1308079 九、發明說明： 【發明所屬之技術領域】 本發明疋有關於一種打擊訓練系統’特別是指一種具 有力量提示的打擊訓練系統。 【先前技術】1308079 IX. DESCRIPTION OF THE INVENTION: TECHNICAL FIELD OF THE INVENTION The present invention relates to a striking training system, particularly to a striking training system with a power prompt. [Prior Art]
—般電子遊樂場中，常常可以見到一種能夠顯示出打 擊力里並附有一拳擊手套的打擊遊戲機，而由於該打擊 遊戲機可以將打擊力量顯示出來，所以能產生激發人群使 用’並爭相取得最高打擊力量的激勵效果。 然而，這種打擊遊戲機的使用方式只適合在遊戲使用 丄原=在於進行拳擊、跆拳道、空手道等武術訓練時，通 节都疋採用沙包、沙袋、速度球、直立靶等 原因 ^ ^ 於這些用具能隨著打擊力道做不規則的搖晃運動， 擊：：合用雙腳做不同方向的踢擊，加上本身體積較該打 、機要小，所以也就能符合實際的訓練需求。 強声 -τ〜啊例，、此饭州早一方向的力量 電ί大所以力量檢知仍不夠精準，並且具有體積龐大、耗 :、無法產生自由晃動、需要後續機械上 寺缺點，所w 士 、+m 適用在⑽的訓練中，並有鑑於上述 練時:—般使用者也不會購人家中，所以就導致在武術訓 &直無法提供能㈣及並能顯示出打擊力道的直品 果。，备然’也就不容易觀察出在打擊力量方面的訓練效 【發明内容】 1308079 ::，本發明之目的，是在於提供—種能更精準的檢 =擊力量，並能配合打擊力量的大小以產生提示 打擊訓練系統。 町 於是，本發明具有力量提示的打擊訓練系統包含—受 扁置、—力量感測裝置，及一力量提示裝置。 該受力裝置包括一頂部、一底部，及—介於該 π之間的中間部。 _ 該力量感測裝置是設置於該受力裝置内，並包括 近於5亥頂部的第一檢知單元、一 a 罪近於該底部的第二檢知 早兀’及一電連接於該第一、二 單元，該第一^… 早兀的第一無線傳輸 知早70可分別輸出—隨著該受力裝置 運動所變化的檢知信號，該第一 …、深傅輸早7G具有一運算 权、，且’及一電連接該運算模袓 、、的…、線發射模組，該運算模 ，，且可接收並計算處理該第一、二 _ ' ^ ^ ^ 一松知早兀的檢知信號，並 Μ付出-力量值經由該無線發射模組向外界輸出。 元：力；提示裝置包括—控制單元、-電連接該控制單 及一電連接該控制單元的第二無線傳輸單 制早7"可經由該第二無線傳輸單元接收處理該第 一無線傳輸單元的輸出作骑h 丧叹/处理通弟 示信息以對應於該第_、 k丁早70輸出棱 ^ 一檢知早兀的檢知信號大小。 藉此，當❹者打擊該受力裝 裝置是藉由位置不同的該第_ 由：該力里感測 力裝置的晃動，所以能計算處:=单兀來檢知出該受 而所產生的該等檢—會=件到更精準的量測結果， D遗會隨者打擊力量形成不同大小， 1308079 並且該提示信息會對虛 t應該等檢知信號的大小作變化輸出， 所以使用者能透過兮担& > 此处迫逆槌不信息的變化來得知力量強度，達 到能掌握打擊六晋，AI_ i 並月b激勵使用者加強鍛鍊的使用功效 Ο 【實施方式】 有關本發明之前述及其他技術内容、特點與功效，在 以下配合參考圖式之較佳實施例的詳細說明中，將可清楚 的呈現。In the general electronic playground, you can often see a hit game machine that can display the impact force and attach a boxing glove. Since the strike game machine can display the strike power, it can stimulate the use of the crowd. The result is the highest impact force. However, the use of this kind of game machine is only suitable for the use of the game in the game = in the boxing, taekwondo, karate and other martial arts training, the use of sandbags, sandbags, speed balls, upright targets, etc. The appliance can make an irregular shaking movement with the striking force. Hit: Use the two feet to make kicks in different directions, and the volume itself is smaller than the playing and the machine, so it can meet the actual training needs. Strong sound - τ ~ ah, the power of this rice state in the early direction of the power ί, so the power detection is still not accurate enough, and has a large volume, consumption: can not produce free sway, need to follow the mechanical on the temple shortcomings, w Shi, +m is suitable for training in (10), and in view of the above training time: the general user will not buy the home, so it will not be able to provide the ability in the martial arts training & Straight fruit. It is not easy to observe the training effect in combating strength. [Abstract] 1308079:: The purpose of the present invention is to provide a more accurate detection and impact force, and can cooperate with the striking force. Size to generate a cue hit training system. Therefore, the striking training system with the power prompt of the present invention includes a flattened, a force sensing device, and a power prompting device. The force receiving device includes a top portion, a bottom portion, and an intermediate portion between the π. _ the force sensing device is disposed in the force device, and includes a first detecting unit near the top of the 5th sea, a second detecting early and near the bottom, and an electrical connection The first and second units, the first wireless transmission early 70 can be separately outputted - the