CN103127686B - Comprehensive training for the sport of curling one kind of measurement and analysis system for aid - Google Patents

Comprehensive training for the sport of curling one kind of measurement and analysis system for aid Download PDF

Info

Publication number
CN103127686B
CN103127686B CN 201310084917 CN201310084917A CN103127686B CN 103127686 B CN103127686 B CN 103127686B CN 201310084917 CN201310084917 CN 201310084917 CN 201310084917 A CN201310084917 A CN 201310084917A CN 103127686 B CN103127686 B CN 103127686B
Authority
CN
China
Prior art keywords
curling
wireless
data
node
ice
Prior art date
Application number
CN 201310084917
Other languages
Chinese (zh)
Other versions
CN103127686A (en
Inventor
肖书明
陈骐
宣华
王恭
王建明
王学峰
Original Assignee
国家体育总局体育科学研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国家体育总局体育科学研究所 filed Critical 国家体育总局体育科学研究所
Priority to CN 201310084917 priority Critical patent/CN103127686B/en
Publication of CN103127686A publication Critical patent/CN103127686A/en
Application granted granted Critical
Publication of CN103127686B publication Critical patent/CN103127686B/en

Links

Abstract

本发明涉及一种用于冰壶运动训练的综合运动测量与辅助分析系统。 The present invention relates to an integrated motion analysis and the auxiliary measuring system for curling exercise. 包括:中央控制计算机、无线网关、蹬踏力节点、刷冰频率节点、冰壶节点、人体运动参数节点、掷壶手心率节点、光电测速节点、图像采集节点;蹬踏力节点、刷冰频率节点、冰壶节点、人体运动参数节点、光电测速节点通过无线网关连接中央控制计算机,图像采集节点有线连接至中央控制计算机。 Comprising: a central control computer, a wireless gateway node pedaling force, the frequency of ice brush node, curling node, node human motion parameters, heart rate hand throwing pots nodes, optical nodes speed, the image acquisition nodes; pedaling force node, node brush ice frequency, curling nodes, nodes human motion parameters, a photoelectric tachometer connected to the central node via wireless gateway control computer, the image acquisition nodes wired connected to the central control computer. 本发明提供了一套完整的冰壶运动训练的数据采集分析系统,整体结构简洁,可以在运动员的完成真实动作的同时完成运动测量和辅助分析,从而可以有效地集成到运动队现场训练的过程中。 The present invention provides a process of a complete set of the training of Curling data acquisition and analysis system, the overall structure is simple, can be done motion measurement and analysis while completing secondary real action athletes, which can be effectively integrated into a sports team training site in. 从而为运动员相关技术的科学优化以及比赛战术的深入分析和改进提供支持,提升各个冰壶队的技术和战术水平。 To provide support for further scientific analysis and optimization tactics game players and related technology to improve and enhance the level of individual technical and tactical curling team.

Description

一种用于冰壶运动训练的综合运动测量与辅助分析系统 Comprehensive training for the sport of curling one kind of measurement and analysis system for aid

技术领域 FIELD

[0001] 本发明涉及体育运动数据采集领域,特别涉及一种用于冰壶运动训练的综合运动测量与辅助分析系统。 [0001] The present invention relates to a sports field of data acquisition, in particular, it relates to an integrated motion analysis and the auxiliary measuring system for curling exercise.

背景技术 Background technique

[0002] 冰壶是一种以队为单位在冰上进行的投掷性比赛项目,又是一种技巧主导类表现准确性项群项目,良好的技术能力是获得胜利的关键。 [0002] Curling is a kind of team as a unit in the ice of throwing events, but also a key skill dominant class group project performance accuracy, good technical ability is the key to victory. 要获得良好的技术能力,冰壶运动员必须对自己的动作进行反复优化完善。 To get good technical ability, curling athletes must be repeated optimize the sound for their actions. 客观的观察和分析手段是对运动员技术动作进行有效的优化完善的前提,特别是对于高水平的运动员,如果能够获得关于运动员技术动作的完全可靠、精确且客观的信息,并进行及时快速的反馈,则非常有利于运动员获得理想的运动技能。 Objective observation and analysis of the technical means are action athletes perfect premise effective optimization, especially for high-level athletes, if we can get on technical movements of athletes completely reliable, accurate and objective information, rapid and timely feedback , it is very beneficial to get a good motor skills athletes.

[0003] 典型的场景有:1.针对于掷壶动作,总的指导思想是运动员以适度的速度和力量掷出冰壶,同时保持动作的稳定性和身体的平衡性。 [0003] Typical scenarios are: 1 for action to throw pots, general guiding principle is the athlete at a moderate speed and power throw curling while maintaining the stability and balance of the action of the body. 但是,由于掷壶是一个高度技巧性的动作,诸如运动员体能状况、身体姿势、重心变化、力量运用等很多因素均会影响掷壶的最终结果。 However, due to the action throwing pot it is a highly technical nature, such as the physical condition of athletes, body posture, center of gravity changes, the use of force, and many other factors will affect the final outcome of throwing pots. 即使对于最终的结果一掷出的冰壶,在很多情况下单靠人工判断其运动情况是不够的,一些决策依赖于对其精确运动参数的了解。 Even for the final throw of the curling a result, in many cases rely on human judgment that movement is not enough, some of the decisions depend on accurate understanding of their motion parameters. 此外,掷壶过程中掷壶手会承受巨大的心理压力,因此其心理状况又会影响运动员的技术水平发挥。 In addition, the process of throwing pots pot throwing hand will be under enormous psychological pressure, so the psychological status would affect the technical level of athletes play. 这些因素交叉在一起,使得精确评价运动员某次掷壶动作的成功程度变得很难,也更难深入地分析本次掷壶的成功(或失误) 的真正原因。 These factors intersect together so that the degree of success of a particular action of throwing pots precise evaluation of athletes become difficult, more difficult in-depth analysis of this throwing pots of success (or failure) of the real reason. 并且,数据获取手段本身能达到的水平,也会对训练效果产生影响。 Also, the data acquisition means to achieve their own level, it will have an impact on the training effect. 对运动员进行信息反馈通常对时效性要求很高,理想的反馈形式应该是实时反馈(镜面化训练), 反馈只有能够跟上运动员连续不间断训练的节奏,才能最大化地帮助运动员改进自己的动作。 Feedback on athletes usually timeliness demanding, the ideal form of feedback should be real-time feedback (mirror-training), feedback can only keep up with the training of athletes uninterrupted rhythm, in order to maximize the help athletes improve their action . 2.针对于刷冰动作,每个运动员的冰刷相对于冰壶的位置、刷冰的力量、刷冰的频率等参数的变化,都会改变冰壶的运动参数。 2. For the operation of the brush ice, each player with respect to the ice curling brush, brush ice change parameter power brush ice frequency, will change the curling motion parameters. 对这些参数的影响的细致分析,也已经超出了人类观察和理解力的极限,急需工程界提供相应的技术手段,来提高对刷冰技术动作的认识和应用能力。 Detailed analysis of the impact of these parameters, but also beyond the limits of human observation and understanding of the urgent need to provide engineering technical means, to raise awareness and ability to brush the ice of technical movements.

[0004] 对于类似于冰壶训练中相关参数实时获取的问题,目前通常采用如下两种方法来解决。 [0004] For similar question curling training relevant parameters obtained in real time, now commonly used the following two methods to resolve. 第一种方法是采用运动捕捉系统。 The first method is to use a motion capture system. 运动捕捉系统通过捕捉目标物体所具有的光、声音、电磁波等特征信号,可以实时地获得目标物体的位置、速度等运动参数。 Motion capture system parameter position by capturing light, sound, electromagnetic waves having a characteristic signal of the target object, the target object can be obtained in real time, speed and the like. 目前的运动捕捉系统可以大致分为机械式跟踪系统,电磁式跟踪系统,声学跟踪系统和光学式跟踪系统。 The present motion capture system can be roughly divided into mechanical tracking systems, electromagnetic tracking system, an acoustic tracking system and an optical tracking system. 这些系统的精度、延迟、更新率、有效跟踪范围各不相同,其中最典型的是光学式运动捕捉系统,目前已经成功应用在从虚拟现实、体育到医学等多种场合。 The accuracy of these systems, delay, update rate, effective tracking range is different, which is the most typical optical motion capture system has been successfully applied in the virtual reality, to sport a variety of medical and other occasions. 但是这些系统或技术均存在时间延迟大,或者有效工作范围小、价格昂贵、友善性差等问题,因此无法应用在冰壶运动参数获取的场合。 But these systems or techniques are time delay is large or small effective working range, expensive, friendly and poor, and therefore can not be applied in the case of curling parameters obtained. 第二种是采用专门的多参数测试仪,主要用来获取所关心的人体生理学(或心理学)参数、动力学参数。 The second is the use of a special multi-parameter test instrument, mainly used to obtain human physiology of interest (or psychology) parameters, kinetic parameters. 但是这些设备通常需要在人身体上布设各种线缆,会对运动员完成相关动作的过程产生影响,另外这些设备通常体积庞大、操作复杂,且相互之间缺乏必要的同步功能,无法进行多种数据组合分析,因此它们对于实际训练的帮助效果非常有限。 However, these devices typically require laid on the human body a variety of cables, athletes will complete related actions affect the process, in addition to the huge volume of these devices are often complicated to operate, and the lack of the necessary synchronization with each other, can not be more combination of data analysis, they help effect for practical training is very limited.

[0005] 因此,目前很需要一种能够具备实时数据采集、现场辅助分析的冰壶运动综合训练支持系统,以便于教练员与运动员对于冰壶运动的重点环节进行细致深入的分析,从而加快提高运动员的技术水平。 [0005] Therefore, there is need for a way to have real-time data acquisition, curling scene aided analysis of integrated training support system for detailed in-depth analysis of key aspects of curling coaches and athletes in order to accelerate the advancement technical level of athletes.

发明内容 SUMMARY

[0006] 针对上述问题,本发明的目的是提出一种用于冰壶运动训练的综合运动测量与辅助分析系统,在不同的位置通过设置不同的传感器和无线传输装置,实现对训练当中不同数据的采集。 [0006] In view of the above problems, an object of the present invention is to propose an integrated motion analysis and the auxiliary measuring system for curling training at different positions by setting different sensors and wireless transmission means which implement different training data collection.

