity be obtained by (3) formula,

S _n1＝C ₀/AE＝ε ₀ε _r/d ₀E (5)

S _n2with F _nand become, F _nlarger, S _n2larger, in mild nonlinear in whole transfer characteristic.

Relation between 1.3 tangential displacements and annulus capacitor effective area

For donut electric capacity to analyzing, as shown in Figure 1, R ₁for exradius, R ₂for inner circle radius, r=annular width=large exradius R ₁-inner circle radius R ₂.To the power F on drive electrode tangent plane _x, cause drive electrode corresponding up and down and induction electrode to produce one and shear dislocation, if d _xfor tangent plane displacement, dislocation area is S _inand S _outward, the initial right opposite of battery lead plate is long-pending should be π (R ₁ ²-R ₂ ²).Fig. 2 is that outer donut electric capacity justifies analysis chart to external diameter, and before and after mobile, two distance of center circle are from being d _x, before and after mobile, the intersection point of two centers of circle and two circles forms a rhombus, can calculate S _outwardarea:

In above formula, there is d _x<<R ₁, so get

By

Will taylor series expansion, and omit high-order term,

In like manner, can know, so the wrong area of donut electric capacity is S=2R ₁d _x+ 2R ₂d _x.

The capacitance variations of the annulus capacitor cell group under 1.4 tangential stress τ excitations

Tangential stress τ does not change the physical dimension parameter A of pole plate ₀, to dielectric thickness d ₀also do not have an impact.But τ _xand τ _ychange the space structure of plane-parallel capacitor, between the upper bottom crown faced by forward, there occurs dislocation skew.The dislocation offset d of pole plate under τ effect _x.When τ is zero, the upper/lower electrode of annulus capacitor cell is just right, effective cross-section between upper/lower electrode in fig. 2, at τ _xunder the effect of dextrad, top crown creates dislocation offset d to the right relative to bottom crown _x, thus make the effective area between bottom crown when calculating electric capacity consequent electric capacity is:

$C_{\mathrm{\&tau;}x}=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;({\mathrm{\&pi;R}}_1^2-{\mathrm{\&pi;R}}_2^2-2R_1{d}_x-2R_2{d}_x)}{d_0}---\left(6\right)$

According to shearing Hooke's law

τ _x＝γ _x·G＝G·δ _x/d ₀(7)

(7) are substituted into (6) can obtain

$C_{\mathrm{\&tau;}x}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;2(R_1+R_2)d_x}{d_0}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;2(R_1+R_2)F_x}{A_{\mathrm{\&tau;}}G}=C_0-\frac{2{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r{F}_x}{G\mathrm{\&pi;}(R_1-R_2)}---\left(8\right)$

(8) formula is the input-output characteristics under shearing stress, C _τwith τ _xlinear, its sensitivity

$s_{\mathrm{\&tau;}x}=\frac{{\mathrm{dC}}_{\mathrm{\&tau;}}}{{\mathrm{dF}}_x}=\frac{2{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{G\mathrm{\&pi;}(R_1-R_2)}---\left(9\right)$

Tangential sensitivity and R can be found out by formula (9) ₁-R ₂relevant, namely the width of tangential sensitivity and annulus is inversely proportional to, and width more sluggishness is higher.

The design of 2 plate condensers

The design of 2.1 plate condensers

Arrange and the structure chart of Fig. 4 drive electrode, at a 10 × 10mm see the electrode plane in Fig. 3 ²substrate on a kind of circular ring type contact parallel-plate three-dimensional pressure sensor, sensor comprises annulus capacitor cell group and strip capacitor cell group, annulus capacitor cell group is for surveying the size of tangential force and normal force, strip capacitor cell group is for measuring the direction of tangential force, and strip capacitor cell group is arranged on the corner outside substrate annulus capacitor cell group.Effectively can use the area of parallel-plate like this, annulus capacitor cell group is paved with whole parallel-plate, when measuring three-dimensional force, all work, and strip capacitor cell group effectively make use of annulus capacitor cell group lay after, the space of parallel-plate corner, for measuring the direction of three-dimensional force tangential force.The drive electrode of annulus capacitor cell group and induction electrode are all made up of n donut, and n is even number, then form n/2 annulus capacitor cell pair.Hachure part represents the outer mode cross section of wax-loss casting process, and its geometry and size also should keep accurate when mechanical-moulded.