first ..., the deep Fu transmission 7G has the detection signal that changes with the movement of the force device An operation right, and 'and an electrical connection to the operation module, ..., the line emission module, the operation mode, and can receive and calculate the first and second _ ' ^ ^ ^ The detection signal of the 兀, and the pay-power value is output to the outside via the wireless transmitting module. The second wireless transmission unit 7" The output is used to ride the sigh and process the message to correspond to the _, k □ early 70 output edge ^ one to detect the size of the detection signal. In this way, when the player hits the force-receiving device by the positional difference: the force of the force device in the force is shaken, so that the calculation can be performed: = single defect to detect the occurrence of the damage The inspection--will be more accurate measurement results, D will follow the strike force to form different sizes, 1308079 and the prompt information will change the size of the detection signal such as virtual t, so the user The power intensity can be known through the change of the information and the change of the non-information, so as to grasp the use effect of hitting the six Jin, AI_i and the month b to encourage the user to strengthen the exercise 实施 [Embodiment] The above and other technical contents, features and advantages will be apparent from the following detailed description of the preferred embodiments.
本發明具有力量提示的打擊訓練 —力量感測裝置20，及一力量提 如圖1 ' 2、3所示， 系統包含一受力裝置10、 示裝置30。 頂、底部11、12之門的由p“ _ ; 間的中間部13，該受力裝置1〇在 佳實施例中是一沙包，眚啊制* 士 ^實際製造時也可以採用一直立乾（ 圖未示）等訓練用具。 且见犯、 該力量感測裝置20 4· < w > A . 衣置20疋投置於該受力裝置10内，並包 括一沿著該受力裝置延伸 的第-檢知箪h 一靠近於該頂部11The present invention has a force-improving striking training - a force sensing device 20, and a force. As shown in Figures 1 and 2, the system includes a force device 10 and a display device 30. The middle portion 13 of the door of the top and bottom portions 11, 12 is defined by the middle portion 13 of the p" _; the force device 1 is a sandbag in the preferred embodiment, and can be used for the actual manufacture. a training tool such as (not shown), and the force sensing device 20 4 < w > A. The garment is placed 20 in the force device 10 and includes a force along the force The first detection of the device extension 一h is close to the top 11
2、一靠近於該底部12的第二 23、一電連接於兮笛—_ ΐλ 你力早7G 徐單元2": 知單元22、23的第-無線傳 輸單兀24’及—電連接該第一、二檢知單元m 一無線傳輸單元24的電池座25。 、以 該機箱21具有一本俨 二 烚…” 及二可分別容納該第-、 檢知車兀22、23的箱贈9 1 〇 斗4* 町相體212，該等箱體212 組合於該本體211中，在太 了卸離地 在本較佳實施例中是製作成可拙、拉 7 1308079 的抽展結構，並使用多數螺絲、213作固定螺鎖，該第—檢 知單元22與該第一無線傳輸單元24是裝設在上方的該箱 ^ 212中，該第二檢知單元23是裝設在下方的該箱體犯 如圖1、2、4、5所示 ' 23 .慨六口早〜 Λ 可分別輸出一隨著該受力裝置1〇運動所變化的檢知信號， 並經由該第—無線傳輸單元24向外界傳輸，該第-檢知、 凡22具有三個檢知模組221，該等檢知模組221可分別輸 • 1隨著-X方向、-Υ方向，及-Ζ方向運動所變化： 檢知信號，該χ、γ、ζ方向是彼此正交，該第二檢知單 元23是相同的設計結構。 該等檢知模組221的檢知信號是來自於多數個加速度 感測疋件222，並各具有一電連接該加速度感測元件222的 慮波電路223 ’該等加速度感測元件222是美商細公司 所製出型號為ADXL25G的加速度感測器，該型號中每一個 • 力口速度感測器能輸出兩個正交方向的加速度檢知信號。 *因此’當使用者打擊該沙包時，該力量感測裝置2〇就 &會藉由感應該沙包在晃動時的瞬間加速度，進而產生出一 組位於上方、一組位於下方，並且都涵蓋三維空間的該等 檢头七號，而藉由該等檢知信號所傳達出的加速度大小， 即可對應換算出打擊力量的大小。 〜如圖1 2、6所不’該第一無線傳輸單元24具有一運 异模組24卜及—電連接該運算模組241的無線發射模組 242，該運算模組241可接收並計算處理該第-、二檢知單 •1308079 口 ，：¾'侍 再經由該無線發射模組242向外界輸出 X運开模@ 241纟本較佳實施例中是採用美商 所製出型號為PIC18F242的微控制器 制 具有類比轉數位功能（A/D)， 制口口 ^ , ΑΛ , 口此了將該寻檢知信號作數 ，4二與Γ出，該運算模組241㈣建有-檢測時間 等經過該檢測時間後，如果未接收到該 打擊動Γ 經有—段時間沒有任何產生外力的 於是就會關閉該第—無線傳輸單元24以達到省 私的效果，該第—益娩捕於σσ __ 出-傳輸天線241到;機;輸端ΤΧ可拉伸 瓦亥機相21的外部以增加傳輸效果。 螢幕=圖^ 2、7、8、1G所示，該力量提示裝置3。