A striking force measuring device and method

Abstract

The present invention proposes a striking force measuring device and method. The device includes a base body, in which a measuring system is arranged, including a time base and power supply module, a multi-axis acceleration sensor module and a data processing module. The multi-axis acceleration sensor module is used to collect the three-axis acceleration data and the roll angle, pitch angle, and yaw angle data of the striker when striking, and transmit the data to the data processing module; the data processing module is used to pre-store the calibrated mass components of the limbs in the three coordinate axis directions, and is used to receive the data transmitted by the multi-axis acceleration sensor module to calculate the magnitude and direction of the striking force; the mass component is calibrated by the cooperation of the base body and the mass calibration module, which is used to provide the striking force data when the striker wears the base body and strikes the preset position. The above striking force measuring device has low production cost and little damage to the sensor; the above striking force measuring device and method can determine the magnitude and direction of the striking force without limiting the striking position.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a striking force measurement device and method. Background Art

[0002] In many occasions, it is necessary to detect the magnitude of the limb striking force in order to evaluate the individual's physical fitness or judge the effect of the strike. For example, in some sports, the player's striking force measurement device is mainly installed in the opponent's protective gear, and can only measure the magnitude of the force. The striking effect needs to be judged by the referee. Existing striking force measurement devices for other purposes generally also need to be bound to the struck object, and the magnitude of the striking force is detected through the striking sensor. Long-term striking will cause certain damage to the sensor, and usually the measurement needs to be limited to striking specific positions, which will affect the performance of the striker.

[0003] Some existing methods for detecting the magnitude of striking force use micro-weighing force sensors. For example, the Sanda force target system disclosed in the Chinese patent application with application number 201410189591.1 uses a micro-weighing force sensor for signal detection, and the weighing sensor is placed on the struck object, and is equipped with a buffer spring to reduce the impact force. However, the sensor will also be damaged to a certain extent after long-term striking, and the force target needs to be installed on the struck object during measurement, which limits the striking to a specific position. The striking area is limited by the position of the sensor, which is not convenient enough, and the striking method of the striker also needs to be manually determined.

[0004] A Taekwondo electronic protective gear set disclosed in a Chinese patent with patent number 201820314546.8 uses a number of flexible pressure sensors to detect the impact force. In this way, a number of flexible pressure sensors are installed in the protective gear of the person being hit, which leads to an increase in the size of the protective gear and a large number of sensors. All positions to be detected need to be covered, which is large in scale and high in cost. Long-term strikes will cause certain damage to the sensors, and areas where no sensors are arranged cannot be detected. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present application proposes a striking force measuring device and method, so that the striking force measuring device can be installed on the striker, and the device has low manufacturing cost, small size, easy to carry, and little damage to the sensor; through the above-mentioned striking force measuring device and method, the size and direction of the striking force can be determined without limiting the striking position.

[0006] In order to achieve the above-mentioned purpose, the present application proposes, on one hand, a striking force measuring device, comprising a base, the base being used to be placed on a striker, a measuring system being arranged in the base, the measuring system comprising a time base and power supply module, a multi-axis acceleration sensing module and a data processing module, the time base and power supply module being used to provide a clock signal and electric energy for the measuring system; the multi-axis acceleration sensing module being used to collect the x, y, z three-axis acceleration data and the data of the roll angle, pitch angle and yaw angle of the striker when striking, and transmit the data to the data processing module; The data processing module is used to pre-store the calibrated mass components of the limbs in the three coordinate axis directions of x, y, and z, and is used to receive the x, y, and z three-axis acceleration data and the data of the roll angle, pitch angle, and yaw angle transmitted by the multi-axis acceleration sensor module to calculate the size and direction of the striking force; wherein the mass components of the limbs in the three coordinate axis directions of x, y, and z are calibrated by the cooperation of the base and the mass calibration module, and the mass calibration module is used to provide three-dimensional striking force data when the striker wears the base and strikes the preset position of the mass calibration module during the preliminary calibration.

[0007] In some embodiments, the striking force measuring device further comprises a display and recording module, wherein the display and recording module is connected to the data processing module, and the display and recording module is used to display information for easy observation.

[0008] In some embodiments, the striking force measuring device further comprises a wireless communication and transmission module, and the wireless communication and transmission module is used to connect the data processing module and the display and recording module.