With reference to the rectangular coordinate system of the capacity plate antenna of Fig. 5, coordinate system origin is at the concentric circles initial point of annulus capacitor cell group, x-axis and y-axis are respectively along the diagonal of capacity plate antenna, X-direction differential capacitor unit group comprises X-direction differential capacitor unit group I and X-direction differential capacitor unit group III, X-direction differential capacitor unit group I and X-direction differential capacitor unit group III lay respectively at the positive and negative semiaxis of x-axis and symmetrical along y-axis, Y-direction differential capacitor unit group comprises Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV, Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV lay respectively at the positive and negative semiaxis of y-axis and symmetrical along x-axis, X-direction differential capacitor unit group I and X-direction differential capacitor unit group III are formed τ _xmake the differential capacitor unit combination of response, Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV are formed τ _ymake the differential capacitor unit combination of response.

Annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitance.Capacitor cell module adopts comb teeth-shaped structure, and X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _{δ bar}for being provided with electrode spacing, a between adjacent two strip capacitor cells ₀the width of strip capacitor cell.The width r of donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitance electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for dielectric thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.

2.2 pumping signals and coordinate system

Annulus capacitor cell is placed in the rectangular coordinate system shown in Fig. 5, three-dimensional simulation puts on the outer surface of capacitor plate, the contact active force produced has Fx, Fy and Fz tri-durection components, and the action direction of Fx and Fy is along X-axis and Y-axis, and the action direction of Fz along OZ axle namely direction, normal direction and tangential stress are a kind of stress tensor, from can the response of output capacitance between the lead-in wire of electrode; Normal stress σ _n=Fn/A, wherein for pole plate normal direction stress surface, Fn=Fz is normal component; Both side surface produces paired tangential stress τ _cut=F _cut/ A.

According to the Hooke's law in Elasticity, σ _nand τ _x, τ _yelastomer all will be made to produce corresponding distortion.Wherein,

${\mathrm{\&sigma;}}_n=E\&CenterDot;{\mathrm{\&epsiv;}}_n=E\&CenterDot;{\mathrm{\&delta;}}_n/d_0=\frac{F_n}{A}$

In formula, E is the Young's modulus GN/m of elastic fluid ², G is the modulus of rigidity GN/m of elastic fluid ², δ n is the Normal Displacement (unit: μm) of elastic fluid, and δ x and δ y is the relative dislocation (unit: μm) of the upper and lower two-plate of annulus capacitor cell, and its sign is pointed to by reference axis and determined.

The calculating of 2.3 normal force and tangential force size

Choosing the n-th annulus capacitor cell and the n-th/2 annulus capacitor cell, by setting up annulus capacitor cell, composition equation group being calculated, as shown in Figure 6.If after battery lead plate is subject to normal direction and tangential incentive action, if the output capacitance of the n-th annulus capacitor cell is C ₁, n/2 annulus capacitor cell output capacitance is C ₂, tangential displacement is d _x, the capacitance pole distance of normal direction is d _n, S ₁₀the right opposite initial for outer shroud amasss, S ₂₀the right opposite initial for inner ring amasss.

$C_1=\frac{\mathrm{\&epsiv;}(S_{10}-S1)}{d_n}=\frac{\mathrm{\&epsiv;}({\mathrm{\&pi;R}}_1^2-{\mathrm{\&pi;R}}_2^2)}{d_n}-\frac{\mathrm{\&epsiv;}(2R_1{d}_x+2R_2{d}_x)}{d_n}$ ①

$C_2=\frac{\mathrm{\&epsiv;}(S_{20}-S2)}{d_n}=\frac{\mathrm{\&epsiv;}({\mathrm{\&pi;r}}_1^2-{\mathrm{\&pi;r}}_2^2)}{d_n}-\frac{\mathrm{\&epsiv;}(2r_1{d}_x+2r_2{d}_x)}{d_n}$ ②

Will obtain:

$C_1-C_2*\frac{R_1+R_2}{r_1+r_2}=\frac{\mathrm{\&epsiv;}\mathrm{\&pi;}(R_1^2-R_2^2)}{d_n}-\frac{R_1+R_2}{r_1+r_2}*\frac{\mathrm{\&epsiv;}\mathrm{\&pi;}(r_1^2-r_2^2)}{d_n}$

If in above formula $\frac{R_1+R_2}{r_1+r_2}=K,$ Then $d_n=\frac{\mathrm{\&epsiv;}(S_{10}-{\mathrm{KS}}_{20})}{C_1-{\mathrm{KC}}_2}$

According to $d_n=d_0-\mathrm{\&Delta;}d=d_0(1-\frac{F_n}{E\&CenterDot;S_0})$

Known: $F_n=\frac{(d_n-d_0)E\&CenterDot;S_0}{d_0}$

Above-mentioned is incited somebody to action 1. * C ₂-2. * C ₁obtain:

