WO2005119272A1

WO2005119272A1 - Method and device for measuring the trajectories of objects of known geometry

Info

Publication number: WO2005119272A1
Application number: PCT/ES2005/000305
Authority: WO
Inventors: Guillermo Peris Fajarnes; José Mariano DAHOUI OBON; Juan Manuel Sanchis Rico; Samuel MORILLAS GÓMEZ
Original assignee: Universidad Politecnica De Valencia
Priority date: 2004-05-28
Filing date: 2005-05-27
Publication date: 2005-12-15
Also published as: ES2264324A1; ES2264324B1

Abstract

The invention relates to a method and device for the detection and analysis of the trajectories of objects of known geometry, which can be used to obtain the kinematic and/or geometric parameters of said object, thereby increasing the precision of the measurement in relation to hitherto-known systems regardless of the size and shape of the objects. According to the invention, a group of sensor elements detect the presence or absence of objects of known geometry by means of interference and the data from the sensors is recorded. When an object passes through the region of space between the receivers and the emitting source, the system records the interference of each sensor, as well as the moment and duration. In this way, and together with subsequent processing, the following data are obtained, namely: geometry, velocity, acceleration, spin (rotation and axis). One of the main applications of the invention is for ball sports training, such as for football, basketball, tennis, handball, rugby and any other sports involving the use of an object of known geometry.

Description

METHOD AND DEVICE FOR MEASURING TRAJECTORY OF KNOWN GEOMETRY OBJECTS

D E S C R I P C I Ó N

OBJECT OF THE INVENTION

The invention relates to a method and a device for the detection and analysis of object paths with known geometry, which makes it possible to obtain the kinematic and / or geometric parameters of said object, increasing the accuracy of the measurement with respect to independently known systems. of the size or shape of the objects. A set of sensor elements detect by interference the presence or absence of objects with known geometry, and the data from the sensors is recorded. When an object crosses the region of space between the receivers and the emission source, the system records the interference of each sensor, the moment and the duration. In this way, and through subsequent processing, data such as: geometry, speed, acceleration, spin are obtained

(rotation and axis), direction and any derivative of the above. The invention has as one of its main applications the training of ball or ball sports such as football, basketball, tennis, handball, rugby and all those in which an object of known geometry is involved.

The invention falls within the technical sector of apparatus for measuring trajectories, having a direct application on launching and shooting ball or ball. Likewise, it also has a direct application on the recreational machine sector, especially in peripherals for consoles and home computers. In addition, it also has useful applications in sectors such as the military and aeronautics. BACKGROUND OF THE INVENTION The systems for analyzing and measuring object trajectories are based, for the most part, on the analysis of information obtained from an image recording system or by using one or more specific sensors. Systems based on image processing require complex computer analysis and obtain their information after launch by processing a sequence of duly registered images. Sometimes, to simplify the processing of these images, the environment is interfered with by preparing and controlling the environment (sometimes limited to uses in closed studies, altering the background of the images, adjusting the environment, etc.) or by marking of the object (colored marks on the ball or ball).

On the other hand, there are numerous systems that are based on the measurement in the information obtained from the interference of the object between a transmitter and a receiver (be it of the type that is, optical, ultrasound, etc.), however all these systems obtain the information by measuring the time elapsed from a zero (launch) position to interference with a second sensor. In addition, all existing systems limit their scope to spherical objects, none of them contemplating the possibility of analyzing objects with other geometries, such as a rugby ball, a javelin, an arrow or a hammer among others ( all of them olympic sports). It is desirable that the measurement of the trajectory be independent of the size of the object, on which it is necessary to take into account that the great majority of the systems of prediction of known trajectories based on sensors are They have developed thinking about its use for golf, where the object-speed radius ratio is very small. These systems are limited for ball sports, such as football or basketball, where the same ratio is markedly greater, which would cause large prediction errors in the case of being used. None of the known systems measure speeds from the reading of the dark time or the shutter of the sensors, nor from the lag time between the shutter of a group of sensors.