[0009] Another aspect of the present application provides a striking force measurement method based on the striking force measurement device, comprising the following steps:

[0010] Step 1, calibrate the mass components of the attacker's limbs in the directions of the three coordinate axes of x, y, and z;

[0011] Step 2: input the mass components of the calibrated limbs in the directions of the three coordinate axes of x, y, and z into the data processing module for storage;

[0012] Step 3, the attacker wears the base and strikes at any position, and collects the x, y, z three-axis acceleration data and the roll angle, pitch angle, and yaw angle data of the attacker during the strike through the multi-axis acceleration sensor module, and transmits the data to the data processing module;

[0013] Step 4: The magnitude and direction of the striking force are obtained through calculation by the data processing module. The process is as follows: According to the formula The magnitude of the striking force is calculated, where F represents the striking force; m x 、m y 、m zRepresents the mass component of the limb in the directions of the three coordinate axes; a x , a y , a z It indicates the acceleration components of the attacker in the three coordinate axis directions when the attacker is striking; the direction of the striking force is determined by the x, y, z three-axis acceleration data and the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module.

[0014] In some embodiments, in step 1, the calibration process of the mass components of the limbs in the directions of the three coordinate axes of x, y, and z is as follows: the attacker wears the base and strikes the preset position of the mass calibration module n times, where n≥3 and n is an integer. During each strike, the multi-axis acceleration sensing module divides the acceleration of the limb during the strike into the three directions of x, y, and z. The values ​​of the acceleration in the directions of the three coordinate axes can be read from the multi-axis acceleration sensing module, and the data of the striking force can be read from the mass calibration module. The mass components of the limbs in the directions of the three coordinate axes can be calibrated according to the following formula: m x , m y , m z ;

[0015]

[0016] In some embodiments, in step 4, the direction of the impact force is determined by the x, y, z three-axis acceleration data and the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module, and the process is as follows:

[0017] Step 41: Establish a three-dimensional coordinate system through a multi-axis acceleration sensor module to divide the space into eight quadrants. x >0a y >0a z When >0, the direction of the resultant acceleration is in quadrant I;

[0018] when a x <0a y >0a z When >0, the direction of the resultant acceleration is in quadrant II;

[0019] when a x <0a y <0a z When >0, the direction of the resultant acceleration is in quadrant III;

[0020] when a x >0a y <0a z When >0, the direction of the resultant acceleration is in quadrant IV;

[0021] when a x >0a y>0a z When <0, the direction of the resultant acceleration is in the V quadrant;

[0022] when a x <0a y >0a z When <0, the direction of the resultant acceleration is in quadrant VI;

[0023] when a x <0a y <0a z When <0, the direction of the resultant acceleration is in quadrant VII;

[0024] when a x >0a y <0a z When <0, the direction of the resultant acceleration is in quadrant VIII;

[0025] Step 42: The orientation of the coordinate system after rotation in step 41 can be determined by using the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module;

[0026] Step 43, judging the quadrant of the acceleration based on the positive and negative values ​​of the x, y, and z three-axis acceleration data transmitted by the multi-axis acceleration sensor module;

[0027] Step 44, synthesize the magnitudes of the accelerations of the various axes to obtain the accurate direction of the resultant acceleration.

[0028] In some embodiments, step 5 is also included, displaying the data to be displayed.

[0029] The beneficial effect of the scheme of the present application is that the above-mentioned striking force measuring device is installed on the striker, and the device has low manufacturing cost, small size, easy to carry, and little damage to the sensor; through the above-mentioned striking force measuring device and method, the size and direction of the striking force can be determined without limiting the striking position. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the measuring principle of the striking force measuring device in the embodiment is shown.

[0031] Figure 2 A schematic diagram showing the arrangement direction of the three-dimensional coordinate axes of the multi-axis acceleration sensor module in the embodiment is shown.

[0032] Figure 3 A schematic diagram showing a three-dimensional coordinate system established by a multi-axis acceleration sensor module in an embodiment that divides space into eight quadrants is shown.

[0033] Figure 4A schematic diagram showing the roll angle, pitch angle, and yaw angle formed when the coordinate system rotates due to the movement of the multi-axis acceleration sensor module in the embodiment.

[0034] Figure 5 A schematic diagram showing the accurate direction of the combined acceleration in the embodiment is shown.

[0035] Figure numerals: 1-multi-axis acceleration sensing module, 2-data processing module, 3-wireless communication and transmission module, 4-display and recording module, 5-time base and power supply module. DETAILED DESCRIPTION

[0036] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0037] A human limb is a complex object with multiple degrees of freedom. When struck with the same acceleration, the forces acting in different degrees of freedom are not the same, which can be regarded as a certain difference in the mass distribution of the limb in different degrees of freedom. Based on this, the present application designs a striking force measurement device and method.