[0007] 本发明的目的是这样实现的:一种用于冰壶运动训练的综合运动测量与辅助分析系统,包括: [0007] The object of the present invention is implemented: one for training integrated curling motion measurement and analysis of the auxiliary system comprising:

[0008] 中央控制计算机:用于对冰壶运动训练数据进行分析显示; [0008] The central control computer: means for curling the training data analysis;

[0009] 无线网关:与中央控制计算机连接,用于采集冰壶运动训练数据,并将数据传递至中央控制计算机; [0009] The wireless gateway: a computer connected to a central control, curling for acquiring training data, and passes the data to the central control computer;

[0010] 蹬踏力节点:与无线网关无线连接,用于采集投壶手掷壶时的后蹬力数据,并将数据传递至无线网关; [0010] The pedaling force nodes: wireless connection with the wireless gateway, for collecting data of the rearward thrust of hand throwing pots administered pot, and transmits data to the wireless gateway;

[0011] 刷冰频率节点:与无线网关无线连接,用于采集冰壶运动员刷冰频率数据,并将数据传递至无线网关; [0011] Frequency brush ice nodes: wireless connection with the wireless gateway, for collecting ice brush curlers frequency data, the data is transmitted to the wireless gateway;

[0012] 冰壶节点:与无线网关无线连接,用于采集冰壶的运动状态数据,并将数据传递至无线网关; [0012] curling nodes: wireless connection with the wireless gateway, for curling motion state data acquisition, and data transfer to the wireless gateway;

[0013] 人体运动参数节点:与无线网关无线连接,所述人体运动参数节点包括固定在运动员身体活动部位的壳体,壳体中安装有加速度传感器和与之连接的无线信号发射电路, 用于采集冰壶运动员在掷壶过程中的运动参数数据,并将数据传递至无线网关; [0013] Human Motion Parameters nodes: wireless connection with the wireless gateway, the node includes a fixed body movement parameters of physical activity in athletes parts of a housing, an acceleration sensor is attached to the radio signal transmitting circuit and connected thereto, for motion parameter data acquisition curlers toss pot process, and passes data to the wireless gateway;

[0014] 掷壶手心率节点:与无线网关无线连接,所述掷壶手心率节点是绑扎在受试者的胸部的无线心率带,用于采集冰壶运动员在掷壶过程中的实时心率数据,并将数据传递至无线网关; [0014] Heart rate hand throwing pots nodes: wireless connection with the wireless gateway, the node is throwing lashing pot hand heart in the chest of a subject with a wireless heart rate, heart rate data to acquire real curlers toss pot process and the data transfer to the wireless gateway;

[0015] 光电测速节点:与无线网关无线连接,所述光电测速节点包括光电发射源、光电接收模块和与之连接的无线信号发射模块,光电发射源和光电接收模块分别设置在冰道的两侧用于采集冰壶前进的速度; [0015] Optical node speed: wireless connection with the wireless gateway, the node comprising a photoelectric speed photoemission sources, photoelectric receiver module and the wireless signal transmitter module connected thereto, photoemission source and the photoelectric receiver module are disposed at the ice channel two side for collecting curling forward speed;

[0016] 图像采集节点:用DV摄像机以有线方式与中央控制计算机相连,DV摄像机设置在冰道两侧及上方用于采集冰道实时图像。 [0016] Image acquisition nodes: The DV camera in a wired manner and connected to the central control computer, DV camcorders ice chute provided at the sides and above the ice chute for collecting real-time image.

[0017] 进一步,所述蹬踏力节点包括有一蹬踏斜面的起滑支架和无线信号发射装置,无线信号发射装置安装在支架中,在所述蹬踏斜设有一个横向凹槽,凹槽内固定有四棱柱体形状的压力传感器,压力传感器的测力平台与起滑支架的蹬踏面平行,在测力平台上固定一片刚性的金属踏板,所述金属踏板的形状与起滑支架的蹬踏斜面相同,其平面方向与蹬踏面平行,压力传感器的测力平台及金属踏板与起滑支架的其他部分不发生接触,压力传感器的压力信号与无线信号发射装置连接。 [0017] Further, the node comprising a pedaling force of the pedal ramp from sliding bracket and a radio signal transmission device, a wireless signal transmitting device is installed in the holder is provided with a transverse groove of the swash pedaling, the groove quadrangular cylindrical shape is fixed to a pressure sensor, a pressure sensor load platform from sliding parallel to the holder surface pedaling, the load on the platform is fixed a rigid metal pedals, the shape of the metal pedal bracket from the sliding pedaling the same slant plane direction parallel to the surface of pedaling, the load platform and the pressure sensor with the rest of the metal pedal bracket from the sliding contact does not occur, the pressure signal of the pressure sensor and the wireless transmission device is connected.

[0018] 进一步,所述刷冰频率节点包括带有刷柄和刷头的冰刷,刷头和刷柄之间设置有刷冰频率测试装置,所述刷冰频率测试装置包括有加速度传感器和与之连接的无线信号发射电路。 [0018] Further, the node comprises a frequency brush ice with ice and the head of the brush handle, is provided between the brush head and the brush handle ice frequency test apparatus, the test apparatus comprises a brush ice frequency and an acceleration sensor a wireless signal transmitting circuit connected thereto.

[0019] 进一步,所述冰壶节点包括冰壶本体,所述冰壶本体上设置有冰壶把手,所述冰壶本体和冰壶把手之间设置有一个夹层,夹层中设置有数据采集模块,所述数据采集模块包括称之为陀螺仪的角速度传感器、加速度传感器、中央处理器、时间发生器以及一个无线传输电路,角速度传感器、加速度传感器分别通过A/D转换电路连接至中央处理器,中央处理器与时间发生器和无线传输电路线连接。 [0019] Further, the node comprises a curling curling body is provided with a curling curling body of the handle, there is a sandwich between the body and the curling curling knob is provided, the interlayer is provided with a data acquisition module connected to the central processor, the data acquisition module includes an angular velocity sensor called a gyroscope, an acceleration sensor, a central processing unit, and a radio transmission timing generator circuit, the angular velocity sensor, an acceleration sensor through the a / D conversion circuits, a central processor connected to the time generator and a radio transmission line circuit.

[0020] 进一步,所述的角速度传感器和加速度传感器安装位置均处于冰壶的自转中心轴上。 [0020] Further, according to the angular velocity sensor and the acceleration sensor are in the mounted position of the rotational center axis of curling.

[0021] 进一步,所述夹层中还设置有用于校正加速度传感器和角速度传感器参数变化的温度传感器。 [0021] Further, the interlayer is also provided for correcting a change of parameters of an acceleration sensor and angular velocity sensor a temperature sensor.

[0022] 进一步,所述夹层中还设置有与角速度传感器进行互补测量的三轴磁力计,三轴磁力计的感测轴彼此正交。 [0022] Further, the interlayer is also provided with complementary measurements of the angular velocity sensor triaxial magnetometer, a triaxial magnetometer sense axis orthogonal to each other.

[0023] 本发明对现有技术的贡献是:提供了一套完整的冰壶运动训练的数据采集分析系统,由于采用了无线传输的数据传输方式,整体结构简洁,以在运动员完成真实动作的同时完成测量和辅助分析,从而可以有效地集成到运动队现场训练的过程中。 [0023] the present contribution to the prior art are: to provide a complete curling of the training data acquisition and analysis system, the use of wireless transmission of data transmission, the overall structure is simple, to complete the operation in real athletes At the same time complete the measurement and analysis of aid, which can be effectively integrated into the process of sports teams in the field of training. 本系统可以用来对冰壶项目训练或比赛的各方面信息进行完整记录和现场反馈,从而为运动员相关技术的科学优化以及比赛战术的深入分析和改进提供支持,提升各个冰壶队的技术和战术水平。 This system can be used for all aspects of information curling training or competition records were complete and on-site feedback to provide support for further scientific analysis and optimization tactics game players and related technology to improve and enhance the individual's curling team of technical and tactical level.

[0024] 下面结合实施例和附图对本发明做一详细描述。 [0024] The following Examples and figures The invention will be described in detail a.

附图说明 BRIEF DESCRIPTION

[0025] 图1为本发明系统结构示意图; [0025] FIG. 1 is a schematic system configuration of the present invention;

[0026] 图2为蹬踏力节点结构示意图; [0026] FIG. 2 is a schematic node structure pedaling force;

[0027] 图3为刷冰频率节点结构示意图; [0027] FIG. 3 is a schematic view of an ice frequency brush node structure;

[0028] 图4为冰壶节点结构示意图; [0028] FIG. 4 is a schematic structural curling node;

[0029] 图5为人体运动参数节点布局示意图; [0029] FIG. 5 is a schematic layout of nodes body movement parameters;

[0030] 图6为掷壶手心率节点结构示意图; [0030] FIG. 6 is a schematic of heart rate hand throw pots node structure;

[0031] 图7为光电测速节点布局示意图。 [0031] FIG. 7 is a schematic layout of a photoelectric tachometer node.

具体实施方式 Detailed ways

[0032] -种用于冰壶运动训练的综合运动测量与辅助分析系统,参见图1,所属系统包括: [0032] - Movement in comprehensive measurement and analysis system for curling auxiliary training, see Figure 1, those system comprising:

[0033] 中央控制计算机1 :用于对冰壶运动训练数据进行分析显示; [0033] The central control computer 1: Curling training for data analysis;

[0034] 无线网关2 :与中央控制计算机连接,用于采集冰壶运动训练数据,并将数据传递至中央控制计算机; [0034] The wireless gateway 2: a central computer connected to a control, curling for acquiring training data, and passes the data to the central control computer;

[0035] 蹬踏力节点3 :与无线网关无线连接,用于采集投壶手掷壶时的后蹬力数据,并将数据传递至无线网关; [0035] The pedaling force node 3: wireless connection with the wireless gateway, for collecting the data driving strength cast pot when the pot throwing hand, the data transmitted to the wireless gateway;

[0036] 刷冰频率节点4 :与无线网关无线连接,用于采集冰壶运动员刷冰频率数据,并将数据传递至无线网关; [0036] Frequency brush ice node 4: wireless connection with the wireless gateway, for collecting ice brush curlers frequency data, and passes the data to the wireless gateway;

[0037] 冰壶节点5 :与无线网关无线连接,用于采集冰壶的运动状态数据,并将数据传递至无线网关; [0037] 5 curling nodes: wireless connection with the wireless gateway, for curling motion status collection data, and data transfer to the wireless gateway;

[0038] 人体运动参数节点6 :与无线网关无线连接,用于采集冰壶运动员在掷壶过程中的身体状态数据,并将数据传递至无线网关。 [0038] Human Motion Parameters node 6: a wireless connection with the wireless gateway, for collecting the physical state data curlers throw pot process, and passes data to the wireless gateway.

[0039] 掷壶手心率节点7 :与无线网关无线连接,用于采集冰壶运动员在掷壶过程中的实时心率数据,并将数据传递至无线网关。 [0039] Heart rate hand throwing pots node 7: a wireless connection with the wireless gateway, for collecting real-time heart rate data curlers toss pot process, and passes data to the wireless gateway.

[0040] 光电测速节点8 :与无线网关无线连接,用于冰壶在冰道上特定区间的运动参数数据,并将数据传递至无线网关。 [0040] Optical node gun 8: a wireless connection with the wireless gateway for data curling motion parameters specific section of track in ice, and the data is transmitted to the wireless gateway.

[0041] 图像采集节点9 :用DV摄像机以有线方式与中央控制计算机相连,用于采集各个运动员的技术动作细节视频,以及冰壶从开始投掷直到运动停止的全过程视频。 [0041] Image acquisition nodes 9: The DV camera in a wired manner and is connected to the central control computer, for acquiring the respective video player technical details of the operation, and the curling process of throwing the whole video from the start until the movement is stopped.