DESCRIPTION OF THE INVENTION

The method and the device object of the invention obtains the information from sensors, and not by image processing, and also does not require the installation of any sensor in the zero or initial position and also does not obtain the information as known techniques, but which does it from the time of lag in the shutter of the sensors and the time of shutter or eclipsed of these.

One of the main novelties of the invention against known techniques lies in the way of obtaining information about the movement of the object (s), which causes the subsequent processing and hardware to be completely different from those known. The system records as useful information the time interval elapsed between the activation of each sensor, its time lag with respect to the first activated sensor. The object interferes with several sensors at the same time, which allows the system to use the lags in the activation and deactivation between nearby sensors, to determine the movement parameters.

This novel way of proceeding makes it possible to increase the accuracy of the measurement regardless of the size and shape of the object that crosses it, although in regard to the calculation of trajectories it is necessary to know some criteria of the geometry of the body (p. ex: if it is spherical or not, not being necessary to know the size of the object).

This independence of size is especially differentiating if we take into account that the vast majority of sensor-based trajectory prediction systems have been developed thinking about their use for golf, where the object-velocity radius ratio is very small.

Another fundamental characteristic of the invention that the difference of known systems is its modular nature. In this sense, the device object of the invention can be installed using one or more grills of sensors and receivers. The greater the number of grills included in the system, the greater the information obtained from the shot and its evolution. As is known, in spherical objects (such as a soccer ball) the appearance of turbulence along the "flight" and the effect of other factors such as wind, atmospheric pressure, temperature and other factors, have an effect on and during the movement of the object.

The emitters and receivers are located leaving a space through which the objects to be measured must be passed, being able to place said emitters and receivers in a greater or lesser number and at a more or less close distance depending on the object and the precision that is want to get.

Objects can interfere with several nearby sensors at the same time, and the interference start, end and duration data are stored. The system, based on the interference data of the nearby sensors, reconstructs the movement of the object in that region of space and mathematically calculates the kinematic parameters of that evolution.

The invention allows to obtain, in the case of objects of known geometry, kinematic parameters, such as speed, direction, acceleration and spin (rotation on itself), having as one of its main applications its use for a sports training system in which a ball intervenes, and can also be used in other types of applications, such as those of the entertainment sector (recreational machines, computers, consoles, etc.).

Thus one of the aspects of the invention relates to a method for measuring trajectories, speed, acceleration, direction and rotation of objects of known geometry, which comprises locating a group of sensors in a known spatial arrangement and passing the object of which it is desired to measure its trajectory by the proximity of said sensors so as to interfere with them, that is to say that said sensors can detect the presence of said object. During the movement of the object, the time elapsed between the activation of the first and the rest of the interfered sensors is recorded, the lag between the activation of the different sensors and the sequence of the sensor activation.

In the present invention, the term trajectory is used including the speed of the object, acceleration, rotation axis of rotation and rotation of the axis of rotation of the object.

The sensors can be placed in an aligned manner and located in the same plane, in order to simplify the mathematical analysis of the data obtained. Alternatively the sensors can be positioned non-aligned in more than one parallel plane.

Each sensor may consist of a transmitter and a receiver facing each other, defining an intermediate region between them through which the object is passed transversely. You can also use sensors composed of a transmitter and a receiver forming the same unit, in which case the sensor is able to measure the distance to the object when it interferes with that sensor.

The method of the invention provides for the location of at least two groups of sensors in the same plane sharing their intermediate region, so that they define an interference mesh for the passage of the object. Said interference mesh should be understood as an imaginary mesh of the interference lines in which each respective sensor can detect the presence of an object. Alternatively, at least two interference meshes arranged parallel to each other can be generated in the method, in order to be able to calculate the spin of the object and increase the accuracy of the measurement since more information is obtained on the displacement of the object. Alternatively, the spin and acceleration of the object can be calculated with a single mesh, recording the data of the moment of entry in the mesh "time of entry and lag time of activation between sensors", and using the output data of the mesh "instant of recovery of the communication between sender and receiver of each sensor and offset between sensors", as if they were the data of a second mesh.