[0038] like Figure 1 As shown, the striking force measuring device involved in the present application includes a substrate, which is used to be placed on the striker. For example, the substrate can be a handband or other conveniently carried object, and the striker can hold the substrate in his hand or wear it on his wrist; a measuring system is arranged in the substrate, and the measuring system includes a time base and power supply module 5, a multi-axis acceleration sensor module 1 and a data processing module 2. In this embodiment, the multi-axis acceleration sensor module 1 can adopt a multi-axis acceleration sensor mpu6050, mpu9250 or HI226, etc., and the data processing module 2 can adopt a STM32ZET6 single-chip microcomputer or ARM7, etc. The time base and power supply module 5 is used to provide a clock signal and electric energy for the measuring system, and can provide a time reference or record the striking time when multiple systems are working; as shown Figure 2 As shown, the multi-axis acceleration sensor module 1 is used to collect the x, y, z three-axis acceleration data and the roll angle (roll), pitch angle (pitch), and yaw angle (yaw) data of the attacker when performing a strike, and transmit the data to the data processing module 2. When the attacker wears the base to perform a strike, the multi-axis acceleration sensor module 1 moves with the movement of the attacker, so that the coordinate system rotates. At this time, the rotation mode of the x-axis is represented by the roll angle (roll), the rotation mode of the y-axis is represented by the pitch angle (pitch), and the rotation mode of the z-axis is represented by the yaw angle (yaw), as shown in FIG. Figure 4As shown. The data processing module 2 is used to pre-store the mass components of the calibrated limbs in the directions of the three coordinate axes of x, y, and z, and is used to receive the x, y, and z three-axis acceleration data and the data of the roll angle (roll), pitch angle (pitch), and yaw angle (yaw) transmitted by the multi-axis acceleration sensor module 1, and calculate the size and direction of the striking force. The striking force measuring device also includes a mass calibration module, and the mass components of the limbs in the directions of the three coordinate axes of x, y, and z are calibrated by the cooperation of the matrix and the mass calibration module. The mass calibration module is used to provide three-dimensional striking force data when the attacker wears the matrix to strike the preset position of the mass calibration module during the early calibration. In this embodiment, the mass calibration module can adopt a KWR46 six-axis force sensor, etc., and when used, it limits the attacker to strike a specific position, and the striking area is limited by the position of the sensor.

[0039] The striking force measuring device may further include a display and recording module 4, which is connected to the data processing module 2 and is used to display information (which may include relevant information of the multi-axis acceleration sensor module 1 and relevant information of the striking force processed by the data processing module 2) for easy observation. In this embodiment, the display and recording module 4 may be LCD1602A, LCD12864, LED, computer host software, etc.

[0040] When the display is not local, the striking force measuring device may further include a wireless communication and transmission module 3, which is used to connect the data processing module 2 and the display and recording module 4. In this embodiment, the wireless communication and transmission module 3 may use a Bluetooth module (such as a Bluetooth module with a model of NRF52810, etc.), a WIFI module (such as a WIFI module with a model of ESP8266, etc.), or an I 2 C or 485 bus technology for wired transmission.

[0041] The striking force measurement method involved in this application comprises the following steps:

[0042] Step 1: Calibrate the mass components of the attacker's limbs in the directions of the three coordinate axes x, y, and z. The calibration process is as follows:

[0043] The attacker wears the base and strikes the preset position of the mass calibration module n times, where n≥3 and n is an integer. During each strike, the multi-axis acceleration sensing module 1 divides the acceleration of the limb during the strike into three directions: x, y and z. The values ​​of the acceleration in the three coordinate axis directions can be read from the multi-axis acceleration sensing module 1, and the striking force data can be read from the mass calibration module. The mass components of the limb in the three coordinate axis directions can be calibrated according to the following formula: m x , my , m z ;

[0044]

[0045] Step 2: Input the calibrated mass components of the limb in the directions of the three coordinate axes of x, y, and z into the data processing module 2 for storage.

[0046] Step 3, the attacker wears the base and strikes at any position, and the multi-axis acceleration sensor module 1 collects the attacker's x, y, z three-axis acceleration data and roll angle, pitch angle, yaw angle data when striking, and transmits the data to the data processing module 2.

[0047] Step 4: The magnitude and direction of the striking force are obtained through calculation by the data processing module 2. The process is as follows: According to the formula The magnitude of the striking force is calculated; the direction of the striking force is determined by the x, y, z three-axis acceleration data and the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module 1. The process is as follows:

[0048] Step 41: Establish a three-dimensional coordinate system through a multi-axis acceleration sensor module to divide the space into eight quadrants, such as Figure 3 As shown, when a x >0a y >0a z When >0, the direction of the resultant acceleration is in quadrant I;

[0049] when a x <0a y >0a z When >0, the direction of the resultant acceleration is in quadrant II;

[0050] when a x <0a y <0a z When >0, the direction of the resultant acceleration is in quadrant III;

[0051] when a x >0a y <0a z When >0, the direction of the resultant acceleration is in quadrant IV;

[0052] when a x >0a y >0a z When <0, the direction of the resultant acceleration is in the V quadrant;

[0053] when a x <0a y >0a z When <0, the direction of the resultant acceleration is in quadrant VI;

[0054] when a x <0a y <0a z When <0, the direction of the resultant acceleration is in quadrant VII;

[0055] when a x >0a y <0a z When <0, the direction of the resultant acceleration is in quadrant VIII.

