CN106823329B - A kind of basketball movement trajectory track system - Google Patents
A kind of basketball movement trajectory track system Download PDFInfo
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- CN106823329B CN106823329B CN201710103878.1A CN201710103878A CN106823329B CN 106823329 B CN106823329 B CN 106823329B CN 201710103878 A CN201710103878 A CN 201710103878A CN 106823329 B CN106823329 B CN 106823329B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0071—Training appliances or apparatus for special sports for basketball
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0647—Visualisation of executed movements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/16—Angular positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2243/00—Specific ball sports not provided for in A63B2102/00 - A63B2102/38
- A63B2243/0037—Basketball
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to motion tracking field, specifically a kind of basketball movement trajectory track system, including MEMS wireless sensings integration module, battery, power module, Intelligent bracelet, zigbee modules, host computer, display module；MEMS wireless sensings integration module passes through wireless connection with host computer；Intelligent bracelet passes through wirelessly transmitting data packet with zigbee modules；Zigbee modules pass through wireless communicated data with host computer；Display module is connect with host computer；The power module is for providing power supply.The present invention is by MEMS wireless sensings integration module by the kinematic parameter of basketball by being wirelessly transmitted to host computer, and zigbee modules by the RSSI value between zigbee modules and Intelligent bracelet by being wirelessly transferred to host computer, the movement locus of basketball is fitted to after host computer is handled, and it is input to memory module and display module, the movement locus that basketball can be intuitively seen very much by display module sportsman, so that sportsman adjusts the parameter shot next time.
Description
Technical field
The present invention relates to motion tracking field, specifically a kind of basketball movement trajectory track system.
Background technology
Object is acted on by invariable power, and the direction of initial velocity and this power are not point-blank,
The track of so object operation is exactly a parabola.By physically to parabolical definition it is found that basketball is in the air only by weight
Force effect, and size direction is constant, and because initial velocity direction and gravity is not conllinear, the skyborne movement locus of basketball is
One parabola.Whether can basketball be knocked down to depend primarily on the skyborne movement locus of basketball in basketry reasonable, and basketball
Movement locus and height of selling, throwing angle, shooting dynamics, shooting distance, the center of gravity of ball and sportsman's oneself factor it is related.
The major parameter index of the movement locus of basketball includes throwing angle, enters basket angle and parabola height, that is, when shooting and horizontal plane
When angle, basketball enter frame and the angle and basketball of horizontal plane highest point height in-flight, these three parameter combinations are certain
It can ensure that in range and knock down basketry, the influence of other factors is all embodied on above three parameter index, as long as can ensure
These three parameters can be effectively controlled, you can greatly improve field goalds.And sportsman or coach can only be visually
These three parameters for going perception basketball to sell, it is too big that there are errors.Application number：CN201410532650.0, title：Basketball flies
Track navigation device and method, which provide one kind, arranging guidance path in space of shooting so that the flight path energy of basketball
It is controlled in a certain range, so as to intuitively carry out shootaround to shooting person in real time, improves the dress of field goalds
It sets, but this device is not easily shifted, often changes the height that a shooting spot then wants Mobile navigation device, adjusts navigation device, it has not been convenient to
Operation, influences training effectiveness.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of basketball movement trajectory track system, specific technical solution is such as
Under：
A kind of basketball movement trajectory track system includes ball inside points, ball outer portion；The ball inside points include MEMS without
Line senses integration module, battery；The MEMS wireless sensings integration module connect with battery and is fixed on sphere；The MEMS
Wireless sensing integration module includes MEMS Inertial Measurement Units, wireless output module；MEMS Inertial Measurement Units and wireless output
Module connects；The wireless output module passes through wireless connection with host computer；
The ball outer portion includes power module, Intelligent bracelet, zigbee modules, host computer, display module；The intelligence
Bracelet passes through wirelessly transmitting data packet with zigbee modules；The zigbee modules pass through wireless communicated data with host computer；Institute
Display module is stated to connect with host computer；The power module is used to provide power supply to ball outer portion；The MEMS inertia measurements list
Member uses ADIS16445；The Intelligent bracelet is fixed in the wrist of sportsman's pitching, and zigbee moulds are given for transmission data packet
Block；The zigbee modules have 4, are respectively arranged in 4 corners of basketball court；The MEMS wireless sensings integration module and electricity
Pond is fixed on basketball inner wall, and basketball outer wall corresponding position is provided with battery charging hole；The host computer include timer,