$d_x=\frac{C_2{S}_{10}-C_1{S}_{20}}{2C_2(R_1+R_2)-2C_1(r_1+r_2)};$

By $\mathrm{\&gamma;}=\frac{\mathrm{\&tau;}}{G}=\frac{F_{\mathrm{\&tau;}}}{G\&CenterDot;S_0}=\frac{d_x}{d_0}=\frac{C_2{S}_{10}-C_1{S}_{20}}{d_{0}2C_2(R_1+R_2)-d_{0}2C_1(r_1+r_2)},$ So F _τfor

$F_{\mathrm{\&tau;}}=\frac{(C_2{S}_{10}-C_1{S}_{20})\&CenterDot;G\&CenterDot;S_0}{d_{0}2C_2(R_1+R_2)-d_{0}2C_1(r_1+r_2)}$

The direction determining of 2.4 tangential forces

2.4.1 strip capacitor cell group shape structure and parameter design

In order to realize τ _xand τ _ybetween tangential response mutually do not have an impact, drive electrode length two ends reserved difference position δ ₀, therefore b _{0 drives}=b _{0 end}+ 2 δ ₀, wherein at b _{0 drives}two ends length is reserved should be ensured in theory its calculated value is ${10}^{-5}\&times;\frac{70\&times;{10}^3}{2.4\&times;{10}^6}=2.9\&times;{10}^{-8}m={10}^{-2}um<<1um,$ Therefore should b be ensured in technique _{0 drives}-b _{0 end}>=0.01mm.In order to realize τ _xand τ _ydo not have an impact to the response of normal direction electric capacity, the drive electrode of each strip capacitor cell and induction electrode arrange certain dislocation in horizontal layout and offset, on by differential elimination impact each other.

As shown in Figure 4, in figure, four dashed rectangle are the benchmark of induction electrode on bottom crown, get the position of induction electrode in lower floor's PCB substrate as reference, then the layout of drive electrode in the PCB substrate of upper strata should with PCB substrate edge line for benchmark.Each strip capacitor cell comprises the drive electrode of top crown and the induction electrode of bottom crown, if often root strip capacitor cell is wide is a ₀, the groove width between two strip capacitor cells is a _δ, then the pitch of every root strip capacitor cell is a ₀+ a _δ.τ can be ensured like this when computing method exports response to electric capacity _xand τ _ythe response of normal direction electric capacity is not had an impact.And put they and geometry datum line differential apart from being δ ₀(0.1mm), to ensure that X-direction differential capacitor unit group I and X-direction differential capacitor unit group III produce τ _xdifferential capacitor export response, Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV then only produce τ _ydifferential capacitor response, an initially dislocation skew δ is set _xo, its value should ensure its calculated value and δ ₀similar, its skew that initially misplaces all arranges δ _xo=δ _yo=0.01mm, to ensure that four capacitor cells are at τ _xand τ _ytwo groups of differential capacitors pair can be produced under tangential excitation.

In Fig. 7, a pair electric capacity C _land C _relectrode size a ₀, b ₀, d ₀all identical, initial dislocation skew δ ₀also identical, difference is left side capacitor C _lupper strata δ ₀wedge angle be oriented to+OX, and the right capacitor C _rupper strata δ ₀wedge angle sensing-OX.Work as τ _xwhen=0, namely the electric capacity in figure corresponding to dash area.On this basis, as at-F _xlower generation ± the δ of excitation _xdislocation skew, formed as shown in Figure 8 electric capacity increase and decrease effect,

$C_L=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;b_0\&CenterDot;(a_0-{\mathrm{\&delta;}}_0\&PlusMinus;{\mathrm{\&delta;}}_x)}{d_0}---\left(10\right)$

In Fig. 8, C _land C _rdifferential capacitor is to same τ _xby generation ± δ _xwith ± △ C _τresponse, δ ₀size should meet desirable δ ₀=10 μm, thus, formula (8) can be revised as

$C_{\mathrm{\&tau;}x}=c_{\mathrm{\&tau;}0}\&PlusMinus;\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{{\mathrm{Ga}}_0}{F}_x---\left(11\right)$

In formula, for initial capacitance when shearing stress is zero, (11) formula is shearing stress input-output characteristic, C _{τ x}with F _xlinear relationship, and its sensitivity

By formula (11) known a ₀less, the sensitivity of tangential stress response is larger, therefore capacitor cell of the present invention adopts the strip capacitor cell group be made up of multiple strip electric capacity.