[0042] 系统中的中央控制计算机可以由同一台笔记本电脑担任。 [0042] The central control computer may be held by the same laptop system. 为了适应冰壶现场训练的边训练边测试、训练和测试同步进行的要求,本系统采用无线传感器网络技术来实现运动参数采集。 In order to adapt the training edge curling edge training field testing, training and test requirements simultaneously, the present system uses a wireless sensor network technology to achieve motion parameter acquisition. 无线传感器网络是集信息采集、信息传输、信息处理为一体的综合智能信息系统,与以往的信息获取技术相比,在组成要素、拓扑结构、设备形状、系统功耗、网络协议等方面均有很大不同,因此具有一系列非常突出的优点。 Wireless sensor network is integrated intelligent information system set information acquisition, information transmission, the information processing as a whole, compared with the conventional information acquisition technology, both in terms of the constituent elements, topology, device form, power consumption, network protocols very different, it has a series of very prominent advantages. 包括:采集设备体积小、获得信息全面、信息时效性强、传输距离长、系统的容错性高、维护简单。 Comprising: collecting devices are small, full access to information, time-sensitive information, long distance transmission, high fault tolerance, and easy maintenance. 系统制定了运用于冰壶运动技术采集无线网络通信协议,并依据此协议研制了无线网关,以及多种无线传感器节点。 The system has developed a variety of wireless sensor nodes used in curling technology to collect wireless network communication protocols, and based on this protocol was developed wireless gateways, as well. 在实际应用中,无线网关与无线传感器节点组成一个完整的无线网络。 In practical applications, a wireless gateway and a wireless sensor nodes of a complete wireless network. 无线传感器节点通过空中无线链路将各种运动参数信号汇聚到无线网关,以实现对各种关键运动参数的实时测量。 Wireless sensor nodes through the wireless air link signals to the various motion parameters converge to the wireless gateway, for real-time measurement of the motion parameters of the various critical.

[0043] 在运动参数采集中,无线网关负责无线传感器网络的控制和管理,实现信息的融合处理,并负责信息的进一步分发和传输。 [0043] In the motion parameter acquisition, the wireless gateway controls and manages the wireless sensor network, to achieve fusion of information, and for further distribution and transmission of information. 无线网关由控制器和无线信号收发模块组成。 Wireless gateway controller and the wireless transceiver module. 无线网关的数据传输和运算量较大,并且可以采用外部电力作为能源供应,因此需要采用具有较强的信息处理能力和网络功能的运算器件作为控制器,在这里是直接以便携式笔记本电脑作为控制器。 Data transmission and wireless gateway large amount of calculation, and may use an external power supply as an energy source, and therefore need a strong operation device having an information processing capability and the network functions as a controller, here as a laptop, to directly control device. 无线信号收发模块采用Helicomm的IP-Link 1223,它通过UART接口与主控计算机进行通信。 Helicomm wireless transceiver module using the IP-Link 1223, which communicates with the host computer via the UART interface.

[0044] IP-Link 1223模块内嵌了Zigbee网络通信协议,完整地体现了网络层的强大功能,用它可以组成星型、动态树型以及网状网络。 [0044] IP-Link 1223 module embedded Zigbee network communication protocol, completely reflect the power of the network layer, which may consist of a star, tree, and the dynamic mesh networks. 射频工作频率选在2. 4GHz,采用全双工方式及直接序列扩频技术,有16个信道;采用四相频移键控(Quadrature Phase Shift Keying,QPSK),抗干扰能力强,最大传输速率可达250kbit/s。 RF operating frequency is selected in the 2. 4GHz, full-duplex mode and the direct sequence spread spectrum technology, there are 16 channels; using Quadrature Phase Shift Keying (Quadrature Phase Shift Keying, QPSK), anti-interference ability, the maximum transmission rate up to 250kbit / s. 采用的串口为3. 3V UART,即通用异步接收和发送器。 Serial employed to 3. 3V UART, i.e. universal asynchronous receiver and transmitter.

[0045] 无线传感器网络中所存在的终端设备主要由各种传感器以及无线发射接收模块组成。 [0045] The terminal apparatus present in the wireless sensor network is mainly composed of various sensors and a wireless transmitter receiver module. 传感器主要由两部分组成:一部分用于包括冰壶相对于冰道的滑行速度、加速度、角速度等冰壶运动参数的采集;另一部分用于运动员相关参数的采集:诸如掷壶手各关节运动参数、心率、蹬踏力、刷冰频率等。 Sensor is mainly composed of two parts: a part for acquiring parameters include curling curling opposing ice passage taxi speed, acceleration, angular velocity; one for the acquisition of the athlete parameters: parameters of articulation, such as throwing pots each hand , heart rate, pedal force, brush ice frequency. 传感器对各种原始信号进行采集后,需要进行模拟信号到数字信号的转换,这一过程要经过模拟信号发生器、A/D转换器、电平比较器、信号处理器等设备,转换后得到的数字信号经过无线发射模块无线传输至中央控制计算机。 After the acquisition of the various raw sensor signals need to be converted to a digital signal an analog signal, after the process to get an analog signal generator, A / D converter, a level comparator, a signal processor, etc., converted digital signal transmitted via a wireless radio transmission module to the central control computer.

[0046] 实施例中,如图2所示,所述蹬踏力节点包括有一蹬踏斜面的起滑支架3-1和无线信号发射装置,无线信号发射装置安装在支架中,在所述蹬踏斜面设有一个横向凹槽3-2, 凹槽内固定有四棱柱体形状的压力传感器3-3,压力传感器的测力平台与起滑支架的蹬踏面平行,在测力平台上固定一片刚性的金属踏板3-4,所述金属踏板的形状与起滑支架的蹬踏斜面相同,其平面方向与蹬踏面平行,压力传感器的测力平台及金属踏板与起滑支架的其他部分不发生接触,压力传感器的压力信号与无线信号发射装置连接。 [0046] In the embodiment shown in Figure 2, the node includes a pedaling force of the pedal ramp from sliding bracket 3-1 and the radio signal transmitting device, a wireless signal transmitting device is installed in the rack, the pedaling 3-2 is provided with a transverse groove inclined surface, the pressure sensor is fixed to a quadrangular cylindrical shape in the groove 3-3, the load platform from the pressure sensor is parallel to the sliding surface of the stent pedaling, rigidly fixed to a load on the platform metal pedal 3-4, the shape of the metal pedal bracket from the sliding bevel same pedaling, pedaling direction is parallel to the plane surface, the load platform and the rest of the metal pedal bracket from the slide does not contact the pressure sensor , the pressure signal of the pressure sensor is connected with the wireless signal transmitting means. 图2为无线蹬踏力节点的起滑支架实物图,在该图中可以看到长棱柱形的应变式压力传感器。 FIG 2 is a pedaling force from the wireless node physical map holder slide, it can be seen a long prismatic strain gauge pressure sensor in this figure. 除起滑支架夕卜,无线蹬踏力节点还包括一个控制盒(未在图中画出),该控制盒由为轻金属或工程塑料制成,内部装有电路板等部件。 In addition to the stent from sliding Bu Xi, the wireless node further comprises a pedaling force control box (not shown in the drawings), the control box is made of light metal or plastic, with internal components such as circuit boards. 压力传感器和控制盒由信号线及航空插头相连。 A pressure sensor and a control box connected by a signal line and air plugs.

[0047] 实施例中,如图3所示,所述刷冰频率节点包括带有刷头4-1和刷柄4-2的冰刷, 刷头和刷柄之间设置有刷冰频率测试装置4-3,所述刷冰频率测试装置包括有加速度传感器和无线信号发射电路。 [0047] The embodiment shown in Figure 3, the brush having a brush head comprising ice frequency nodes 4-1 and 4-2 of the brush handle of ice, there is provided between the brush head and the brush handle ice frequency test means 4-3, the frequency of the test ice brush means comprises an acceleration sensor and a wireless signal transmission circuit. 在冰壶项目中,可以通过刷冰来在一定程度内改变冰壶的运动状态,进而延长冰壶的行进距离或控制冰壶前进路径的弯曲程度。 In curling, the motion may be changed within a certain degree of curling by brushing to ice, thereby extending the distance traveled curling degree of bending or curling forward control path. 因此刷冰运动员的刷冰技术非常重要。 So brush brush athlete ice ice technology is very important. 在刷冰运动员的刷冰动作中,刷冰的频率是冰壶队需要监测的重要内容。 Brush brush ice ice athletes in action, brush ice curling team is an important frequency to be monitored. 因为刷冰的频率越高,则被刷冰面对前进中冰壶的阻力越小,冰壶的行进距离越长,反之则冰壶的行进距离变短。 Because the higher the frequency of ice brush, brush ice were facing forward in curling resistance, the longer the travel distance of curling, otherwise curling of the travel distance becomes shorter. 本系统中由刷冰频率节点提供刷冰频率信息。 The present system provides frequency information from the brush to brush the ice ice frequency node. 刷冰频率测试装置为一个盒,外形尺寸大约是15毫米x30毫米x50毫米,外壳由轻金属或工程塑料制成,内部安装有控制电路板等器件。 Ice brush box means is a frequency test, dimensions about 15 mm x30 mm x50 mm, the housing is made of light metal or plastic, is installed inside the control circuit board and other devices. 盒被固定在冰刷的刷柄上靠近刷头的一端,并使刷冰频率测试装置的感测轴平行于刷冰时冰刷的运动方向。 The head cartridge is fixed close to one end of the ice on the brush handle, the brush and the brush parallel to the direction of movement of the brush Ice Ice Ice sense axis frequency of the test apparatus.

[0048] 刷冰频率节点的工作原理为:盒内设置微型加速度传感器,且加速度传感器的敏感方向平行于运动员刷冰时冰刷的运动方向。 [0048] Brush ice frequencies node works as follows: micro cassette is provided an acceleration sensor, the acceleration sensor and the sensitive direction parallel to the direction of movement of athletes brush Ice Ice brush. 在运动员刷冰过程,刷冰频率节点针对冰刷的加速度进行不间断的高速数据采集,采集得到的加速度数据变化曲线的正半周到负半周的一个完整周期,对应于运动员的一次完整刷冰动作。 Athlete brush ice process, brush ice frequency node uninterrupted high-speed data acquisition for ice brush acceleration, acceleration data obtained by collecting the curve of the positive half cycle to the negative half cycle of one complete cycle corresponding to the athlete a complete brush ice operation . 由刷冰频率节点中的微处理器针对这样的完整周期进行计数,然后计算该周期数对于时间的导数,则得到该冰刷的刷冰频率。 Counting complete cycles for such a brush ice frequency node microprocessor then calculates the number of cycles of the time derivative of the frequency is obtained brush ice ice brush.

[0049] 实施例中,所述冰壶节点是一个智能冰壶,包括冰壶本体5-1,所述冰壶本体上设置有冰壶把手5-2,所述冰壶本体和冰壶把手之间设置有一个夹层5-3,夹层中设置有数据采集模块,所述数据采集模块包括称之为陀螺仪的角速度传感器、加速度传感器、中央处理器、时间发生器以及一个无线传输电路,角速度传感器和加速度传感器分别通过A/D转换电路连接至中央处理器,中央处理器与时间发生器和无线传输电路线连接。 [0049] Example, the node is an intelligent curling curling, curling body comprising 5-1, the curling body is provided with a handle 5-2 curling, and the curling curling handle body 5-3 is provided between a sandwich, the sandwich is provided with a data collection module, the data acquisition module includes an angular velocity sensor called a gyroscope, an acceleration sensor, a central processing unit, a time generator and a wireless transmission circuit, an angular velocity sensors and acceleration sensors are A / D converter circuit is connected to the central processor, the central processor and timing generator circuit lines are connected by wireless transmission.

[0050] 实施例智能冰壶中所述角速度传感器和加速度传感器,其安装位置均处于冰壶的自转中心轴上。 [0050] In the embodiment of a smart curling angular velocity sensors and acceleration sensors, which are in the mounting position of the rotational center axis of curling.

[0051] 实施例智能冰壶中所述加速度传感器是二轴或三轴加速度传感器,若为二轴加速度传感器则二轴加速度传感器的两个轴平行于冰壶的下端面,且这两个轴互相正交;若为三轴加速度传感器则其中一个感测轴垂直于冰壶的下端面,另外两个轴平行于冰壶的下端面,且三个感测轴互相正交。 [0051] The lower end surface of the two shafts in Example smart curling said acceleration sensor is a two-axis or triaxial acceleration sensor, when the two-axis acceleration sensor as the two two-axis acceleration sensor axis parallel to the curling embodiment, and orthogonal to each other; the case wherein a triaxial acceleration sensor is perpendicular to the lower end of the curling a sense axis, and two axes parallel to the lower end surface of the curling, and the three sensing axes orthogonal to each other.