The information obtained from the interference of the sensors of each existing mesh, is sent to programmable electronic media where it is recorded and processed digitally, to obtain the speed, acceleration, direction and rotation of the object. The digital processing includes a mathematical analysis of the data obtained by the sensors and in which their location is considered, and in which a system of equations is raised and solved in a manner known to a person skilled in the art. In the method, the components of the object's trajectory are measured from the data obtained from the sensors, measuring the moment and coordinate X, Y, and Z of the object at a minimum of 4 points on the surface of the object, provided when these points are not aligned with each other.

The determination of the parameters of movement of the object that crosses the mesh is based on prior knowledge of the geometry of the object.

You must have a mathematical model that describes the geometry of the object from which you want to measure its trajectory. From interference time data as well as the geometries of the mesh and the object, the necessary data for obtaining the kinematic parameters are obtained.

Using the object models and the sensor mesh, a model of the movement of the object within (when passing through) the mesh is obtained, which translates into a system of equations that will be as complex as the mesh models and of the object. Said system of equations is solved from the reading of the relative position of the interferences, their sequence, their time, and the variation of said readings in a first and a second mesh. In this way, knowing the interference times with the sensors, the speed of the object can be known by solving the system of equations.

The complexity of the mathematical model that describes the movement of the object within the mesh, generates a system of simultaneous equations in which said model is translated, which can be solved by diverse procedures.

Among them the use of iterative numerical methods of approximation of the solution has been implemented and shown its effectiveness. In general, it is possible to use any numerical method of iterative approximation capable of solving systems of simultaneous equations of degree greater than or equal to 2 (this restriction depends on the model in question), although it is advisable to guarantee convergence towards the solution. For simple geometry objects, the use of methods such as fixed point or Newton-Raphson is sufficient.

For the detection of the main components, sampling with a single interference mesh is necessary, and the velocity and direction vector is calculated. The data can be taken in two ways, either the moments of entry into the mesh and the lags of activation between the sensors are measured only, or the times that the sensors remain sealed are measured. Alternatively, more than one object with known geometry can be passed at the same time, interfering with the sensors. Another aspect of the invention relates to a device for measuring trajectories, speed, acceleration, direction and rotation of objects of known geometry, comprising at least one group of sensors located at known points, where each sensor is composed of a sender and receiver facing each other defining an intermediate region with each other for the passage of the object.

Preferably, both the emitters and the receivers of the same group of sensors are located in the same plane. Two groups of sensors can be arranged in the same plane sharing their intermediate region, so that they define an interference mesh for the transverse passage of the object. The emitters and receivers of the same group of sensors are supported by a fixed frame in which they are located facing each other, with more than one frame arranged parallel to each other.

The interference mesh can have any configuration, either orthogonal or oblique, although an orthogonal mesh is preferred because of the simplicity of subsequent calculations. The mesh allows to know the evolution of four known xyz points of space or in other words the evolution of an "eclipse"

The device of the invention has programmable electronic means comprising a module for storing the information related to the interference of the sensors, and a processing module for processing the information recorded in the storage module. The sensors are electrically connected with said programmable electronic means, so that these means record the electrical signals from said sensors.

DESCRIPTION OF THE DRAWINGS To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. For illustrative purposes and not limitation, the following has been represented:

Figure 1 shows a sequence in perspective of a spherical object through the interference mesh created in a frame, Figure 3a just before entering the mesh, Figure 3b once its interference has begun and Figure 3c when the largest part of the object has already passed through the mesh.

Figure 2 shows the evolution of the interference of a spherical object on a mesh in consecutive moments. Figure 2a in a perspective view and Figure 2b in a plan view.