The algorithm of zigbee module rangings, memory module；For the movement according to the collected basketball of MEMS wireless sensing integration modules
Parameter fitting at basketball movement locus；The host computer is according to the movement of the collected basketball of MEMS wireless sensing integration modules
Parameter fitting specifically includes following steps at the movement locus of basketball：
(1) coordinate that basketball is sold a little is determined：
If a diameter of D of basketball, quality M, basketball field length is a, and the height of width b, basketry steel ring to ground are h,
4 corners of basketball court are respectively A points, B points, C points, D points, establish three-dimensional system of coordinate with basketball court, A point coordinates is (x1, y1,
z1), B point coordinates is (x2, y2,z2), C point coordinates is (x3,y3,z3), D point coordinates is (x4,y4,z4), using A points as coordinate origin,
Using the ray where the line of the A of basketball court points and C points as the positive direction of X-axis, with where the line of the A points of basketball court and B points
Ray be Y-axis positive direction, using A points as endpoint, the ray of the plane where vertical basketball court is the positive direction of Z axis, then A points
Coordinate is (0,0,0), and B point coordinates is (0, b, 0), and C point coordinates is (a, 0,0), and D point coordinates is (a, b, 0)；A points, B points, C points,
D points respectively place a zigbee module, as anchor node, if Intelligent bracelet coordinate is (x, y, z), then and height of selling
H1=z+D/2； (1)
MEMS Inertial Measurement Units inside startup host computer, 4 zigbee modules, Intelligent bracelet and basketballs, intelligent hand
The coordinate of Intelligent bracelet is determined between ring and 4 zigbee modules by the method for determining RSSI value；The RSSI value is to receive
The relationship of the propagation distance of signal strength values, received signal strength value and signal is：
Pij=A-10nplog10(dij)； (2)
PijAfter sending signal for sending node i, receiving node j receives the signal strength values when signal, and unit is
DBm, dijThe distance between sending node i and receiving node j；A is that signal has propagated the received signal strength after 1 meter
Value, npFor path loss index；
Host computer, which sends order, allows Intelligent bracelet to 4 zigbee module transmission data packets, i.e. Intelligent bracelet is to A points, B
Point, C points and D points distinguish transmission data packet, if A points receive the information of Intelligent bracelet transmission, RSSI value RSSI1, B points connect
When receiving the information of Intelligent bracelet transmission, RSSI value RSSI2, when C points receive the information of Intelligent bracelet transmission, RSSI value is
RSSI3, when D points receive the information of Intelligent bracelet transmission, RSSI value RSSI4If Intelligent bracelet is to the distance d of A points1, intelligence
Distance d of the bracelet to B points2, distance d of the Intelligent bracelet to C points3, distance d of the Intelligent bracelet to D points4, according to signal strength values with
The relationship of transmission range can be by RSSI1、RSSI2、RSSI3、RSSI4It is converted into corresponding distance d respectively1、d2、d3、d4, then may be used
It is as follows to establish equation：
Solution above equation group can be obtained the coordinate (x, y, z) of Intelligent bracelet, that is, the coordinate sold a little, according to selling a little
The coordinate of the basketball centre of sphere is when coordinate can must sell
(2) determine basketball movement to peak coordinate：
After launching basketball, acceleration a of the MEMS Inertial Measurement Units by measured basketball in X, Y, Z axisx、ay、azIt is logical
It crosses and wirelessly passes to wireless receiving module, then host computer processing analysis, while the timer of host computer are passed to by wireless receiving module
Start, records T at the time of at this time0, when basketball movement is to peak, the acceleration on Z axis is equal to acceleration of gravity at this time, i.e.,
az=-g, the timer record of host computer at this time at the time of T1；Basketball is in T1Speed v when moment peaks on Z axisz1=
0, then basketball is in T0Speed when moment sells on Z axis
Due to the conservation of energy on Z axis, i.e. kinetic energy on Z axis is converted into gravitional force, i.e.,
Δ z can be found out by above formula, M is the quality of basketball in formula, and Δ z is basketball from selling a little to peak on Z axis
Displacement；
If peak be F points, F points be basketball movement to peak when the centre of sphere where position, if its coordinate be (xF,
yF,zF), basketball from sell a little displacement to peak in X-axis be Δ x, then
If basketball from sell a little displacement to peak in Y-axis be Δ y, then
Then
xF=x+ Δs x； (11)
yF=y+ Δs y； (12)
To sum up can then find out basketball movement to peak F points coordinate (xF,yF,zF)；
(3) the parabolical symmetry axis where basketball movement track is determined：
Movement locus of the basketball after launching is a parabola, according to parabolical symmetry, it is known that basketball is in the air
Movement locus be with by point (x in the plane where basketball courtF,yF, 0) and it is vertical with the plane where basketball court
Straight line is the parabola of symmetry axis；
(4) host computer fitting basketball movement track：
Host computer according to basketball from sell a little to the movement locus of peak and symmetry axis fitting basketball launched after to
The movement locus of basketry, and be input to memory module, the movement locus be choose basketball from sell a little to basketry steel ring to
Until plane where the height h on ground.