是以 地I、5吾音輪出、音效輪出等方式來達到提供打擊資 =單ΓΗ:裝置3〇包括，單元31、-電連 31的第二無線傳輪:::3單元32,及一電連接該控制以 騎第亥控：早^ 31可經由該第二無線傳輸單元33接收處 32輪出多數提示信息以對該提示單元 單 3 了應打擎狀態以及該弟一、二檢知 、23的檢知信號大小。 制模組31^早^ 31具有一控制模組311，及—電連接該控 出寸合上的知作鍵組312，該第—無線傳輸單元24可輸 模心二内^^號，運算出的力量值，該控制 可累汁δ亥力量值的力量總和值、一對應 9 1308079 该力量總和值的消耗熱量值、一累計該等檢知信號產生次 數的打擊次數值、—打擊模式設定、—受力裝置設定，及 —打擊位置設定。 該操作鍵組312在圖2中由左至右依序為一開/關鍵、 6 π除鍵、一設定鍵及一選擇鍵，藉此可以作前述各項設 定與功能的選擇與操作。2, a second 23 close to the bottom 12, an electrical connection to the flute - _ ΐ λ you force 7G Xu unit 2 ": know the unit 22, 23 of the first wireless transmission unit 24' and - electrical connection The first and second detecting units m are battery holders 25 of the wireless transmission unit 24. The case 21 has a pair of 烚 烚 ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” In the body 211, in the preferred embodiment, the drawing structure is made into a shackle and a pull 7 1308079, and a plurality of screws 213 are used as fixed screw locks. The first detecting unit 22 is used. And the first wireless transmission unit 24 is installed in the upper box 212, the second detecting unit 23 is installed below the cabinet is as shown in Figures 1, 2, 4, and 5 '23 The six-mouth early ~ Λ can respectively output a detection signal that changes with the movement of the force-receiving device, and is transmitted to the outside via the first wireless transmission unit 24, the first-detection, where 22 has three The detection module 221, the detection module 221 can respectively change the movement with the -X direction, the -Υ direction, and the -Ζ direction: the detection signal, the χ, γ, ζ directions are each other The second detection unit 23 has the same design structure. The detection signals of the detection modules 221 are from a plurality of acceleration sensing elements 222. Each of the models has an acceleration sensor 222 electrically connected to the acceleration sensing element 222. The acceleration sensing element 222 is an acceleration sensor of the type ADXL25G manufactured by the American company, and each of the models is provided. The speed sensor can output two acceleration directions of the orthogonal direction. * Therefore, when the user hits the sandbag, the force sensing device 2 detects the instantaneous acceleration of the sandbag when it is shaken. And generating a set of the above-mentioned heads, which are located above, and all of which are located below, and which cover the three-dimensional space, and the magnitude of the acceleration conveyed by the detection signals can be equivalent to the conversion of the striking force. The size of the first wireless transmission unit 24 has a different module 24 and a wireless transmitting module 242 electrically connected to the computing module 241, and the computing module 241 can receive And calculating and processing the first and second checklists; 1308079, and the 3⁄4' waits to output the X transport module to the outside via the wireless transmitting module 242. In the preferred embodiment, the method is manufactured by the American company. Microcontroller model PIC18F242 The system has an analog-to-digital function (A/D), and the port ^, ΑΛ, and the mouth of the detection signal are counted, 4 and 2, and the operation module 241 (4) has - detection time, etc. After the detection time, if the strike is not received, there is no external force generated for a period of time, then the first wireless transmission unit 24 is turned off to achieve the effect of saving the privacy, and the first benefit is captured by σσ. __ Out-transmitting antenna 241 to; machine; the output port can stretch the