[0052] 实施例智能冰壶中所述角速度传感器是单轴或三轴角速度传感器;若为单轴角速度传感器则其感测轴垂直于冰壶的下端面;若为三轴角速度传感器则其中一个感测轴垂直于冰壶的下端面,另外两个感测轴平行于冰壶的下端面,且三个感测轴应相互正交。 [0052] In the embodiment of a smart curling or uniaxial angular velocity sensor is a three-axis angular velocity sensor; if it is a single axis angular velocity sensor sense axis perpendicular to the lower end surface of curling; if one of the angular velocity sensor is a triaxial the end surface perpendicular to the sense axis curling, curling parallel to the lower end surface of the other two sense axis, and the three sensing axes to be mutually orthogonal.

[0053] 实施例智能冰壶所述夹层中还设置有用于校正加速度传感器和角速度传感器参数变化的温度传感器。 [0053] The embodiment of a smart curling interlayer further provided with a temperature sensor for correcting the angular velocity sensor and an acceleration sensor parameter changes.

[0054] 实施例智能冰壶所述夹层中还设置有与角速度传感器进行互补测量的三轴磁力计,三轴磁力计的感测轴彼此正交。 [0054] The embodiment of a smart curling interlayer is further provided with complementary measurements of the angular velocity sensor and a triaxial magnetometer, a triaxial magnetometer sense axis orthogonal to each other.

[0055] 实施例冰壶节点的所述夹层通过胶粘或螺栓连接的方式固定在冰壶本体上,然后以壶栓将冰壶把手、夹层及冰壶本体连接起来。 [0055] Example embodiment of the sandwich curling nodes connected by gluing or bolted to the curling of the body and then curling the pot bolt handle, and a laminated body connected curling. 夹层的外壁与数据采集模块的电路组件之间设有橡胶垫圈和其他减震缓冲材料,这些缓冲材料用以保护前述电路组件,避免其因冰壶间的碰撞而损坏。 Provided with rubber gaskets and other shock absorbing cushioning material between the outer wall and the circuit components of the data acquisition module sandwich, these buffer materials for protecting the circuit assembly, avoid curling due to collision of damage. 另外在夹层内空腔表面设有绝缘覆盖层。 Also within cavity surface provided with the interlayer insulating cover layer.

[0056] 下面为一个智能冰壶具体实施例,智能冰壶的尺寸及外形与通常使用的冰壶的基本相同,为一个具有内凹的上表面和下表面的椭球体。 [0056] The following is a specific embodiment of a smart curling embodiment, substantially the same size and shape smart curling with the curling generally used as a concave upper surface and a lower surface having an ellipsoid. 其周长约为91. 44厘米,高度约为13. 43厘米,重量大约为20公斤。 Its perimeter is about 91.44 cm, a height of about 13.43 cm, weighing about 20 kg. 根据实际用户的需要,其尺寸及形状可以在世界冰壶联合会(ICF)规定的范围内进行调整。 According to the actual needs of users, the size and shape can be adjusted within a predetermined range WCF (ICF).

[0057] 在本实施例中,智能冰壶是通过对一个原有的冰壶进行改造而得到。 [0057] In the present embodiment, the smart curling is obtained by a transformation of the original curling. 智能冰壶机械结构的组成部分包括壶体、手柄组件、壶栓(连接壶体与手柄的坚直方向长螺栓)和固定圆盘,其中壶体、手柄组件和壶栓为原有冰壶的组成部件,作为中间夹层的固定圆盘是专门设计制作的新器件。 Smart curling part of the mechanical structure comprises a pot body, the handle assembly, the plug pot (pot body of the handle connecting strong linear direction of the long bolts) and the fixed disc, wherein the pot body, the handle assembly and plug to the original pot curling components, a fixed disc mid sole is designed a new device fabrication. 该固定圆盘外径约为210毫米,其厚度约为15毫米,材料可能为金属、木材、工程塑料或其他坚固材料。 The fixed disc outside diameter of about 210 mm, a thickness of about 15 mm, the material may be metal, wood, plastic, or other sturdy materials. 在固定圆盘的水平上表面,被加工出一个与固定圆盘同心的圆柱形凹槽。 In the horizontal surface of the fixed disc, a cylindrical recess is machined concentric with the fixed disc. 圆柱形凹槽的下壁中央,存在一个与固定圆盘同心的通孔,用来容纳壶栓。 The lower wall of the central cylindrical recess, there is a through hole concentric with the fixed disc, the pot for receiving the bolt. 可以使用胶粘或螺栓连接的方法将固定圆盘连接到壶体上。 The method may be used in the gluing or bolting to the fixed disc is connected to the pot body. 在将固定圆盘连接到壶体上之后,再以壶栓将壶体与手柄组件固定为一体。 After the fixed disc is connected to the pot body, and then to the plug pot and the pot body are integrally fixed to the handle assembly. 按照上述方法得到的智能冰壶足够坚固, 可以适应冰壶比赛中的各种碰撞情况。 Obtained as described above intelligent curling robust enough to accommodate a variety of collision curling game. 除上述方式之外,也能够以其他方式实现智能冰壶的机械结构,而不影响本发明的精神和范围。 In addition to the above-described embodiment, the mechanical structure can be realized in other ways intelligent curling, without affecting the spirit and scope of the invention.

[0058] 固定圆盘与手柄组件共同形成一个封闭的圆柱形空腔,该空腔中放置了作为数据采集模块的电路组件。 [0058] the fixed disc with the handle assembly together form a closed cylindrical cavity, the cavity of the circuit assembly is placed as a data acquisition module. 该电路组件上安装了多个特定的传感器和电子器件,用来提供如下数据:冰壶的位置随时间而变化的情况,以及冰壶在各个时刻的温度。 The circuit assembly is mounted on a plurality of specific sensors and electronics to provide the following data: the position curling temperature varies over time, and at each time of curling. 电路组件可以通过胶粘或扣紧件的方式固定在空腔中。 Circuit assembly may be fixed in the cavity by means of gluing or fastening member. 空腔的尺寸可以根据电路组件的形状而改变,进行改变的前提是要保证固定圆盘的侧壁和下壁足够厚,以保护电路组件在和其他冰壶碰撞时免受破坏,并且能够赋予冰壶以适宜重量。 Size of the cavity may vary according to the shape of the circuit assembly, the premise is to ensure that changes the lower wall and side walls of the fixed disc is thick enough to protect the circuit components against damage during collisions and other curling, and to impart curling in a suitable weight.

[0059] 智能冰壶的电路组件包含各种传感器(用来收集关于冰壶的数据)和辅助电子器件,这些器件包括一个微控制器,一组存储器(包含易失性存储器,可以是SRAM等器件,以及非易失性存储器,可以是Flash等器件),一组传感器,一个电源系统,用来提供各个电子器件所需能量的9伏电池(只为说明之用,具体数值不具备实质意义),以及一个I/O通信端口。 [0059] curling intelligent circuit components include various sensors (to collect data about curling) and the auxiliary electronic devices which include a microcontroller, a set of memory (including volatile memory, SRAM and the like may be device, and a nonvolatile memory device may be a Flash, etc.), a set of sensors, a power supply system for providing energy required 9 V battery (for illustrative purposes only various electronic devices, do not have the specific values ​​substantive ), and an I / O communication ports. 这个通信端口可以是一个无线通信端口。 The communications port can be a wireless communication port. 通过使用该通信端口,可以在冰壶运动过程中实时地将所收集到的数据传输到一个外部计算设备(例如一台PC机)。 By using the communication port to transmit data in real time collected in a curling process to the external computing device (e.g. a PC).

[0060] 为了确保智能冰壶内的重要数据的安全,可以通过修改程序的方式,使冰壶内的微控制器在工作中实时地将通过传感器所收集的数据保存在非易失性存储器中。 [0060] To ensure the security of the important data in the smart curling, can modify the program mode, the microcontroller in real time during operation curling saved in nonvolatile memory the data collected by the sensor . 非易失性存储器的特征在于,即使智能冰壶因异常原因(比如系统断电)而发生系统崩溃,其内部保存的数据也不会丢失。 Characterized in that the non-volatile memory, even if the smart curling due to abnormal reasons (such as a system power off) and system crash, data stored therein is not lost. 在训练或比赛结束后的特定时刻,非易失性存储器中的数据可以通过I/O端口下载到一个外部计算设备中。 At a given moment after the end of the training session or game, data of the nonvolatile memory via I / O port to download to an external computing device. 这个I/O端口可以是无线通信端口,也可以是一个电气插座(例如USB插口或类似插座)。 The I / O port may be a wireless communication port, may be one electrical socket (e.g. socket USB port or the like). 在通过电气插座进行下载的情况中,需要以一条通信线将智能冰壶连接到外部计算设备。 In the case where downloading via an electrical socket, a communication line needs to be connected to an external intelligent curling computing device. 这种引入非易失性存储器的方法,可以大大提高智能冰壶内重要数据的安全系数。 This method of introducing a nonvolatile memory, can greatly improve the safety factor smart curling important data.

[0061] 电路组件上的各个传感器被连接到微控制器,以在特定的时间周期内收集冰壶的相关数据。 [0061] each sensor circuit component is connected to the microcontroller, the data collection related to curling during a specific period of time. 在这一点上,可以使用各种不同传感器,例如,由多个单轴的微机电(MEM)加速度计(或单独的多轴加速度计)感测冰壶的运动状态变化,由多个单轴陀螺仪(或单独的多轴陀螺仪)以及多个单轴磁力计(或单独的多轴磁力计)提供冰壶相对于冰道坐标系的三个参考角,由一个含有热电阻的温度传感器感测冰壶所处位置的温度。 In this regard, a variety of sensors may be used, for example, by a plurality of uniaxial microelectromechanical (MEM) accelerometer (alone or multi-axis accelerometer) to sense changes in motion of curling, a plurality of uniaxial a gyroscope (or a separate multi-axis gyroscope) and a plurality of single-axis magnetometers (alone or multi-axis magnetometer) providing a channel relative to the ice curling three reference angle coordinates, the thermal resistance of a temperature sensor comprising sensing the temperature of the location of curling.

[0062] 众所周知,要将多个传感器(加速度计、陀螺仪、磁力计、温度传感器)连同所需的辅助电子器件(微控制器、I/O、存储器、电源)集成在一起是很困难的。 [0062] is well known, to the plurality of sensors (accelerometers, gyroscopes, magnetometers, temperature sensors) along with the required supporting electronics (microcontroller, I / O, memory, power supply) it is difficult to integrate . 在电路组件的设计中增加了滤波器、模拟数字转换器(ADC)和I/O等用于支持传感器工作的器件。 Increased filter, an analog-digital converter (ADC) and I / O, etc. in the design of the circuit assembly means for supporting the work of the sensor. 电路组件的设计足够坚固,能够适用冰壶的比赛环境。 Circuit design components strong enough to apply curling game environment. 并且电路组件可以在只消耗很少能量的条件下收集所需的数据。 And circuit components can collect the required data in only consume little energy conditions. 该设计还必须提供足够的功能,以便为用户提供多个工作模式(例如采集、等待,然后采集、休眠、传输数据等)。 The design must also provide sufficient functionality to provide users with a plurality of operating modes (e.g. acquisition, waiting, then collected, sleep, data transmission, etc.).