Further, the display module includes liquid crystal display, the track for showing basketball movement and corresponding shooting
The best hit parabola of point, corresponding height of selling.
Further, the MEMS wireless sensings integration module is symmetrically distributed with position of the battery on basketball inner wall；Institute
MEMS wireless sensings integration module is stated to connect by conducting wire with battery.
Further, the memory module has the best hit parabola in each shooting spot, each height of selling in advance.
Beneficial effects of the present invention are：
1, MEMS Inertial Measurement Units are small, light weight and cost is low, low in energy consumption, reliability is high, antidetonation crash resistance is strong,
It is easily integrated and realizes intelligence；
2, the present invention uses wirelessly transmitting data, convenient and efficient, it is only necessary to which once data transmission can be realized in matching；
3, the present invention is fitted to movement locus by host computer to the kinematic parameter for collecting basketball, and passes through liquid crystal screen display
It shows to come, sportsman can intuitively see that the movement locus of the basketball of oneself shooting and corresponding shooting spot, correspondence are sold very much
The best hit parabola of height, so that sportsman adjusts the relevant parameter shot next time；
4, host computer of the invention can also count and analyze the kinematic parameter of some sportsman shooting, provide one properly
Shooting region, when sportsman being instructed to shoot toward this shooting region it is close, to improve field goalds；
5, the present invention can store the movement locus of basketball when sportsman shoots every time, and historical data pair is recalled to train
The analysis of this sportsman shooting state；
6, the present invention goes out hand position using zigbee four point positioning basketballs, and error is small, and accuracy is high.
Description of the drawings
Fig. 1 is a kind of basketball movement trajectory track system structure diagram of the present invention；
Fig. 2 is standard basketball court schematic diagram；
Fig. 3 is 4 zigbee module arrangement schematic diagrames of the invention；
Fig. 4 is present invention shooting schematic diagram；
Fig. 5 is the positioning schematic of the present invention；
Fig. 6 is that basketball of the present invention launches the acceleration on rear Z axis and the relational graph of time；
Fig. 7 is basketball wireless charging schematic diagram of the present invention；
Fig. 8 is battery and MEMS wireless sensing integration module arrangement schematic diagram of the present invention；
Fig. 9 is the symmetrical schematic diagram of battery and MEMS wireless sensing integration module of the present invention；
1, basketball；2, charging head；3, electric wire；4, charge support plate；5, charge inductor；6, battery and MEMS wireless sensings
Integration module；7, battery charging hole；8, battery；9, MEMS wireless sensings integration module.
Specific implementation mode
In order to better understand the present invention, the invention will be further described in the following with reference to the drawings and specific embodiments：
As shown in Figure 1, a kind of basketball movement trajectory track system includes ball inside points, ball outer portion；The ball inside points
Including MEMS wireless sensings integration module, battery；The MEMS wireless sensings integration module connect with battery and is fixed on sphere
On；The MEMS wireless sensings integration module includes MEMS Inertial Measurement Units, wireless output module；MEMS Inertial Measurement Units
It is connect with wireless output module；The wireless output module passes through wireless connection with host computer；
The ball outer portion includes power module, Intelligent bracelet, zigbee modules, host computer, display module；The intelligence
Bracelet passes through wirelessly transmitting data packet with zigbee modules；The zigbee modules pass through wireless communicated data with host computer；Institute
Display module is stated to connect with host computer；The power module is used to provide power supply to ball outer portion.