outside of the phase 21 of the mega-machine to increase the transmission effect. Screen = Figure 2, 7, 8, 1G, the power prompting device 3. The ground is provided by the ground I, the five-in-one turn, the sound effect round-off, etc. to provide the striker=single: the device 3〇 includes, the unit 31, the second wireless passer of the electrical connection 31:::3 unit 32, And electrically connecting the control to ride the second control: the early ^ 31 can receive the majority of the prompt information via the second wireless transmission unit 33 to the single unit 3 and the first and second The detection, 23 detection signal size. The module 31 is provided with a control module 311, and is electrically connected to the control key group 312 of the control unit. The first wireless transmission unit 24 can transmit the core number of the mold core. The value of the force, the sum of the powers of the force value of the δ hai, the calorific value of the sum of the powers of 9 1308079, the number of hits of the number of times the detection signal is generated, and the striking mode setting , - Force device settings, and - Strike position settings. The operation key group 312 is sequentially selected from left to right in FIG. 2 as an on/off key, a 6 π de-key, a set key, and a selection key, whereby the selection and operation of the foregoing various settings and functions can be performed.
該打擊模式設定包括一般級設定與選手級設定，當使 用者選擇—般級時，打擊力量的標準是介於㈣&〜2〇〇Kg j此時如果打擊力量小^、或到達、或超出標準範圍 :就可以藉由顯示打擊力量並配合語音、音效等方式來達 =提示功用，例㈣聲、鈴聲、鼓掌聲等等，而當選擇到 ^手級時’打擊力量的標準是介於3〇〇Kg〜柳^之間，提 :的方式也相同’藉此，不但可以適用於—般使用者與選 的打擊要求，也可以增加打擊時的趣味性以及產生激勵 a該受力裝置設定則包括對該受力裝置1()不同重量的設 」丨如15kg的沙包、3〇Kg的沙包與6〇Kg的沙包在相同 :量下所產生的加速度會不同，因此力量判斷上的計算就 2合調ί以提高檢知精度’而該打擊位置歧包括對該 "匕不同咼度位置的設定，範圍可涵蓋8〇⑽〜的縣 吊兩度’同樣是為了配合計算以達到提高精度的效果。。 如圖1、2、7、9所子，好4·日- 、以棱不單元32具有一可顯示 邊力里值的第一顯示模組321、— 了顯不該力量總和值與該 / <，、、ΐ值其中-者的第二顯示模級切、一可顯示該打擊 10 1308079 -人數值的第三顯示模組323、一可配合該操作鍵組312選擇 操作的第四顯示模組，及一語音模組325。The strike mode setting includes a general level setting and a player level setting. When the user selects the level, the standard of the strike force is between (4) &~2〇〇Kg j. If the strike force is small, or arrives, or exceeds Standard range: You can use the display of striking power and voice, sound effects, etc. to reach the prompt function, such as (four) sound, ringtones, applause, etc., and when you choose to ^ level, the standard of the strike force is 3〇〇Kg~柳^, the method is the same 'by this, not only can be applied to the general user and the selected strike requirements, but also can increase the interest in the attack and generate incentives a force device The setting includes the different weights of the force device 1 (such as 15kg sandbags, 3〇Kg sandbags and 6〇Kg sandbags in the same amount: the acceleration generated will be different, so the power judgment The calculation is based on 2 adjustments to improve the detection accuracy' and the strike position difference includes the setting of the different width position of the "匕, the range can cover 8〇(10)~ the county hoist twice' is also used to match the calculation to achieve Improve accuracy. As shown in Fig. 1, 2, 7, and 9, the fourth display unit 321 has a display unit 321 that can display the value of the side force, and the sum of the power and the / <,,, the second display mode cut of the value of the user, a third display module 323 that can display the strike 10 1308079 - the value of the person, and a fourth display that can be matched with the operation of the operation key set 312 The module, and a voice module 325.