Figure 3.- shows in front elevation, in figure 3a a hexagonal frame with an orthogonal interference mesh, and in figure 3b a square frame with an oblique interference mesh. Figure 4.- shows schematically the blocks that make up the device of the invention.

Figure 5 shows a flow chart of the operation of the invention. Figure 6 shows a schematic representation of a practical application of the invention in a training equipment for shooting a soccer ball. The arrow indicates the firing direction of the object.

Figure 7 shows a representation similar to that of the previous figure but applied to basketball training, and in which the racks are not arranged at the same height. PREFERRED EMBODIMENT OF THE INVENTION

In figure 1 the sequence of passage of an object of known geometry (1), in this case a sphere, through an orthogonal interference mesh (3) created in a frame (2) can be observed. It can be seen in this figure that the interference mesh (3) is formed by a network of imaginary lines representative of the lines that connect a transmitter with its corresponding transmitter, belonging to the same sensor.

Figure 3a shows a hexagonal frame (2) in which an orthogonal interference mesh (3) is formed covering the entire internal area delimited by the frame (2). The frame (2) of Figure 3b represents a four-sided frame (2) and an oblique mesh (3). Each of the lines that is part of the interference mesh (3) corresponds to a sensor and goes from the emitter to the associated receiver.

It can be seen how the sensors are arranged in the same plane, the one corresponding to the frame, and how the emitters and receivers are aligned. The person skilled in the art will understand that any other frame form may be possible within the present invention, such as any polygonal shape, circular or elliptical shapes, even tubular bodies in which the sensors are arranged at various points thereof and in various tangential planes to said tubular body.

Logically, the measurements of the frame (2) as well as the separation between sensors is known. Specifically in this preferred embodiment, when the object (1) is a sphere, the separation between sensors of the same group is 1/5 of the diameter of the sphere. When the object is an ellipsoid, the separation between sensors of the same group is 1/5 of the smaller diameter of the object. The diagram of Figure 4 represents the modules that make up the device of the invention, which is constituted by a group of sensors (4) composed of a series of emitters (9) and receivers (10) that define a interference region (11) with each other. It can be seen in block 4 how each emitter (represented by an arrow) is faced with its corresponding receiver (represented by a rectangle). By arranging at least two groups of sensors as shown in block 4 in the same plane, and making their interference regions (11) coincide, an interference mesh is generated

(3).

The device also comprises a storage module (5) of the information obtained by the transmitters, a processing module (6) of the stored information, a user interface (7), and various accessories (8) such as a digital camera, visual or audible alarms (not shown) etc. The modules (5-6) can be implemented by any type of programmable electronic medium (12), such as an FPGA or a PC personal computer. The user interface (7) can be for example a screen of a computer in which the results obtained from the launch and / or the recording of the video camera intended to capture the movement of the player during the launch are presented.

The FPGA (reprogrammable hardware device of reduced dimensions) is programmed, either to collect the sensor data, to solve the system of equations that models the movement of the object in the mesh and to send the results to a PC or, simply, to collect the sensor data and send it to the PC leaving the task of solving the system of equations to the PC.

Figure 5 shows the operation process of the invention, which starts with the launch (16) of the object (1), and its interference (17) in the first sensor mesh. The sequential phases that in turn make up this block 17 are the following: 17.1.- interference with the first sensor, start-up of the clock and identification of the first sensor. 17.2 .- interference with the second sensor, and storage of time since the first shutter and the sensor identification. 17.3.- interference with the third sensor, and storage of the time since obtaining the first, and identification of the sensor. 17.4.- interference with the fourth sensor and time storage since the first was obtained and the sensor identification. 17.5.- repeat the process until the last sensor.

Subsequent to this recording of data from the sensors, a storage (18) of the coordinate and time matrix is performed in a temporary memory. The direction and velocity components of the object (1) are then processed and calculated (19). The process checks in the block (20) if there are more sensor meshes, and if so, repeats the phases described for the block (17) for each existing mesh. For each mesh, the direction and velocity components of the object are processed and calculated (22). Finally, depending on whether the device has a video recording system, block (23), only the measurement result is presented in the block (24), or the measurement and video result of the launch is shown in the block (25).