Preferably, the MEMS Inertial Measurement Units use ADIS16445.A three-axis gyroscope built in ADIS16445
With a three axis accelerometer；Accelerometer maximum range ± 5g, can measure the acceleration in X, Y, Z axis, shock resistance
2000g, tolerance are good；- 40 DEG C of running temperature~105 DEG C, it is adaptable；Start time 175ms, can quickly start；Size
24.1mm × 37.7mm × 10.8mm, quality 15g can receive external sampling clock input highest 1.1kHz.ADIS16445 is
One autonomous work system, without initialization.When providing effective power supply for it, it can voluntarily be initialized, and with
The sampling rate of 819.2SPS starts sampling, processing, and sensing data is loaded into output register, can using SPI interface
To be connect with wireless output module and measured data be input to wireless receiving module by wireless output module.
Preferably, the zigbee modules have 4, are respectively arranged in 4 corners of basketball court, as shown in figure 3, point A, point
B, a zigbee module is respectively arranged in point C, point D.
Preferably, the Intelligent bracelet is fixed in the wrist of sportsman's pitching, and zigbee moulds are given for transmission data packet
Block, as shown in Figure 4.
Further, the MEMS wireless sensings integration module is fixed on battery 6 on basketball inner wall, is corresponded in basketball outer wall
Position is provided with battery charging hole 7, as shown in figure 8, the wireless output module in MEMS wireless sensing integration modules uses bluetooth
Technology realizes that battery selection is polymer Li-ion battery PL051430, and size is 30.5mm*14.5mm*5mm, and weight is
3.5g；Battery provides the operating voltage of 3.15V to 3.45V to ADIS16445, and basketball is then started MEMS toward pounding on ground
Wireless sensing integration module.
Preferably, MEMS wireless sensings integration module is symmetrically distributed with position of the battery on basketball inner wall；Specific point
Cloth is inside basketball by the both ends of the diameter of a circle of the centre of sphere；The MEMS wireless sensings integration module is connected with battery by conducting wire
It connects, conducting wire is fixed on basketball inner wall, can reduce influence of the ball inside points to basketball movement track in this way, as shown in Figure 9.
In conclusion the total weight of MEMS wireless sensings integration module and battery is within 25g, and basketball weight must not be lacked
In 567 grams, 650 grams, basketball volume 7800mL must not be more than, diameter 24.62cm, MEMS wireless sensing integration module is solid with battery
The movement inside basketball to basketball is scheduled on to have little influence on.
Preferably, the host computer includes timer, the algorithm of zigbee module rangings, memory module；For basis
The kinematic parameter of the collected basketball of MEMS wireless sensing integration modules is fitted to the movement locus of basketball.
Preferably, the display module includes liquid crystal display, the track for showing basketball movement and corresponding shooting
The best hit parabola of point, corresponding height of selling, this liquid crystal display screen dimensions is at 85 cun or more, so as to sportsman's direct viewing
The parabolical deviation of most preferably hit of the track for the basketball movement launched to oneself and corresponding shooting spot, corresponding height of selling, with
Just the related dynamics, angle of adjustment shooting next time, height parameter.
Preferably, the memory module has the best hit parabola in each shooting spot, each height of selling in advance.
Specific embodiment is given below：
(1) coordinate that basketball is sold a little is determined
If basketball a diameter of D, quality M, if D=24.62cm, M=0.65kg；If basketball field length is a, width b,
The height on basketry steel ring to ground is h, as shown in Fig. 2, the court a=28m of standard, b=15m, h=3.05m；Such as Fig. 3
It is shown, three-dimensional system of coordinate is established with basketball court, if A point coordinates is (x1,y1,z1), B point coordinates is (x2,y2,z2), C point coordinates is
(x3,y3,z3), D point coordinates is (x4,y4,z4), using A points as coordinate origin, using the ray where the long AC of basketball court as X-axis
Positive direction, using the ray where the wide AB of basketball court as the positive direction of Y-axis, using A points as endpoint, the plane where vertical basketball court
Ray be Z axis positive direction, then A point coordinates be (0,0,0), B point coordinates be (0,15,0), C point coordinates be (28,0,0), D
Point coordinates is (28,15,0)；Point A, B, C, D respectively place a zigbee module, and as anchor node, Intelligent bracelet is fixed on movement
In the wrist of member's pitching, as unknown node E, if the coordinate of Intelligent bracelet E is (x, y, z), then height of selling H1=z+D/2.