2.4.2 tangential stress direction calculating

C _ito C _iIand C _iIIto C _iVtwo can be realized to differential combination, the differential schematic diagram of the signal that the cell capacitance as Fig. 9 is right, through differential technique process, the overall response of differential output

$O_{\mathrm{\&tau;}x}=\frac{2{\mathrm{mK\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{a_{0}G}{F}_x$

In formula, no matter be normal direction excitation F _nor tangentially encourage F _yall not to O _τhave an impact, namely automatically eliminate σ _nand τ _yto τ _xthe coupling of total output or interference.Comprise at signal because every in the computing of subtracting each other, equivalent and the same capacitance variations met are eliminated all automatically.And F _yand F _xto σ _ninterference by upper electrode at b ₀direction increases geometrical length 2 δ ₀eliminate.

In like manner, $O_{\mathrm{\&tau;}y}=\frac{2{\mathrm{mK\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{a_{0}G}{F}_y;$

According to O _{τ x}and O _{τ y}value calculate the direction of tangential force.

2.4 main material selection and characterisitic parameter thereof

The section of structure of plane-parallel capacitor is similar to sandwich structure as shown in Figure 10.As shown in Figure 10,1 is upper PCB substrate, and 2 is lower PCB substrate, and 3 is drive electrode, and 4 is induction electrode, and 5 is elastic fluid.Pole plate is apart from d ₀=0.1mm, upper and lower base plate inner space, except copper foil electrode, is PDMS (dimethyl silicone polymer) the superlastic dielectric with lost wax process filling.Its machinery and physical characteristic parameter are Young's modulus E=6.2MPa, and its shear modulus is G=4.1MPa, relative permittivity ε during dielectric polorization _γ=2.5.Because E and G of medium is much smaller than the elastic modulus E of copper _copper=103GPa, therefore the distortion of capacitor internal medium under stress state is much larger than the distortion of pole plate.

2.5 contact conductor designs

Be that drive electrode or induction electrode all need to have lead-out wire, consider that each drive electrode is all ground connection in signal level, therefore drive electrode only need share same lead-out wire.Annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, each annulus of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, sensor-based system signal processor calculates according to the output valve independent assortment of each annulus, carry out being averaging the size and normal force size that draw tangential force afterwards, when required precision is not high, annulus capacitor cell group can only select two optimum annulus to draw 2 lead-in wires, obtains d by these two annulus _xand d _n, thus draw size and the normal force size of tangential force; X-direction differential capacitor unit group and Y-direction differential capacitor unit group are drawn each via a lead-out wire respectively and are connected with sensor-based system signal processor, for calculating the direction of tangential force.Be provided with intermediate translator between described sensor-based system signal processor and capacitor cell, converter is for arranging voltage or frequency to the transmission coefficient of electric capacity.Whole capacitance component has at least 7 pins and draws from the side of planar package, so that whole assembly top and bottom outer surface can contact with measuring object easily.

The present invention, under the support of new material and new technology, completes the design of a kind of novel three-dimensional power sensitization capacitance combination.At 10 × 10mm ²stress surface on, be no matter normal direction or tangential, all can transmit stress more uniformly to medium.In the contact of non-coplanar force and sensor surface, external force only has 1, can obtain normal direction F to electric capacity summation _ninformation, namely whole battery lead plate is all to asking F _ncontribute, can F be obtained again simultaneously _xand F _yinformation, thus complete description three-dimensional force, can improve the normal direction sensitivity and tangential sensitivity and maximum linear error once changed by design parameter.

Due in shadowbox process, the frequency of boxing may have several times a second, therefore, requires that sample rate is higher.The signal of pressure sensor is gathered with multiple signals high speed commutation circuit, A/D translation circuit and control circuit, in order to save A/D translation circuit, the measurement of multichannel pressure sensor is completed with a road A/D translation circuit, multiple signals high speed commutation circuit and control circuit are the design key of system, and switch speed has influence on the data volume of testing in of short duration boxing process.The Acquisition Circuit of the present invention's design carries out signal switching to No. 256 sensors simultaneously.From the control system of control circuit after local shaping, divide three grades to switch, the first order uses 32 8 road switch concurrent workings, export 32 road signals, 32 road signals enter second level switch, adopt 48 road switch concurrent workings, obtain 4 road signals, this 4 road signal enters third level switch, obtains 1 road signal, enters A/D translation circuit.Data are read in computer temporary by A/D translation circuit in conversion process, and after all digital independent complete, preservation in a computer.

In the use procedure of reality, sensor is numbered, the position one_to_one corresponding of the three-dimensional force utilizing computer to be recorded by each sensor and corresponding boxing target body, and by the time interval of twice electric capacity catastrophe point, the frequency of boxing can be extrapolated.

Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.

Claims (10)

1. the boxing supplemental training device based on Pressure Analysis, it is characterized in that, this Force measurement device comprises target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, pose recognition unit, speed recognition unit and sensor-based system signal processor, described target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, pose recognition unit, speed recognition unit is connected with sensor-based system signal processor respectively, described speed recognition unit is for gathering punch speed, described pose recognition unit comprises lumbar pressure sensor, shoulder joint pressure sensor, elbow joint pressure sensor, Calf muscle pressure tactility apparatus and leg muscle pressure tactility apparatus, described target body three-dimensional pressure measuring unit, boxing glove pressure measurement cell, lumbar pressure sensor, shoulder joint pressure sensor, elbow joint pressure sensor, Calf muscle pressure tactility apparatus and leg muscle pressure tactility apparatus all adopt groove type capacitive pressure transducer.

2. boxing supplemental training device according to claim 1, it is characterized in that, the described boxing glove pressure measurement cell be arranged in each boxing glove includes ten groups of groove type capacitive pressure transducers and wireless communication unit, described ten groups of groove type capacitive pressure transducers correspond respectively to ten articulations digitorum manus of receipts, and described boxing glove pressure measurement cell carries out signal transmission by wireless communication unit and sensor-based system signal processor.

3. boxing supplemental training device according to claim 1, it is characterized in that, described data processing unit comprises data filtering units, data sorting unit, Data Fusion unit and Database Unit, described data filtering units is used for the wrong data that filtered sensor gathers, described data sorting unit is classified to the data after filtration, the data of each sensor collection that Data Fusion unit is classified according to data sorting unit are carried out fusion treatment and are exported two-dimensional data table, Database Unit detects data and normal data for storing, described normal data is the optimal data of boxing target practice index.

4. boxing supplemental training device according to claim 1, it is characterized in that, described groove type capacitive pressure transducer comprises annulus capacitor cell group and strip capacitor cell group, described strip capacitor cell group is arranged on the corner of the outer substrate of annulus capacitor cell group, annulus capacitor cell group comprises two to above annulus capacitor cell pair, described annulus capacitor cell is to comprising two annulus capacitor cells, described strip capacitor cell group comprises X-direction differential capacitor unit group and Y-direction differential capacitor unit group, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include two or more and mutually form differential capacitor cell module, the comb teeth-shaped structure that described capacitor cell module is made up of plural strip capacitor cell, each annulus capacitor cell and strip capacitor cell include the drive electrode of top crown and the induction electrode of bottom crown.

5. boxing supplemental training device according to claim 4, it is characterized in that, the induction electrode of described each annulus capacitor cell and drive electrode just to and shape is identical, the drive electrode of described each strip capacitor cell is identical with induction electrode width, the drive electrode length of strip capacitor cell is greater than induction electrode length, the drive electrode length two ends reserved left poor position δ respectively of strip capacitor cell _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell, the left poor position δ of described strip capacitor cell _left=right poor position δ _right, and wherein d ₀for elastic fluid thickness, G is the modulus of rigidity of elastic fluid, τ _maxfor maximum stress value.

6. boxing supplemental training device according to claim 4, it is characterized in that, described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode are provided with the skew that initially misplaces in the width direction, and dislocation bias size is identical, direction is contrary.

7. boxing supplemental training device according to claim 4, is characterized in that, described annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}for the electrode spacing between adjacent two annulus capacitor cells, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _flatfor the length of parallel-plate, a _{δ bar}for the electrode spacing between adjacent two strip capacitor cells, a ₀the width of strip capacitor cell, the width r of described donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitor cell electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for elastic fluid thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.

8. boxing supplemental training device according to claim 4, it is characterized in that, described annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, the induction electrode of each annulus capacitor cell of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, and described X-direction differential capacitor unit group is connected with sensor-based system signal processor respectively by a lead-out wire with the capacitor cell module induction electrode of Y-direction differential capacitor unit group.

9. boxing supplemental training device according to claim 4, it is characterized in that, described annulus capacitor cell, be respectively equipped with intermediate translator between capacitor cell module and sensor-based system signal processor, intermediate translator is for arranging voltage to electric capacity or frequency to the transmission coefficient of electric capacity.

10. boxing supplemental training device according to claim 4, it is characterized in that, described sensor system signals processor comprises multiple signals high speed commutation circuit, A/D translation circuit and control circuit, described high speed commutation circuit comprises three grades of commutation circuits, the output of previous stage commutation circuit is the input signal of next stage commutation circuit, and afterbody commutation circuit sends into control circuit through A/D translation circuit.