[0063] 微控制器(或者微处理器)为解决这个难题提供了一个良好的基础。 [0063] The microcontroller (or microprocessor) provides a good basis for solving this problem. 实施例中所使用的微处理器是Farnell C8051F020,它具有如下的技术参数:电压范围:2. 7V~3. 6V ;转换器:12位;最高时钟频率:25MHz ;片内RAM :4Kbyte ;支持的最大外部内存:64Kbyte ;支持RS232和I2C。 The microprocessor used in the embodiment examples are Farnell C8051F020, it has the following technical parameters: Voltage range: 2 7V ~ 3 6V; converter: 12; maximum clock frequency: 25MHz; chip RAM: 4Kbyte; Support the maximum external memory: 64Kbyte; supports RS232 and I2C. 为了收集测试数据,微控制器还连接了其他几个部件:诸如放大器,参考电压,DC-DC转换器,实时时钟,工作于2. 4GHz的无线收发器,RS232接口,以及充足的SRAM。 In order to collect test data, the microcontroller is also connected to several other components: such as amplifiers, a reference voltage, DC-DC converter, the real-time clock, operates in the 2. 4GHz wireless transceiver, RS232 interface, and adequate SRAM. [0064] 智能冰壶的电路组件被实现为一个圆形的PCB (Printed Circuit Board,印制电路板)母板。 [0064] curling intelligent circuit components are implemented as a circular PCB (Printed Circuit Board, printed circuit board) motherboard. 在该PCB母板上布置了多个集成电路和分立的半导体器件,以及若干个独立的小型PCB板/电路。 In this arrangement a mother board PCB and a plurality of discrete semiconductor devices of integrated circuits, and a plurality of independent small PCB board / circuit. 这些小型的PCB电路包括多种传感器电路和无线I/O电路。 These small PCB circuit comprises a plurality of sensor circuit and a wireless I / O circuit. 加速度测量使用加速度计作为感测器件,朝向角的变化速度测量使用陀螺仪作为感测器件。 Acceleration measurements using an accelerometer as the sensing device, the speed change toward the corner as measured using a gyroscope sensing device. 因为加速度计和陀螺仪采集数据的准确性随它们在PCB板上的位置而不同,为了提高参数测量的准确性,需要使加速度测量模块、朝向角变化速度测量模块的安装位置尽量靠近冰壶的自转轴(冰壶垂直其下表面的中心线)。 Because the accuracy of the accelerometer and gyroscope data collection with their position on the PCB varies, in order to improve the accuracy of the measured parameters, it is necessary to make the acceleration measurement module, toward the angular velocity variation measurement module mounted as close as possible curling the rotation axis (which is perpendicular to the centerline of curling surface). 针对上述情况,加速度测量模块和朝向角变化速度测量模块各自被实现为一个独立的小型PCB板/电路。 For the above, angular acceleration measurement module and orientation changes each speed measurement module is implemented as a small independent PCB board / circuit. 将这两个PCB板以捆扎或胶粘的方式分别固定在壶栓上,然后分别通过软线的方式与PCB母板相连。 The two PCB boards in a manner of tying or gluing are fixed to the plug pot, respectively, and then connected to the mother PCB through the cord. 冰壶相对地磁场方向的测量值的准确性与磁力计在PCB板上的安装位置无关,因此磁力计无需靠近冰壶的自转轴安装,可以将磁力计芯片焊接于PCB母板上任意位置。 Curling relatively accurate measurement of the magnetic field direction is independent of the count on the PCB mounting position, so close to the spin axis magnetometer installed without curling, may be anywhere on the motherboard PCB magnetometer chip bonding. 加速度测量具备至少两个轴的加速度测量能力。 Measuring acceleration includes acceleration measurement capacity of at least two axes. 在测量三个轴的加速度数据的情况中,可以使用单独的三轴加速度计,也可以使用三个单轴的加速度计,或者采用其他实现方式。 In the case of measuring the acceleration data of the three axes may be used alone three-axis accelerometer may be used three uniaxial accelerometers, or by other implementations. 上述各种实现方式中的三个感测轴均彼此正交,且其中一个感测轴垂直于冰壶的下表面,另外两个感测轴平行于冰壶的下表面。 To achieve the above described three sensing axes are orthogonal to each other and wherein a sense axis perpendicular to the lower surface of the curling, the other two sense axis parallel to the lower surface of curling. 如果假定冰壶在运动时,其在垂直于冰道的方向不会发生位移,则可以只测量两个轴的加速度数据,此时可以使用单独的二轴加速度计,也可以使用两个单独的加速度计。 If it is assumed in curling motion, displacement does not occur in a direction perpendicular to the ice channel, can be measured only two axes acceleration data, this time can use a separate two-axis accelerometer may also be used two separate Accelerometer. 上述各种实现方式中的两个感测轴均彼此正交,且都平行于冰壶的下表面。 To achieve the above described two sensing axes are orthogonal to each other and parallel to the lower surface of curling. 朝向角的变化速度测量模块具备至少一个轴的角速度的测量能力。 Orientation angle measuring module includes a rate of change of angular velocity measurement capability of the at least one axis. 在测量三个轴的角速度的情况中,可以使用单独的三轴陀螺仪,也可以使用三个独立的单轴陀螺仪,或者采用其他实现方式。 In the case of measuring the angular velocities of three axes may be used alone axis gyroscope may also be used three independent single axis gyroscope, or by other implementations. 上述各种实现方式中的三个感测轴均彼此正交,且其中一个感测轴垂直于冰壶的下表面,另外两个感测轴平行于冰壶的下表面。 To achieve the above described three sensing axes are orthogonal to each other and wherein a sense axis perpendicular to the lower surface of the curling, the other two sense axis parallel to the lower surface of curling. 在假定冰壶只绕其自转轴(冰壶垂直其下表面的中心线)发生转动的前提下,可以只测量冰壶绕其自转轴的角速度数据,此时只使用一个单轴陀螺仪。 Assuming only about its rotation axis curling (curling perpendicular to the centerline of the lower surface thereof) rotates with the premise, the angular velocity data can be measured only curling around its rotation axis, in which case only a single axis gyroscope. 磁力计具备三个轴的磁场强度的感测能力,这三个感测轴彼此正交,其中一个感测轴垂直于冰壶的下表面,另外两个感测轴平行于冰壶的下表面。 Magnetometers have three axes sensing capability of the magnetic field strength, these three axes orthogonal to each other in the sense in which a sense axis perpendicular to the lower surface of the curling, the other two sense axis parallel to the lower surface of the curling . 此外,在能提供合适的精度的前提下, 还可以使用集成的同时提供两种数据(比如三轴加速度和三轴角速度,或者加速度和地磁场)的芯片,安装方法就更加简单。 Provides two data (such as a triaxial accelerometer and triaxial angular velocity, or acceleration and geomagnetic) Furthermore, under the premise of providing appropriate accuracy, may be used while integrated chip, the more simple method of installation. 在上述加速度计、陀螺仪和磁力计的感测轴数不同的各种实现方式中,各传感器的对应感测轴均平行且同向,且所有传感器的感测中心均处于同一个平面内(至少保证加速度计的感测中心和磁力计的感测中心位于同一平面内,并使陀螺仪的感测中心尽量接近这个平面),该平面平行于冰壶的下表面,称为感测平面。 The number of different sensing axis of the accelerometer, magnetometer and gyroscope various implementations, each sensor corresponding to the sensing axes are parallel and in the same direction, and sensing the center of all the sensors are located in the same plane ( ensure that at least the central sensing accelerometer and magnetometers to sense the center in the same plane, and the gyroscope sensing center as close as possible to this plane), the plane is parallel to the lower surface of the curling, referred sensing plane. 感测平面与冰壶自转轴的交点,称为冰壶的中心点。 Curling sensing plane and the intersection of the rotation axis, it referred to the center point of curling. 在每种物理参数均感测三个轴的数据的情况下(冰壶加速度需感测X、Y、Z三个维度,冰壶朝向角需感测X、Y、Z三个维度,等等),则所有感测器件(加速度计、陀螺仪和磁力计)的相应感测轴(X轴、Y轴、Z轴)分别平行并同向,共同的X轴和Y轴均位于感测平面内且彼此正交。 (Curling acceleration sensing need to measure X, Y, Z three dimensions, angular orientation sensing curling need to measure X, Y, Z three dimensions in each case of sensing a physical parameter are measured data of the three axes, etc. ), all the sensing means (accelerometers, gyroscopes and magnetometers) of a respective sensing axis (X axis, Y axis, Z axis) are parallel and in the same direction, a common X-axis and Y-axis sensing plane are located and orthogonal to each other within. 共同的Z轴垂直于感测平面,且正方向为从冰壶的下表面指向其上表面的方向。 The Z axis is perpendicular to the common sensing plane, and the positive direction is curling from the lower surface thereof is directed in the direction of the surface. 共同的Y轴平行于冰壶的壶柄,正方向为壶柄的反方向,即从冰壶手柄的末端指向其固定端的方向。 The Y axis is parallel to a common pot handle curling, the positive direction of the pot handle reverse direction, i.e., the direction pointing from the fixed end of the handle end of curling. 以冰壶的中心点为原点0。 Curling is a center point of origin 0. ,建立右手直角坐标系。 Established right-handed rectangular coordinate system. 该坐标系的Y轴和Z轴分别与感测器件的共同的Y轴、Z轴平行且同向。 Y and Z axes of the coordinate system are common to the Y-axis sensing device, Z-axis and parallel to the same direction. 由该坐标系的右手直角坐标系属性,以及Y轴、Z轴的定义方式,可以确定X轴的正方向。 Properties by the right hand orthogonal coordinate system of the coordinate system, and the manner defined Y axis, Z axis, may be determined in the positive direction of the X axis. 其以上述方法定义的坐标系,称为冰壶坐标系以这种方式定义冰壶坐标系,是为了后续数据处理和显示的方便。 Of the coordinates defined by the above method, this coordinate system is called curling curling define the coordinate system, in order to facilitate subsequent data processing and display. 冰壶坐标系的定义方法,适用于智能冰壶的所有实现方式。 Curling method defined coordinate system, for smart curling all implementations. 理想的安装方式是使加速度计及陀螺仪的感测中心及感测轴与冰壶坐标系完全重合。 The ideal is to make the installation accelerometer and gyroscope for sensing and sense the center axis of the coordinate system coincide completely curling. 在该目标无法达到的情况下,则使加速度计和陀螺仪的Y感测轴均与冰壶坐标系的Y轴平行且同向,Z感测轴均与冰壶坐标系的Z轴平行且同向,而X感测轴完全重合且通过冰壶坐标系的原点〇c,这是为了便于补偿因传感器感测中心偏离冰壶自转轴而造成的误差。 In the case of this goal can not be achieved, then the Y-axis sensing gyroscope and accelerometers are parallel to the Y axis coordinate system and curling the same direction, the sensing axis Z are parallel to the Z axis of the coordinate system and curling in the same direction, and the sense axis X passes through the origin and completely coincide 〇c curling coordinate system, which is to facilitate error sensor for sensing compensate for off-center rotation axis caused by curling. 在加速度计感测2个轴,陀螺仪感测1个轴,磁力计感测3个轴的情况下,则加速度计、磁力计的对应感测轴重合,且它们的Z轴与陀螺仪的感测轴重合。 Accelerometer sensing two axes, the gyroscope sensing an axis, the magnetic force sensing measuring three axes, the accelerometer, magnetometer corresponding sense axis coincide, and their Z axis gyroscope sense axis coincide. 其他情况依此类推。 Other cases and so on. 最后,通过调整圆形PCB母板上各个元件的安装位置,使得各个元件的质量在整个PCB母板上大致均匀地分布, 且质量大的器件尽量在PCB母板的内侧分布。 Finally, by adjusting the mounting position of the individual elements of the motherboard PCB circular, such that the respective mass element is substantially uniformly distributed throughout the motherboard PCB, and a large mass distribution of the device as far as possible inside the motherboard PCB. 上述措施可以使智能冰壶的转动惯量与改造前的常规冰壶保持相同。 These measures can make intelligent curling moment of inertia remains the same as conventional curling before the transformation. 另外可以采取其他措施,使智能冰壶的总重量尽量接近改造前的常规冰壶的总重量。 Also you can take other measures to make intelligent curling as close to the total weight of the total weight of conventional curling before the transformation. 通过采取上述措施,降低安装测量器件对冰壶本身运动特性的影响。 By taking these measures to reduce the influence of the motion characteristics measuring means mounted curling itself. [0065] 在工作中,冰壶所受到的冲击可以超过700G(1G=9. 81m/s2)。 [0065] In operation, the impact suffered curling may exceed 700G (1G = 9. 81m / s2). 为了保护电路组件, 在智能冰壶中可能要使用缓冲器件,比如在用来固定PCB板的紧固件上增加橡胶垫圈,以及使用共形填料。 In order to protect the circuit components in the smart curling buffer devices may be used, such as rubber gaskets to increase, and the use of the fastener conformal filler PCB board. 这些器件都起到吸收冲击的作用,并且它们不会损坏电子部件,也不会使采集到的数据出现恶化。 These devices have the functions to absorb the impact, and they do not damage the electronic components, it does not cause deterioration in the acquired data. 为了预防电气短路问题造成的风险,空腔的内表面以绝缘胶带做成绝缘的覆盖层。 To prevent the risk of electrical shorting caused the problem, the inner surface of the cavity to the insulating tape made of an insulating cover layer.