Start host computer, 4 zigbee modules, the ADIS16445 modules inside Intelligent bracelet and basketball, Intelligent bracelet with
The coordinate of Intelligent bracelet is determined between 4 zigbee modules by the method for determining RSSI value；RSSI(receive signal
Strength indicator) it is received signal strength indicator.Signal strength values of the wireless signal in communication process can be with
It the increase of propagation distance and reduces.There is specific relationship between received signal strength value and the propagation distance of signal.Due to
Sensor node inherently has wireless signal transmission-receiving function, so the technology based on RSSI positioning has low-power and cheap
Advantage.
In actually providing the chip that RSSI value measures, the propagation of signal among the nodes can be with the wireless communication of use experience
Number mode is simulated, i.e.,：
Pij=π0-10nplog10(dij/Δ0)； (1)
PijAfter sending signal for sending node i, receiving node j receives the signal strength values when signal, and unit is
DBm,
dijThe distance between sending node i and receiving node j.Δ0It is received with it apart for receiving node
Sending node sends the intensity value of signal, unit dBm, it is generally the case that chooses Δ0For 1m.npFor path loss index, it
With specific environmental correclation.If A, which is signal, has propagated the signal strength after 1 meter, then above wireless signal transmission model can be with
It is rewritten as：
Pij=A-10nplog10(dij)； (2)
As can be seen from the above equation, parameter A and the relationship between received signal strength value and signal propagation distance is determined.
It is exactly that the distance between transmitting-receiving node is estimated by RSSI value based on RSSI positioning modes, then according to anchor node
Position positions unknown node.The present invention positioning principle as shown in figure 5,4 corners of basketball court location point A, B, C
All it is anchor node with D, position is all known, and A point coordinates is (x1, y1,z1), B point coordinates is (x2, y2,z2), C point coordinates is
(x3, y3,z3), D point coordinates is (x4, y4,z4), Intelligent bracelet E points are unknown node, if its position is (x, y, z), host computer
Sending order allows Intelligent bracelet to 4 zigbee module transmission data packets, i.e. E points send number respectively to A points, B points, C points and D points
According to packet, if A points receive the information of E points transmission, RSSI value RSSI1, when B points receive the information of E points transmission, RSSI value
For RSSI2, when C points receive the information of E points transmission, RSSI value RSSI3, when D points receive the information of E points transmission, RSSI value
For RSSI4If E points are to the distance AE=d of A points1, distance BE=d of the E points to B points2, distance CE=d of the E points to A points3, E points arrive
The distance DE=d of D points4, can be by RSSI according to the relationship of signal strength values and transmission range1、RSSI2、RSSI3、RSSI4Respectively
It is converted into corresponding distance d1、d2、d3、d4, then can then establish equation
Solution above equation group can be obtained the coordinate (x, y, z) of Intelligent bracelet E points, the then coordinate sold a little, that is, when selling
The coordinate of basketball centre of sphere O is
(2) determine basketball movement to peak F coordinate
After launching basketball, ADIS16445 moulds three axis accelerometer in the block adding in X, Y, Z axis by measured basketball
Speed ax、ay、azHost computer processing analysis is passed to by wirelessly passing to wireless receiving module, then by wireless receiving module, while on
The timer initiation of position machine, records T at the time of at this time0, when basketball movement is to peak, the acceleration on Z axis is equal at this time
Acceleration of gravity, i.e. az=-g, the timer record of host computer at this time at the time of T1；Then accelerate to be even variation, draws Z axis
On acceleration and displacement relationship az- t schemes as shown in fig. 6, az- t figure slopesThen shadow surface as shown in FIG. 6
Product is variation delta v of the basketball on Z axisz, since basketball is in T1Speed v when moment peaks on Z axisz1=0, then basket
Ball is in T0Speed v when moment sells on Z axisz0=Δ vz, i.e.,Since energy is kept on Z axis
Perseverance, i.e. kinetic energy on Z axis are converted into gravitional force, i.e.,
Δ z can be found out by above formula, M is the quality of basketball in formula, and Δ z is basketball from selling a little to peak on Z axis
Displacement；
If peak be F points, F points be basketball movement to peak when the centre of sphere where position, coordinate be (xF, yF,
zF), since the basketball launched can be regarded as only by gravity, the frictional force in throwing into this section of distance of basketry with air
Can be ignored, if basketball from sell a little displacement to peak in X-axis be Δ x, then
If basketball from sell a little displacement to peak in Y-axis be Δ y, then
Then
xF=x+ Δs x； (10)
yF=y+ Δs y； (11)
To sum up can then find out basketball movement to peak F points coordinate (xF,yF,zF)。
(3) the parabolical symmetry axis where basketball movement track is determined
Since movement locus of the basketball after launching is a parabola, parabola has symmetry, then basketball is in the air
Movement locus be with by point G (x in the plane where basketball courtF,yF, 0) and it is vertical with the plane where basketball court
Straight line is the parabola of symmetry axis.