The object (1) when crossing a mesh (3) of sensors, and as it passes through the mesh, it is "chipping" them. When an object (suppose a sphere) covers the first sensor, it marks the instant TOxy. As the sphere enters the mesh, it seals more sensors, measuring the moment in which they are sealed. When the sphere is in the "exit phase of the mesh" the sensors, again, are reactivated, until, finally, when it has finished crossing the mesh, all have regained their communication. The mediation of the times of "darkness of each one of them" as well as the lag (ie the delay in the instant of shutter of some with respect to others), is the information that is processed to find out the speed and angle of entry and exit. Since the object geometry must be known "a priori" that we are measuring, time differences allow us to calculate the velocity vector of the object.

The installation of a second mesh, parallel to the previous one and close to it, allows a second reading of the velocity vector to be made, from which, the SPIN or speed of rotation of the object is obtained by mathematical approximations.

In addition, in the proposed system the shutter object, and must seal, several sensors when crossing the mesh, obtaining useful information from when the object intersects the first sensor, until it completely crosses the mesh. The number of sensors and their separation are proportional to the size of the object to be measured, and must be designed so that the object to be measured interferes with a minimum of 2 sensors (however, the system must be manufactured so that the object to be measured interferes 4 or 5 sensors, therefore the separation of the sensors is the value of the Diameter / 5, or, in the case of objects such as a rugby ball the Minor Diameter / 5).

From the information of the location of the intersected sectors, as well as the "dark times", through a complex system of equations, the system is able to obtain the kinematic parameters of the object. Therefore, it is not necessary that initial sensor at the launch point, used by other systems. The mathematical model for the particular case of a spherical object, raises a system of equations for each vector of sensors in the mesh. Once these systems are resolved, the values obtained are coupled so that the position of the object is obtained when crossing the mesh, as well as its velocity vector.

The trajectory of the sphere when crossing the mesh is completely defined with the following model: X ₀ XD ^¿ = r ² X _x ² + [H ( _nι -n ₀ ) + D + Ay _0l ] ² = r ² X ² + [H (n ₂ -n ₀ ) + D + Ay ₀₂ ] ² = r ² X ₃ ² + [H (n ₃ -n ₀ ) + D + Ay ₀₃ f = r ² X ₄ ² + [H (n ₄ -n ₀ ) + D + Ay ₀₄ ] ² = r ²

Where: - "X" is the distance between the center of the spherical object and the plane of the mesh. '© "represents the distance between the center of the spherical object and a plane perpendicular to the mesh that contains the beam of the first sensor cut by the object." H "is the distance between the sensors. -" n _n "is the number of the sensor that is activated - "r" is the radius of the sphere - "Ay _nm " is the displacement of the center of the sphere on the axis and, in the time elapsed between the moment the object intersected the object "n" and the instant the object intersected the object m.

Writing the model according to the speeds we have:

V _x At _0l = Jr ² - [H (n _x -n ₀ ) + D + V _and At - Vr ² -Z) ²

V _x At _Q2 = r ² - [H (n ₂ -n ₀ ) + D + V _and At ₀₂ f - Vr ² -D ² V _x At ₀₃ = r ² - [H (n ₃ -n ₀ ) + D + V _and At ₀₃ f - Vr ² -D ² V _x At _M

Since there are four unknowns (V _x , V _y , D yr), the spherical object must activate at least five sensors, which is achieved if the diameter of the object is greater than 5H. In the event that the object's radius is known, it would only be necessary for the object to intersect four sensors (object diameter greater than 4-H).

If we take into account that output equations can also be obtained, we could reduce the number of sensors needed.