[0066] 实施例智能冰壶中所述夹层中还设置有用于校正加速度传感器和角速度传感器参数变化的温度传感器。 [0066] In the embodiment of a smart curling interlayer further provided with a temperature sensor for correcting the angular velocity sensor and an acceleration sensor parameter changes.

[0067] 实施例智能冰壶中所述夹层中还设置有与角速度传感器进行互补测量的三轴磁力计,三轴磁力计的感测轴彼此正交。 [0067] In the embodiment of a smart curling interlayer is also provided with complementary measurements of the angular velocity sensor triaxial magnetometer, a triaxial magnetometer sense axis orthogonal to each other.

[0068] 实施例中,所述人体运动参数节点是微型无线惯性节点,图5示意了节点在人体运动部位的布局,6-1为人体运动参数节点包括微型锂电池和微型电路模块,微型电路模块包括加速度传感器和与之连接的无线信号发射电路,微型锂电池和微型电路模块安装在一个壳体中被固定在掷壶手身体的各主要关节部位,用于采集掷壶手在掷壶过程中身体的各主要关节的运动学参数。 [0068] Example embodiments, the human motion parameters miniature wireless node is a node of inertia, FIG. 5 illustrates a layout of the nodes in the moving parts of the body, the body motion parameter node 6-1 is a lithium battery comprising a micro-miniature circuit module and, microcircuit module including an acceleration sensor and a wireless signal transmitter circuit therewith, and a micro-miniature circuit module connected lithium battery mounted is fixed to the hand throwing pots major joints of the body in a housing, for collecting the hand throw throwing pots pot procedure kinematic parameters in the body's major joints. 这些运动学参数可以精确地反映掷壶手所完成的掷壶动作的完成质量,在帮助掷壶手改进动作方面有重要的现实意义。 These kinematic parameters can accurately reflect the pot throwing hand throwing pots action done by the completion of quality, there is great significance in helping to improve the operation of hand throwing pots aspects. 可以采集的运动学参数包括:任意时刻该特征点相对于冰道坐标系的直线运动情况(三维坐标、三维线速度、三维加速度)和角运动情况(三维朝向、三维角速度、三维角加速度)。 Kinematic parameters can be acquired include: any time the feature point relative to the ice channel linear movement coordinate system (three-dimensional coordinates, the linear velocity of the three-dimensional, three-dimensional acceleration) and angular movement (toward three-dimensional, three-dimensional angular velocity, angular acceleration D). 微型无线惯性节点的工作原理为惯性航迹推算,其工作原理、功能实现方法及使用方法与冰壶节点完全相同,即节点内置微型三轴加速度计、三轴角速度计和磁力计,在工作中不间断地采集节点自身相对于惯性坐标系的加速度、角速度以及相对于地磁场的三维朝向角,然后对这些数据进行滤波、积分、坐标转换等操作,从而获得相对于冰道坐标系(相当于地理坐标系)的运动学参数,这也是教练员和运动员真正关心的相关运动学参数。 Inertia works miniature wireless node is dead reckoning inertia, its working principle, function and implementation using identical method curling node, i.e. node built miniature triaxial accelerometer, magnetometer and triaxial angular velocity meter, in operation continuously collect node itself with respect to the inertial coordinate system acceleration, angular velocity, and three-dimensional orientation relative to the earth's magnetic field angle, then these data filtering, integrating, coordinate conversion and other operations, to thereby obtain the coordinate system relative to the ice channel (equivalent to geographic coordinate system) of the kinematic parameters, which is the kinematic parameters related to coaches and athletes really care. 虽然人体运动参数节点的工作原理、功能实现方法及使用方法与冰壶节点完全相同,但因为所用器件在电路板上的安装布局不同,并且节点最终封装所采用的外壳不同,使得人体运动参数节点的体积和重量很小,适应安装在人体上进行数据采集的特殊需求。 Although the principle of human motion parameter nodes, functions and implementation using exactly the same method curling nodes, but because the device is used in a different layout on the board is mounted, and a housing different nodes used in the final package, so that the body motion parameter node small size and weight, adapted to the special needs of the human body is mounted on the data acquisition. 在本系统中最多可以有255个微型无线惯性模块同步工作进行数据采集。 In the present system can have up to 255 micro-inertial wireless synchronization module for data acquisition.

[0069] 实施例中,如图6所示所述掷壶手心率节点是绑扎在受试者的胸部的无线心率带。 [0069] The embodiment shown in the heart rate, six-throw pot hand node is tied on chest FIG subject wireless heart rate belt. 无线心率带采用的是中国专利号为ZL2010202021527的"一种心电数据采集带",7-1为固定在心率带上的传感器和信号发射装置,心率带佩戴于掷壶手的胸部,用来进行掷壶手的无线心率测试。 Uses a wireless heart rate with Chinese Patent No. ZL2010202021527 of "an ECG data acquisition zone", the sensor 7-1 and the heart rate signal transmitting means fixed to the belt, chest strap worn throwing pots hand chest for They were throwing pots hand wireless heart rate testing. 冰壶的一个重要项目特征是求稳、求准,对掷壶手的心理能力提出了更高的要求。 An important feature of the project is curling wanted stability, seeking accurate, throwing pots on hand mental capacity of a higher demand. 在掷壶手的不同心理状态下,其心率会发生特定的变化,因此通过对掷壶手进行无线心率测试,可以实时了解其心理状态,进而还可以利用心率参数进行心理技能训练。 In different state of mind throwing pots hand, its heart rate will be certain changes, so the pot by throwing hand for wireless heart rate testing, real-time understanding of their mental state, in turn, can also make use of heart rate parameters mental skills training. 无线心率测试的工作原理为皮电信号处理,即借助具有专门电极的心率带。 Works for skin testing wireless heart rate electrical signal processing, i.e., by having a special electrode with the heart rate. 在使用时,电极上涂覆导电膏,并将心率带牢固绑扎在受试者的胸部,使得电极与受试者胸部的皮肤实现良好的电接触,从而由电极能够持续采集受试者的皮肤电位信号。 In use, the conductive paste coated on the electrode, and the heart in the chest belt firmly binding the subject, so that the chest electrodes and the subject's skin for good electrical contact, it is possible to continuously capture the subject's skin by an electrode potential signal. 该模拟电位信号经由单片机滤波处理,得出运动员的心率并进行无线上传。 The potential of the signal via analog filter processing microcontroller, derived heart rate and the athlete's wireless upload.

[0070] 实施例中,如图7所示,所述光电测速节点为多个,光电测速节点分别设置在冰道两侧并与无线网关无线连接,每个光电测速节点均由光电发射源8-1、光电接收模块8-2和无线信号发射模块组成,这些模块共同完成分段计时功能。 [0070] The embodiment shown in Figure 7, a plurality of the photoelectric tachometer node, node photoelectric tachometer disposed respectively at sides and ice chute connected with the wireless gateway radio, by photoemission sources each photoelectric tachometer node 8 -1 photoreceiving modules 8-2 and wireless signal transmitter modules, these modules together to complete the split time function. 光电发射源和光电接收模块分别具有半导体激光管和光电三极管。 Photoemissive source and a photo receiver modules each have a semiconductor laser tube and a phototransistor. 在工作状态下,半导体激光管发射出方向性极好的红色激光。 In the operating state, the semiconductor laser tube emits a red laser excellent directivity. 光电接收管中的光电三极管可以感测透过其透明窗所入射的光强度。 Phototransistor photoreceiving tube may sense the intensity of light transmitted through the transparent window which is incident. 在工作中, 光电发射源和光电接收模块被放置在冰道两侧成对使用,并使光电发射源所发出的激光垂直射入光电接收模块的光电三极管中,以使光电三极管保持在导通状态。 In operation, the photo-emitting source and a photo receiver module is placed in pairs on both sides of the ice channel usage, and the emitted laser photoemission source is incident perpendicular phototransistor optoelectronic receiver module, so that the optical transistor held in an ON status. 此后,当光电发射源与光电接收模块之间的激光束被切断时,则射入光电三极管的光量急剧降低,使得光电三极管变为截止状态,光电接收模块通过内部的时钟电路记录激光束切断瞬间的时间。 Thereafter, when the laser beam between the source and the photoreceptor photoemitter module is cut, the drastically reduced amount of light incident on the phototransistor, the phototransistor is turned off such that, photovoltaic module receiving the recording laser beam passes through the internal clock circuit is cut off instantly time. 光电发射源和光电接收模块用于采集冰壶在冰道上特定区间内的运动速度,并将数据传递至无线网关。 Photoemissive source and a photoelectric receiving means for collecting ice curling velocity within the specific section of track, and the data transfer to the wireless gateway. 在准备测试之前,首先将所有的光电发射源和光电接收模块成对布置在冰道两侦牝调整它们之间的朝向,使得光电发射源所发出的激光完全射入光电三极管的透明窗,并使得它们的之间的连线垂直于冰道(这里指垂直于本垒中心点和营垒中心点之间的连线)。 Prior to preparing the test, all of the first photo emitter and a photoelectric source modules are arranged in pairs in an ice-receiving channel towards two investigation female adjustment therebetween, such that the laser light emitted by photoemission source is incident entirely transparent window phototransistor, and such that the vertical connection therebetween ice channel (here, perpendicular to the connection between the home base camp center point and center point). 另外,调整所有激光束的距离冰面的高度,使得冰壶的运行可以可靠地遮挡激光束。 Further, the height adjustment of all laser beams from the surface of the ice, so that the curling operation of the laser beam can be reliably shielded. 成对放置的一个光电发射源和一个光电接收模块,形成一个计时点。 Placing a pair of a photo emitter and photo receiver module source, a timing point is formed. 两个相邻计时点之间的间隔, 即为需要测试冰壶运行速度的区间。 The spacing between two adjacent timing point, is the need to test the operating speed range of curling. 在正式开始测试速之前,以米尺或其他方法,分别测出每个测速区间的长度L,并输入计算设备(PC机)。 Before the test started speed, in a meter stick or other means, the length L of each were measured speed interval, and computing an input device (PC machine). 然后系统上电,所有光电测速节点以统一的全局时钟开始计时。 Then power on the system, all nodes in a uniform photoelectric speed global clock starts. 假设掷壶手在to时刻掷出冰壶,此后冰壶即以特定速度向前运行。 Suppose throwing pots at hand to throw the curling moment, then curling that is running forward at a certain speed.