(4) host computer fitting basketball movement track
Host computer can a little be launched to the movement locus of peak and symmetry axis fitting basketball according to basketball from selling
The movement locus of basketry is arrived afterwards, and is input to memory module, this track is to choose basketball from selling a little to vertical height H=
Until plane where 3.05m.
Since memory module has the best hit parabola in each shooting spot, each height of selling in advance, at this time on
The movement locus that position machine transfers corresponding best hit parabola and the basketball launched from memory module compares, and will correspond to
Best hit parabola and the movement locus of the basketball launched be simultaneously displayed on 85 cun of liquid crystal display, so as to sportsman
The track for the basketball movement that direct viewing is launched to oneself and the most preferably hit of corresponding shooting spot, corresponding height of selling are parabolical
Deviation, so as to adjust next time shooting related dynamics, angle, height parameter, with this train athletes shooting custom feel,
Improve hit rate.
The present invention is not limited to above-described specific implementation mode, and the foregoing is merely the preferable case study on implementation of the present invention
, be not intended to limit the invention, all within the spirits and principles of the present invention made by any modification, equivalent replacement and change
Into etc., it should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of basketball movement trajectory track system, it is characterised in that：Including ball inside points, ball outer portion；The ball inside points
Including MEMS wireless sensings integration module, battery；The MEMS wireless sensings integration module connect with battery and is fixed on sphere
On；The MEMS wireless sensings integration module includes MEMS Inertial Measurement Units, wireless output module；MEMS Inertial Measurement Units
It is connect with wireless output module；The wireless output module passes through wireless connection with host computer；
The ball outer portion includes power module, Intelligent bracelet, zigbee modules, host computer, display module；The Intelligent bracelet
Pass through wirelessly transmitting data packet with zigbee modules；The zigbee modules pass through wireless communicated data with host computer；It is described aobvious
Show that module is connect with host computer；The power module is used to provide power supply to ball outer portion；The MEMS Inertial Measurement Units are adopted
Use ADIS16445；The Intelligent bracelet is fixed in the wrist of sportsman's pitching, and zigbee modules are given for transmission data packet；
The zigbee modules have 4, are respectively arranged in 4 corners of basketball court；The MEMS wireless sensings integration module and battery
It is fixed on basketball inner wall, basketball outer wall corresponding position is provided with battery charging hole；The host computer include timer,
The algorithm of zigbee module rangings, memory module；For the movement according to the collected basketball of MEMS wireless sensing integration modules
Parameter fitting at basketball movement locus；The host computer is according to the movement of the collected basketball of MEMS wireless sensing integration modules
Parameter fitting specifically includes following steps at the movement locus of basketball：
(1) coordinate that basketball is sold a little is determined：
If a diameter of D of basketball, quality M, basketball field length is a, and the height of width b, basketry steel ring to ground are h, basketball
4 corners of field are respectively A points, B points, C points, D points, establish three-dimensional system of coordinate with basketball court, A point coordinates is (x1,y1,z1), B
Point coordinates is (x2,y2,z2), C point coordinates is (x3,y3,z3), D point coordinates is (x4,y4,z4), using A points as coordinate origin, with basket
Ray where the A points in court and the line of C points is the positive direction of X-axis, with penetrating where the line of the A points of basketball court and B points
Line is the positive direction of Y-axis, and using A points as endpoint, the ray of the plane where vertical basketball court is the positive direction of Z axis, then A point coordinates
For (0,0,0), B point coordinates is (0, b, 0), and C point coordinates is (a, 0,0), and D point coordinates is (a, b, 0)；A points, B points, C points, D points
A zigbee module is respectively placed, as anchor node, if Intelligent bracelet coordinate is (x, y, z), then height of selling
H1=z+D/2；(1)
MEMS Inertial Measurement Units inside startup host computer, 4 zigbee modules, Intelligent bracelet and basketballs, Intelligent bracelet and 4