該第一、二、三顯示模組321、322、323是由七段顯 不器組成，在本較佳實施例中，該第一顯示模組321是顯 不單次打擊的力道，可量測範圍在7Kg〜750Kg之間，該第 —顯不杈組322可藉由該操作鍵組312選擇顯示該力量總 和值^者該消耗熱量值（卡路里消耗量），該第三顯示模2 23是顯不打擊次數，最多可量測到9999次，該第四顯示 =組324是由多數發光二極體所組成，由左至右分別提供 =般級設定、選手級設定、重量設定、位置設定的選擇提 7JT 〇 、崎=語音模組325可配合該等檢知信號大小與該打擊模 弋X疋以發出浯音k息，例如前述噓聲、鈴聲、鼓掌聲等 口岫述可知’该提不單元32的提示信息可以透過該第 :、二、三顯示模組321、322、323以及該語音模組奶 别出’並可經由該操作鍵組312選擇所需的功能，以及達 到開啟/關閉該語音模組325的功用。 :此’當使用者打擊該受力裝置1〇時，由於該力量感 置2G是藉由位置分別在上、下方的該第-、二檢知單 :虛22'21來，知出該受力装置10的晃動，所以在綜合計 而所Γ下_到比早—檢知單元還要更精準的感測結果， 生的該等檢知信號會隨著打擊力量形成不同大小， 號的=顯：：語音、音效等提示信息會對應該等檢知信 滅的-人數、大小變化相應輪出，所以使用者能透過許多 11 • 1308079 有益的提示信息來得知力量強度、打擊次數、消耗熱量等 貧訊，進而在每一次訓練時都能夠充分掌握狀況，並能激 勵使用者加強鍛鍊的使用功效，進而達到本發明的使用目 的及效果。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及β兒明書内容所作之簡單的等效變化與修飾，皆仍屬 本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是一使用示意圖，說明本發明具有力量提示的打 擊訓練系統的較佳實施例； 圖2是一方塊圖，說明上述該較佳實施例中，一力量 感測裝置的組成架構； 圖3疋一立體圖，說明上述該較佳實施例 結構； 圖4是一電路圖， 檢知單元； 圖5是一電路圖， 檢知單元； 圖6是—電路圖， 無線傳輸單元； 圖7是一方塊圖， 提示裝置的組成架構； 圖8是一電路圖，The first, second, and third display modules 321 , 322 , and 323 are composed of a seven-segment display device. In the preferred embodiment, the first display module 321 is a force that is not single-shot. The measurement range is between 7Kg and 750Kg, and the first display group 322 can select and display the power consumption value (calorie consumption amount) by the operation key group 312, and the third display mode 2 23 It is the number of hits, up to 9999 times. The fourth display=group 324 is composed of most light-emitting diodes. It provides the same level setting, player level setting, weight setting and position from left to right. The set selection 7JT 〇, 崎 = voice module 325 can match the size of the detection signal and the stimuli 弋 X 疋 to emit a squeaking sound, such as the aforementioned snoring, ringing, applause, etc. The prompt information of the unit 32 can be selected through the first, second, and third display modules 321, 322, 323 and the voice module, and the desired function can be selected through the operation key group 312, and The function of the voice module 325 is turned on/off. : When the user hits the force device 1 ,, because the force senses 2G, the first and second check orders: virtual 22'21, which are located above and below the position, respectively, The sway of the force device 10, so in the comprehensive calculation of the _ to the earlier - detection unit more accurate sensing results, the generated detection signals will be different with the strike strength, the number = Display:: The prompt information such as voice and sound effect will be rotated according to the number of people and the size change, so the user can know the strength strength, the number of blows, and the calorie consumption through many useful tips of 11 • 1308079. In addition to the poor news, and in each training can fully grasp the situation, and can stimulate users to enhance the use of exercise, and thus achieve the purpose and effect of the present invention. However, the above is only the preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto, that is, the simple equivalent change of the content of the patent application and the content of the β-book of the present invention is Modifications are still within the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a preferred embodiment of a striking training system having a power prompt according to the present invention; FIG. 2 is a block diagram showing a power sensing device in the above preferred embodiment. Figure 3 is a perspective view showing the structure of the above preferred embodiment; Figure 4 is a circuit diagram, the detecting unit; Figure 5 is a circuit diagram, the detecting unit; Figure 6 is a circuit diagram, a wireless transmission unit; 7 is a block diagram showing the composition of the device; FIG. 8 is a circuit diagram.