In order to calculate the spin, a second Maya located at a certain distance from the first is necessary, obtaining the spin from the positions and velocity vectors associated with the first and second Maya. In figures 6 and 7 it can be seen how two or more frames (2) are placed in parallel, that is to say, several interference meshes (3) can be arranged in parallel, either with the center of each frame (2) at the same height as the case of figure 6 or at different heights as the case of figure 7. In figure 6 a soccer goal (13) has been represented and in figure 7 a basket of Basketball (14). A player (15) in motion has been represented in both figures.

The object (1) can consist of any body with symmetry of

-revolution-Some-object-examples - (- 1 -) - that can be used in the present invention are: a soccer ball, a rugby ball, a basketball, a handball, a volleyball, a tennis ball, a cricket ball, a baseball, a golf ball, a projectile, a hammer, a javelin, or a sphere of any material and surface finish. Alternatively, more than one object (1) could be passed at a time through the interference mesh

In wind tunnels, the use of interference meshes can be used, both to detect speeds of objects carried by the wind, or vibrations of fixed objects. The use of interference meshes, in one or several rings, by throwing objects such as "cork spheres" would allow performing indirect measurements of aerodynamic or hydrodynamic effects. Therefore, in a preferred embodiment, the device can be part of a wind tunnel, in which case the object (1) is a vehicle, such as an airplane from which its vibrations can be detected when subjected to a current of wind.

In the case of ballistic applications, since they are objects of known geometry, the system can have direct applications in the measurement of object trajectories without the need for contact, for example firing speeds of any projectile.

Also, its use in canals or corridors could allow counting of moving elements, people, different types of animals such as chickens, fish etc.

The device can use any type of sensor that detects the presence or absence of interference, and can even be developed with digital vision systems. Preferably optical sensors are used. The response speed of the sensors directly affects the accuracy. The faster the object you want to detect or measure, the faster the interference sensors or the image acquisition speed (if done with a vision system).

The device of the invention is a portable and modular device, valid for interiors and exteriors and that can obtain the information from a single mesh, two meshes or more than two meshes, with the exception that the spin, or speed of rotation , requires a reading of a minimum of two meshes.

In view of this description and set of figures, the person skilled in the art will be able to understand that the embodiments of the invention that have been described can be combined in multiple ways within the scope of the invention. The invention has been described according to some preferred embodiments thereof, but it will be apparent to the person skilled in the art that multiple variations can be introduced in said preferred embodiments without departing from the object of the claimed invention.

Claims

1.- Method for measuring trajectories, speed, acceleration, direction and rotation of objects of known geometry, characterized in that it comprises locating a group of sensors in a known arrangement and passing the object of which it is desired to measure its trajectory through the proximity of said sensors so as to interfere with them, recording the time elapsed between the activation and deactivation of each interfered sensor, the lag between the activation of the different sensors and the sequence of the sensor activation.

2. Method according to claim 1 characterized in that the sensors are positioned aligned and located in the same plane.

3. Method according to claim 1 characterized in that the sensors are positioned non-aligned in more than one plane.

4. Method according to any of the preceding claims characterized in that each sensor is composed of a transmitter and a receiver and that said transmitter and receiver are facing each other and defining an intermediate region between each other, and because the object is passed transversely through said region intermediate.

5. Method according to any of claims 1 to 3 characterized in that each sensor is composed of a transmitter and a receiver forming the same unit, and that the sensor measures the distance to the object when it interferes with said sensor.

6. Method according to any of claims 1, 2, 4 or 5 characterized in that at least two groups of sensors are located in the same plane sharing their intermediate region, so that they define an interference mesh for the passage of the object.

7. Method according to claim 6, characterized in that at least two interference meshes are arranged parallel to each other.

8. Method according to any of claims 6 or 7 characterized in that an orthogonal interference mesh is generated.

9. Method according to any of claims 6 or 7 characterized in that an oblique interference mesh is generated.

10. Method according to any of the preceding claims characterized in that the object is interfered with at least four sensors at the same time.

11. Method according to any of the preceding claims characterized in that the information obtained from the interference of the sensors of each existing mesh, is recorded in programmable electronic media where it is digitally processed, to obtain the speed, acceleration, direction and rotation of the object.