The coordinate of Intelligent bracelet is determined between a zigbee modules by the method for determining RSSI value；The RSSI value is that reception signal is strong
The relationship of the propagation distance of angle value, received signal strength value and signal is：
Pij=A-10nplog10(dij)；(2)
PijAfter sending signal for sending node i, receiving node j receives the signal strength values when signal, unit dBm, dij
The distance between sending node i and receiving node j；A is that signal has propagated the received signal strength value after 1 meter, npFor
Path loss index；
Host computer, which sends order, allows Intelligent bracelet to 4 zigbee module transmission data packets, i.e. Intelligent bracelet is to A points, B points, C points
Distinguish transmission data packet with D points, if A points receive the information of Intelligent bracelet transmission, RSSI value RSSI1, B points receive intelligence
When the information that energy bracelet is sent, RSSI value RSSI2, when C points receive the information of Intelligent bracelet transmission, RSSI value RSSI3, D
When point receives the information of Intelligent bracelet transmission, RSSI value RSSI4If Intelligent bracelet is to the distance d of A points1, Intelligent bracelet to B
The distance d of point2, distance d of the Intelligent bracelet to C points3, distance d of the Intelligent bracelet to D points4, according to signal strength values and transmission distance
From relationship can be by RSSI1、RSSI2、RSSI3、RSSI4It is converted into corresponding distance d respectively1、d2、d3、d4, then can establish
Equation is as follows：
Solution above equation group can be obtained the coordinate (x, y, z) of Intelligent bracelet, that is, the coordinate sold a little, according to the coordinate sold a little
The coordinate of the basketball centre of sphere is when can must sell
(2) determine basketball movement to peak coordinate：
After launching basketball, acceleration a of the MEMS Inertial Measurement Units by measured basketball in X, Y, Z axisx、ay、azPass through nothing
Line passes to wireless receiving module, then passes to host computer processing analysis, while the timer initiation of host computer by wireless receiving module,
Record T at the time of at this time0, when basketball movement is to peak, the acceleration on Z axis is equal to acceleration of gravity, i.e. a at this timez=-
G, the timer record of host computer at this time at the time of T1；Basketball is in T1Speed v when moment peaks on Z axisz1=0, then
Basketball is in T0Speed when moment sells on Z axis
Due to the conservation of energy on Z axis, i.e. kinetic energy on Z axis is converted into gravitional force, i.e.,
Δ z can be found out by above formula, M is the quality of basketball in formula, and Δ z is basketball from a little position to peak on Z axis of selling
It moves；
If peak be F points, F points be basketball movement to peak when the centre of sphere where position,
If its coordinate is (xF,yF,zF), basketball from sell a little displacement to peak in X-axis be Δ x, then
If basketball from sell a little displacement to peak in Y-axis be Δ y, then
Then
xF=x+ Δs x；(11)
yF=y+ Δs y；(12)
To sum up can then find out basketball movement to peak F points coordinate (xF,yF,zF)；
(3) the parabolical symmetry axis where basketball movement track is determined：
Movement locus of the basketball after launching is a parabola, according to parabolical symmetry, it is known that the skyborne fortune of basketball
Dynamic rail mark is with by the point (x in the plane where basketball courtF,yF, 0) and the straight line vertical with the plane where basketball court
For the parabola of symmetry axis；
(4) host computer fitting basketball movement track：
Host computer is a little fitted after basketball is launched to the movement locus of peak and symmetry axis to basketry according to basketball from selling
Movement locus, and be input to memory module, the movement locus is to choose basketball from selling a little to basketry steel ring to ground
Height h where plane until.
2. a kind of basketball movement trajectory track system according to claim 1, it is characterised in that：The display module includes
Liquid crystal display, the best hit parabola of track and corresponding shooting spot, corresponding height of selling for showing basketball movement.
3. a kind of basketball movement trajectory track system according to claim 1, it is characterised in that：The MEMS wireless sensings
Integration module is symmetrically distributed with position of the battery on basketball inner wall；The MEMS wireless sensings integration module passes through with battery
Conducting wire connects.
4. a kind of basketball movement trajectory track system according to claim 1, it is characterised in that：The memory module is advance
There is the best hit parabola in each shooting spot, each height of selling.
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