說明上述該較佳實施例中的一第一 說明上述該較佳實施例中的一第二 說明上述該較佳實施例中的一第一 說明上述該較佳實施例中，一力量 說明上述該較佳實施例中的一控制 12 1308079 單元； 圖9是一電路圖，說明上述該較佳實施例中的一提示 單元；及 圖10是一電路圖，說明上述該較佳實施例中的一第二 無線傳輸單元。 13 1308079A first description of the above preferred embodiment, a second description of the preferred embodiment, a first description of the preferred embodiment, and a preferred embodiment of the preferred embodiment. a control unit 12 1308079 unit in the preferred embodiment; FIG. 9 is a circuit diagram illustrating a prompting unit in the preferred embodiment; and FIG. 10 is a circuit diagram illustrating a second of the preferred embodiment Wireless transmission unit. 13 1308079
【主要元件符號說明】 10 ' …·受力裝置 2 4 2… •…無線發射模組 11 **<·»<· •…頂部 TX… •…傳輸端 12--- •…底部 25 ·…. -…電池座 13…" •…中間部 3 0…… -…力量提示裝置 2 0 4 s p e …·力量感測裝置 1夂蚤**办空 •…控制單元 2i…… •…機箱 3 11… •…控制模組 211… •…本體 312… …·操作鍵組 212… 。…箱體 3 2 °…。 •…提示單元 213 — •…螺絲 3 21… …·第一顯示模組 2 2。+ •…第一檢知單元 322 … -…第二顯示模組 221… •…檢知模組 323… …·第三顯示模組 222… •…加速度感測元 324… …‘第四顯示模組 件 325… …。語音模組 223 …. …濾波電路 3 3 4 * …· •…第二無線傳輸 23…… …第二檢知單元 〇〇 — 早兀 « K » * * ! …第一無線傳輸 * X ψ Κ ψ Κ · 1…方向 〇0 — 早7C 9 * y * β * : …方向 241 …, …運算模組 2……: …方向 14[Major component symbol description] 10 ' .... Force device 2 4 2... •...Wireless transmitter module 11 **<·»<· •...Top TX... •...Transport 12--- •...Bottom 25 ·.... -...Battery holder 13..." •...Intermediate part 3 0... -...Power prompting device 2 0 4 spe ...·Power sensing device 1夂蚤**Airing......Control unit 2i... •... Chassis 3 11... • Control module 211... • Main body 312... Operation key set 212... ...box 3 2 °... •...Prompt unit 213 — •...screw 3 21... ...·first display module 2 2 . + • ... first detection unit 322 ... - ... second display module 221 ... • ... detection module 323 ... ... ... third display module 222 ... ... ... acceleration sensing element 324 ... ... 'fourth display mode Component 325... Voice module 223 .... ... filter circuit 3 3 4 * ... · • ... second wireless transmission 23 ... ... second detection unit 〇〇 - early 兀 « K » * * ! ... first wireless transmission * X ψ Κ ψ Κ · 1...direction 〇0 — early 7C 9 * y * β * : ... direction 241 ..., ... computing module 2...: ... direction 14