[0071] 此后,冰壶运行到第一对光电节点处,且遮挡第一条激光束。 [0071] Thereafter, to the first photoelectric curling operation node, and blocking the first laser beam. 第一个光电接收节点感测到入射光量变化,并记录当前的时刻tl。 A first photoelectric receiving node senses the change amount of incident light, and record the current time tl.

[0072] 此后,冰壶运行到第二对光电节点处,且遮挡第二条激光束。 [0072] Thereafter, a second curling operation photoelectric node, and blocking the second laser beam. 第二个光电接收节点感测到入射光量变化,并记录当前的时刻t2。 The second photoelectric receiving node senses the change amount of incident light, and record the current time t2. 根据公式V = i计算出冰壶的运行速度。 According to the formula V = i calculated curling speed. 以此方法获得的冰壶的运行速度,实际是冰壶在该测速£2-tl 区间内的平均速度。 Curling obtained in this way running speed, the actual average speed is curling over the speed range £ 2-tl.

[0073] 因为系统内可以存在多个光电测速节点,所以此方法可以获得多个区间的冰壶运动速度。 [0073] Since there may be a plurality of photoelectric tachometer nodes in the system, so this method can be obtained a plurality of sections curling speed. 另外,在正确布置之后,光电测速节点测试速度的精度比冰壶节点高,因此它可以与冰壶节点一同使用,从而达到提高冰壶运动参数精度的目标。 Further, after correct placement, precision photoelectric velocity is higher than the test speed node curling node, so it can be used with curling node, so as to improve the accuracy of certain parameters of curling.

[0074] 通过专门设计光电发射源和光电接收模块的外壳和支架,增加其放置在场地内时的稳定性。 [0074] designed by photoemissive source and a photoelectric receiver module housing and the bracket, increasing stability when placed in the space thereof. 另外,可以通过增加一些自动保护电路,使得在光电发射源在姿态异常时自动关闭电源,从而达到防止激光射入场内人员眼睛的目标。 Further, by increasing the number of automatic protection circuit, so that the photoelectric emission source auto power off abnormal posture, thus preventing certain incident laser eye field personnel.

[0075] 实施例中,所述图像采集节点:用DV摄像机以有线方式与中央控制计算机相连, DV摄像机设置在冰道两侧及上方用于采集冰道实时图像。 [0075] embodiment, the image acquisition nodes: The DV camera in a wired manner and is connected to the central control computer, DV camera ice chute provided on the sides and above the ice chute for collecting real-time image. DV摄像机用于拍摄掷壶运动员在掷壶过程中的动作细节,刷冰运动员的刷冰动作细节,以及冰壶从开始投掷直到运动停止的全过程视频信息。 DV camcorder for capturing the details of the action throwing pots athletes in the process of throwing pots, brush brush ice ice action athlete detail, as well as curling throwing the whole process video information from the beginning until the motion stops. DV摄像机通过ffiEE1394信号线同主控计算机通信。 DV camera through the signal line ffiEE1394 communication with the host computer. 一台DV部署在冰道的本垒一侧,实现对掷壶运动员的近距离特写镜头拍摄,用于运动员掷壶动作的技术分析,另一台摄像机营垒一侧,俯视拍摄冰壶从掷壶、刷冰一直到撞击占位的全过程,主要用于战术分析。 DV home base station deployed in a ice road side, to achieve the close-ups of players throwing pots shots, players throw a technique for analyzing the operation of the pot, the other side of the camera camp, a top from throwing shooting pot curling brush the ice until the whole process of impact footprint, mainly for tactical analysis. 为了保证用于全过程拍摄的摄像机的视野,可以用支架将摄像机固定于营垒上方,或将其布置在营垒一侧的观众看台上。 In order to ensure for the whole process of the field of view captured by the camera, the camera may be fixed to the upper bracket camp, or disposed on the side of the spectator stands camp. 摄像机的典型参数:分辨率为640*480像素,采集频率为25帧/秒(50场/秒)。 Typical parameters of the camera: resolution of 640 * 480 pixels, the acquisition frequency of 25 frames / second (50 fields / sec).

[0076] 相对于以往的完全依罪DV摄像机的动作拍摄回放或者闭路电视系统,上述视频快速反馈方法具备视频画面清晰度高和视频检索方便的优点。 [0076] or a conventional closed circuit television system is completely captured by the playback operation with respect to sin DV camcorder, video fast feedback method comprising the above-described advantages of high-definition video picture and video convenient retrieval. 另外,摄像机的布设位置、视角及画面远近等可以动态调整,便于获得当前最关心的运动环节的画面。 In addition, the layout position of the camera, the screen viewing angle and distance, etc. can be dynamically adjusted, easy to get moving segment of the screen currently most concerned about. 闭路电视系统则难以实现对监视场景的快捷更换。 CCTV system is difficult to achieve quick replacement of the surveillance scene. DV摄像机所记录的视频是借助于计算机进行管理,方便快速定位需要播放的视频内容。 DV camcorder recorded video is managed by means of computer, easily and quickly locate video content to be played. 这些特点非常适合于冰壶现场训练的快节奏要求。 These features are very suitable for curling the field of fast-paced training requirements.

[0077] 众所周知,对于一个存在多个测量设备的系统而言,各个测量设备之间的时间同步是一个必须考虑的问题。 [0077] It is well known system for a plurality of measuring devices, the time synchronization between the respective measuring devices is a problem that must be considered. 只有做到了时间同步,才能实现不同来源的数据的组合分析,进而加深对实际变化过程的理解。 Only do the time synchronization, data from different sources in order to achieve a combination of analysis, and thus a better understanding of the actual process of change. 本系统通过以下措施实现各测量设备的时间同步:1.每个无线测量设备均设置了内部实时时钟,特定无线测量设备的所有的数据采集过程均以该内部实时时钟为基准,按一定的时间间隔进行,并且在每个采样时刻采集到的数据,均首先被以采样时刻附加时间戳,然后无线上传到中央控制电脑;2.每个无线测量设备均设置了对钟功能。 The system realizing the measuring device measures the time synchronization by the following: 1. Each wireless measurement devices are provided with an internal real time clock, all of the particular wireless data collection device are measuring the internal real time clock as a reference, by a certain time data interval, and collected at each sampling instant, a time stamp is added to each first sampling instant, and then upload the radio to the central control computer; 2. each wireless measuring devices are provided for the clock function. 对钟功能基于一个特定格式的外部无线信号。 Clock function based on external wireless signal of a specific format. 所有的无线测量设备均能接收并识别该无线信号,且在收到该无线信号后,无线测量设备立即将本身的实时时钟置成零时刻。 All wireless measurement equipment can receive and identify the wireless signal, and after receiving the radio signal, wireless measurement device itself, the real time clock immediately set to zero time. 因为在本系统中各个无线设备均处于一个比较小的空间范围内,所以无线信号到达各个无线测量设备的时间的差值足够小(〇. 1毫秒以下),在完成对时之后,所有无线测量设备将以统一的时钟运行。 Since in the present system the respective wireless devices are within range of a relatively small space, so that the radio signal arrival time difference measuring respective wireless device is small enough (square. 1 ms or less), is complete, all the time after the measurement of the radio equipment will be unified clock is running. 3.因为普通的DV摄像机均未内建时间同步功能,所以采用单独开发的同步信号接收装置来实现无线测量设备和摄像机的同步。 3. Because the average DV camera built no time synchronization, the synchronous signal receiving device to achieve synchronization developed separately measuring devices and wireless cameras. 具体方法为,在每个DV摄像机的视野内,均设置一个同步信号接收装置。 Specific methods in the field of view of each camera DV are provided a synchronizing signal receiving means. 该装置可以接收并识别上述的无线同步信号,并在收到该信号的瞬间发出一个DV摄像机可以记录在视频中的声光信号。 The apparatus may receive and identifying the wireless synchronization signal, and issues a DV camera can record sound and light signals in the video at the moment of receiving the signal. 在系统的实际工作中,当系统需要同步采集时,先启动所有设备的运行(无线测量设备处于等待状态、摄像机处于拍摄状态),然后由计算机发出无线同步信号,所有无线测量设备瞬间开始数据采集, 同时同步信号接收装置发出声光信号并记录在视频中。 In the actual operation of the system, when the system requires synchronous acquisition, start all equipment (wireless measurement device is in the waiting state, the camera is in the photographing state), the radio synchronization signal is then sent by the computer, all wireless measuring devices instant start data collection , audible and synchronizing signal receiving means and recorded in the video. 当数据采集过程结束后,对于所有来自于无线测量设备的数据,根据数据上附带的时间戳进行同步,对于无线测量数据和来自DV摄像机的视频,根据DV视频上的声光信号所在的时间点进行同步。 When the end of the data acquisition process for all the wireless data from the measuring device, according to the synchronizing time stamps are included on the data, and for radio measurement data from the DV video camera, the time point of sound and light on the DV video signal according to location for synchronization. 根据这种方法,可以实现系统内所有设备的有效时间同步。 According to this method, it is possible to achieve effective time synchronization of all devices in the system.

[0078] 系统内的所有设备之间并未有任何依赖关系,这就意味着,如果用户需要,可以只选择系统内的一种或几种设备进行数据采集,并对所关心的动作环节进行分析,这也大大增强了系统对实际训练环境的适应能力。 [0078] did not have any dependencies between all devices in the system, which means that, if you need, you can only choose one or more devices within the system for data acquisition, operation and links of interest to be analysis, which greatly enhances the system's ability to adapt to practical training environment.