12. Method according to claim 11, characterized in that the result of said digital process is sent to a graphic presentation medium.

13. Method according to any of the preceding claims characterized in that it measures the components of the trajectory of an object of known geometry, from the data obtained by a set of sensors that measure the moment and the coordinate X, Y, and Z of the object in a minimum of 4 points of the surface of the object, as long as these points are not aligned with each other.

14. Method according to any of the preceding claims characterized in that the object is a body with symmetry of revolution.

15. Method according to any of the preceding claims characterized in that the object is selected from, a soccer ball, a rugby ball, a basketball, a handball, a volleyball, a tennis ball, a ball of cricket, a baseball, a golf ball, a projectile, a hammer, a javelin, or a sphere of any material and surface finish.

16. Method according to any of the preceding claims characterized in that more than one object is passed at the same time interfering with the sensors.

17.- Device for measuring trajectories, speed, acceleration, direction and rotation of objects of known geometry, characterized in that it comprises at least one group of sensors located at known points, where each sensor is composed of a transmitter and a receiver, which are facing defining an intermediate region with each other for the passage of the object.

18. Device according to claim 17 characterized in that both the emitters and the receivers of the same group of sensors are located in the same plane.

19. Device according to claims 17 or 18 characterized in that it comprises at least two groups of sensors in the same plane sharing their intermediate region, so that they define an interference mesh for the transverse passage of the object.

20. Device according to claim 19 characterized in that the interference mesh is orthogonal or oblique.

21. Device according to any of claims 17 to 20 characterized in that it comprises a frame and because the emitters and the receivers of the same group of sensors are supported by said frame in which they are located facing each other.

22. Device according to claim 21 characterized in that the shape of the frame is polygonal, or circular, or ellipsoid.

23. Device according to claim 21 or 22, characterized in that the frame has at least two pairs of parallel sides and that the emitters and receivers of the same group of sensors are arranged on parallel sides.

24. Device according to any of claims 21 to 23, characterized in that it comprises at least two frames and arranged parallel to each other.

25. Device according to claim 24, characterized in that the center of each frame is at the same height.

26.- Device according to claim 24 characterized in that the center of each frame is at different height.

27. Device according to claim 17, characterized in that it comprises a tubular frame and that the emitters and receivers of the same group of sensors are supported by said frame in which they face each other, and because the sensors are They have more than one plane orthogonal to the frame.

28. Device according to any of claims 17 to 27 characterized in that it has programmable electronic means comprising a module for storing the information related to the interference of the sensors, and a processing module for processing the information recorded in the module of storage, and because the sensors are electrically connected with said programmable electronic means so that these means record the electrical signals coming from said sensors.

29. Device according to claim 28 characterized in that it is part of a training equipment for throwing a ball by a player, and because it has at least one video camera to capture the movement of the player when throwing the ball.

30. Device according to claim 28 characterized in that it is part of a wind tunnel and that the object is a vehicle.

31. Device according to claim 29 or 30, characterized in that it has at least one user interface for the presentation of the results obtained from the processing module, and the recording captured by the video camera.

32.- Device according to any of claims 33 to 34 characterized in that the sensors are optical sensors.

33. Device according to any of claims 19 to 32 characterized in that the object is a body with revolution symmetry.

34. Device according to any of claims 19 to 33 characterized in that the object is selected from a soccer ball, a rugby ball, a basketball, a handball, a volleyball, a tennis ball, a cricket ball, a baseball, a golf ball, a projectile, a hammer, a javelin, or a sphere of any material and surface finish.

35. Device according to any of claims 19 to 34 characterized in that when the object is a sphere, the separation between sensors of the same group is 1/5 of the diameter of the sphere.

36. Device according to any of claims 19 to 34 characterized in that when the object is an ellipsoid, the separation between sensors of the same group is 1/5 of the smaller diameter of the object.