Claims (7)

1. 一种用于冰壶运动训练的综合运动测量与辅助分析系统,其特征在于,所述系统包括: 中央控制计算机:用于对冰壶运动训练数据进行分析显示; 无线网关:与中央控制计算机连接,用于采集冰壶运动训练数据,并将数据传递至中央控制计算机; 蹬踏力节点:与无线网关无线连接,用于采集投壶手掷壶时的后蹬力数据,并将数据传递至无线网关; 刷冰频率节点:与无线网关无线连接,用于采集冰壶运动员刷冰频率数据,并将数据传递至无线网关; 冰壶节点:与无线网关无线连接,用于采集冰壶的运动状态数据,并将数据传递至无线网关; 人体运动参数节点:与无线网关无线连接,所述人体运动参数节点包括固定在运动员身体活动部位的壳体,壳体中安装有加速度传感器和与之连接的无线信号发射电路,用于采集冰壶运动员在掷壶过程中的运 A curling exercise for measuring global motion analysis system and the auxiliary, characterized in that, the system comprising: a central control computer: means for curling the training data analysis; wireless gateway: a central control computer connected to the acquisition curling training data, the data is transmitted to the central control computer; pedaling force nodes: wireless connection with the wireless gateway, the pressing force for the data acquisition administered pot hand throwing pots, and the data is transmitted to the wireless gateway; brush ice frequency nodes: wireless connection with the wireless gateway, for collecting ice brush curlers frequency data, the data is transmitted to the wireless gateway; curling nodes: wireless connection with the wireless gateway, for collecting curling motion status data, and the data transmitted to the wireless gateway; body motion parameters nodes: wireless connection with the wireless gateway, the node includes a fixed body movement parameters of physical activity in athletes housing part, an acceleration sensor is attached to the housing and connected thereto the radio signal transmitting circuit, the curlers for collecting transported pot process throwing 参数数据,并将数据传递至无线网关; 掷壶手心率节点:与无线网关无线连接,所述掷壶手心率节点是绑扎在受试者的胸部的无线心率带,用于采集冰壶运动员在掷壶过程中的实时心率数据,并将数据传递至无线网关; 光电测速节点:与无线网关无线连接,所述光电测速节点包括光电发射源、光电接收模块和与之连接的无线信号发射模块,光电发射源和光电接收模块分别设置在冰道的两侧用于采集冰壶前进的速度; 图像采集节点:用DV摄像机以有线方式与中央控制计算机相连,所述DV摄像机设置在冰道两侧及上方用于采集冰道实时图像。 Parameter data, and data transfer to the wireless gateway; throwing pots hand heart nodes: wireless connection with the wireless gateway, the node is throwing lashing pot hand heart in the chest of a subject wireless heart rate zone, for collecting the curlers real-time heart rate data throw-pot process, and passes data to the wireless gateway; Optical node speed: wireless connection with the wireless gateway, the node comprising a photoelectric speed photoemission sources, photoelectric receiver module and the wireless signal transmitter module connected thereto, photoemissive source and a photo receiver modules are respectively disposed on both sides of the ice channel for collecting curling forward speed; image capture node: DV camera in a wired manner by the central control computer is connected to a DV camera is provided on both sides of the ice channel above the ice chute and for collecting real-time image.
2. 根据权利要求1所述的一种用于冰壶运动训练的综合运动测量与辅助分析系统,其特征在于,所述蹬踏力节点包括有一蹬踏斜面的起滑支架和无线信号发射装置,无线信号发射装置安装在支架中,在所述蹬踏斜面设有一个横向凹槽,凹槽内固定有四棱柱体形状的压力传感器,压力传感器的测力平台与起滑支架的蹬踏斜面平行,在测力平台上固定一片刚性的金属踏板,所述金属踏板的形状与起滑支架的蹬踏斜面相同,其平面方向与蹬踏斜面平行,压力传感器的测力平台及金属踏板与起滑支架的其他部分不发生接触,压力传感器的压力信号与无线信号发射装置连接。 2. A method according to claim 1 for curling exercise training integrated with the auxiliary measurement analysis system, characterized in that said node includes a pedaling force of the pedal ramp from sliding bracket and a radio signal transmitting means, pedaling ramp parallel radio signal transmitting apparatus is mounted in the holder is provided with a transverse groove in the ramp pedaling, the pressure sensor is fixed to a quadrangular cylindrical shape in the recess, the load platform from the pressure sensor and the slide bracket fixing a rigid metal pedals, the shape of the metal pedal bracket and the pedal ramp from sliding on the same load platform, ramp pedaling plane direction parallel to the load platform and the pressure sensor from the sliding metal with pedals other portions of the stent does not contact, the pressure signal of the pressure sensor and the wireless transmission device is connected.
3. 根据权利要求1所述的一种用于冰壶运动训练的综合运动测量与辅助分析系统, 其特征在于,所述刷冰频率节点包括带有刷柄和刷头的冰刷,刷头和刷柄之间设置有刷冰频率测试装置,所述刷冰频率测试装置包括有加速度传感器和与之连接的无线信号发射电路。 According to claim 1, wherein one of the training for the curling and the auxiliary measuring global motion analysis system, characterized in that said node comprises a frequency Ice Ice brush handle and the brush head with the brush, the brush head disposed between the handle and the brush ice frequency test apparatus, the test apparatus comprises a brush ice frequency acceleration sensor and a wireless signal transmitter circuit connected thereto.
4. 根据权利要求1所述的一种用于冰壶运动训练的综合运动测量与辅助分析系统, 其特征在于,所述冰壶节点包括冰壶本体,所述冰壶本体上设置有冰壶把手,所述冰壶本体和冰壶把手之间设置有一个夹层,夹层中设置有数据采集模块,所述数据采集模块包括称之为陀螺仪的角速度传感器、加速度传感器、中央处理器、时间发生器以及一个无线传输电路,角速度传感器、加速度传感器分别通过A/D转换电路连接至中央处理器,中央处理器与时间发生器和无线传输电路线连接。 According to claim 1, wherein one of the training for the curling and the auxiliary measuring global motion analysis system, characterized in that said node comprises a curling curling body, said body is provided with a curling curling on there is provided a sandwich, the sandwich is provided with a data acquisition module between the handle, the handle curling and curling body, said data acquisition module comprises an angular velocity sensor called a gyroscope, an acceleration sensor, a central processing unit, time of occurrence a wireless device and a transmission circuit, an angular velocity sensor, an acceleration sensor is connected to the central processor, the central processor and timing generator circuit and the radio transmission line is connected through a / D conversion circuit.
5. 根据权利要求4所述的一种用于冰壶运动训练的综合运动测量与辅助分析系统,其特征在于,所述的角速度传感器和加速度传感器安装位置均处于冰壶的自转中心轴上。 5. A method according to claim 4 for curling exercise training comprehensive measurement and analysis system auxiliary, wherein the angular velocity sensor and the acceleration sensor are in the mounted position of the rotational center axis of curling.
6. 根据权利要求4所述的一种用于冰壶运动训练的综合运动测量与辅助分析系统,其特征在于,所述夹层中还设置有用于校正加速度传感器和角速度传感器参数变化的温度传感器。 6. A method according to claim 4 for curling exercise training integrated with the auxiliary measurement analysis system, characterized in that the interlayer is also provided for correcting a change of parameters of an acceleration sensor and angular velocity sensor a temperature sensor.
7. 根据权利要求4所述的一种用于冰壶运动训练的综合运动测量与辅助分析系统,其特征在于,所述夹层中还设置有与角速度传感器进行互补测量的三轴磁力计,三轴磁力计的感测轴彼此正交。 7. A method according to claim 4 for synthesizing curling exercise training and the auxiliary measuring analysis system, characterized in that the interlayer is also provided with complementary measurements of the angular velocity sensor triaxial magnetometer, tris a sensing axis magnetometer axes orthogonal to each other.
CN 201310084917 2013-03-18 2013-03-18 Comprehensive training for the sport of curling one kind of measurement and analysis system for aid CN103127686B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201310084917 CN103127686B (en) 2013-03-18 2013-03-18 Comprehensive training for the sport of curling one kind of measurement and analysis system for aid

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201310084917 CN103127686B (en) 2013-03-18 2013-03-18 Comprehensive training for the sport of curling one kind of measurement and analysis system for aid

Publications (2)

Publication Number Publication Date
CN103127686A CN103127686A (en) 2013-06-05
CN103127686B true CN103127686B (en) 2014-10-29

Family

ID=48488534

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201310084917 CN103127686B (en) 2013-03-18 2013-03-18 Comprehensive training for the sport of curling one kind of measurement and analysis system for aid

Country Status (1)

Country Link
CN (1) CN103127686B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015126013A1 (en) * 2014-02-20 2015-08-27 숭실대학교산학협력단 Curling analysis method, device for performing same, and recording medium
KR101611431B1 (en) 2014-02-20 2016-04-12 숭실대학교산학협력단 Method for analyzing curling game, recording medium and device for performing the method
CN104248837A (en) * 2014-09-16 2014-12-31 华南理工大学 Pressure sensing based player motion analysis system
CN105105755B (en) * 2015-06-25 2017-10-31 简极科技有限公司 Intelligent court system and its data acquisition method
KR101813219B1 (en) 2016-11-22 2018-01-30 주식회사 유캔두잇 Curling stone steering control system that use broom
KR101813220B1 (en) 2016-11-22 2018-01-30 주식회사 유캔두잇 Curling stone steering control system that use smartphone
KR101937228B1 (en) 2017-12-22 2019-01-11 서울올림픽기념국민체육진흥공단 Measuring device for sweeping force and rotating angle of curling brush

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2363877A1 (en) 2001-11-27 2003-05-27 J. Eric Salt Curling rock and apparatus and method for detecting a hog line violation
DE202005015949U1 (en) 2005-10-11 2006-01-19 Poschenrieder, Martin Ice or gymnastics stick has concentric nose holding a stick body attached to handle, running plate and protective ring embodied as changeable protective ring module
CN201643602U (en) 2010-03-13 2010-11-24 成都市宇中梅科技有限责任公司 Curling
CN102481478A (en) 2009-03-27 2012-05-30 英福摩迅运动科技公司 Monitoring of physical training events

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2363877A1 (en) 2001-11-27 2003-05-27 J. Eric Salt Curling rock and apparatus and method for detecting a hog line violation
DE202005015949U1 (en) 2005-10-11 2006-01-19 Poschenrieder, Martin Ice or gymnastics stick has concentric nose holding a stick body attached to handle, running plate and protective ring embodied as changeable protective ring module
CN102481478A (en) 2009-03-27 2012-05-30 英福摩迅运动科技公司 Monitoring of physical training events
CN201643602U (en) 2010-03-13 2010-11-24 成都市宇中梅科技有限责任公司 Curling

Also Published As

Publication number Publication date
CN103127686A (en) 2013-06-05

Similar Documents

Publication Publication Date Title
EP1909925B1 (en) Device and method for measuring the force of a shot to which a movable gaming device is subjected
US9361522B2 (en) Motion event recognition and video synchronization system and method
US20060020177A1 (en) Apparatus and method for measuring quantity of physical exercise using acceleration sensor
US8289185B2 (en) Sports telemetry system for collecting performance metrics and data
US9646199B2 (en) Multi-sensor event analysis and tagging system
US20080223131A1 (en) System and Method for Motion Capture in Natural Environments
US9418705B2 (en) Sensor and media event detection system
US8647287B2 (en) Wireless synchronized movement monitoring apparatus and system
US9237317B2 (en) Throwable camera and network for operating the same
US20150078140A1 (en) Wearable Apparatus
EP2539029B1 (en) Tracking system
US20170003111A1 (en) Methods of determining performance information for individuals and sports objects
US20160322078A1 (en) Multi-sensor event detection and tagging system
US8994826B2 (en) Portable wireless mobile device motion capture and analysis system and method
US10076685B2 (en) Operations with instrumented game ball
US20130225309A1 (en) Broadcasting system for broadcasting images with augmented motion data
JP5915148B2 (en) Motion analysis methods and motion analysis apparatus
US8905855B2 (en) System and method for utilizing motion capture data
US20120088544A1 (en) Portable wireless mobile device motion capture data mining system and method
AU2011244873B1 (en) Method of confirming motion parameters, apparatus for the same, and motion assisting device
US20130128022A1 (en) Intelligent motion capture element
US8903521B2 (en) Motion capture element
US8465376B2 (en) Wireless golf club shot count system
CA2812734C (en) Portable wireless mobile device motion capture and analysis system and method
US8941723B2 (en) Portable wireless mobile device motion capture and analysis system and method

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C14 Granted