[0056] Step 42: The orientation of the coordinate system after rotation in step 41 can be determined by using the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module 1.

[0057] Step 43: Determine the quadrant where the acceleration is located by judging the positive and negative values ​​of the x, y, and z three-axis acceleration data transmitted by the multi-axis acceleration sensor module 1.

[0058] Step 44: The acceleration of each axis is synthesized to obtain the accurate direction of the resultant acceleration, such as Figure 5 shown.

[0059] The striking force measurement method involved in the present application may further include step 5, displaying the data to be displayed.

[0060] The striking force measuring device involved in the present application is installed on the striker, and the device has low manufacturing cost, small size, easy to carry, and little damage to the sensor; through the above-mentioned striking force measuring device and method, the size and direction of the striking force can be determined without limiting the striking position.

[0061] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A striking force measuring method based on a striking force measuring device, characterized in that: The striking force measuring device comprises a base, which is used to be placed on the striker. A measuring system is arranged in the base, and the measuring system comprises a time base and power supply module, a multi-axis acceleration sensor module and a data processing module. The time base and power supply module are used to provide a clock signal and electric energy for the measuring system; the multi-axis acceleration sensor module is used to collect the x, y, z three-axis acceleration data and the data of the roll angle, pitch angle and yaw angle of the striker when striking, and transmit the data to the data processing module; the data processing module is used to pre-store the mass components of the calibrated limbs in the directions of the three coordinate axes of x, y and z, and is used to receive the x, y, z three-axis acceleration data transmitted by the multi-axis acceleration sensor module. The speed data and the data of the roll angle, pitch angle and yaw angle are used to calculate the magnitude and direction of the striking force; wherein the mass components of the limbs in the directions of the three coordinate axes of x, y and z are calibrated by the cooperation of the base and the mass calibration module, and the mass calibration module is used to provide three-dimensional striking force data when the striker wears the base and strikes the preset position of the mass calibration module during the preliminary calibration; the striking force measuring device also includes a display and recording module, which is connected to the data processing module, and the display and recording module is used to display information for easy observation; the striking force measuring device also includes a wireless communication and transmission module, and the wireless communication and transmission module is used to connect the data processing module and the display and recording module; The method comprises the following steps: Step 1, calibrate the mass components of the attacker's limbs in the directions of the three coordinate axes of x, y, and z; Step 2: input the mass components of the calibrated limbs in the directions of the three coordinate axes of x, y, and z into the data processing module for storage; Step 3: The attacker wears the base and strikes at any position. The multi-axis acceleration sensor module collects the x, y, z acceleration data and the roll angle, pitch angle, and yaw angle data of the attacker during the strike, and transmits the data to the data processing module; Step 4: The magnitude and direction of the striking force are obtained through calculation by the data processing module. The process is as follows: According to the formula The magnitude of the striking force is calculated, where F represents the striking force; m x 、m y 、m z Represents the mass component of the limb in the directions of the three coordinate axes; a x , a y , a z Indicates the acceleration components of the attacker in the three coordinate axis directions when the attacker is striking; determines the direction of the striking force by using the x, y, z three-axis acceleration data and the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module; Wherein, in step 1, the calibration process of the mass components of the limbs in the directions of the three coordinate axes of x, y, and z is as follows: the attacker wears the base and strikes the preset position of the mass calibration module n times, wherein n≥3, and n is an integer. During each strike, the multi-axis acceleration sensing module divides the acceleration of the limb during the strike into the three directions of x, y, and z. The values ​​of the acceleration in the directions of the three coordinate axes can be read from the multi-axis acceleration sensing module, and the data of the striking force can be read from the mass calibration module. The mass components of the limbs in the directions of the three coordinate axes can be calibrated according to the following formula: m x , m y , m z ; In step 4, the direction of the impact force is determined by the x, y, z three-axis acceleration data and the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module. The process is as follows: step 41, a three-dimensional coordinate system is established by the multi-axis acceleration sensor module to divide the space into eight quadrants. x >0 a y >0 a z When >0, the direction of the resultant acceleration is in quadrant I; when a x <0 a y >0 a z When >0, the direction of the resultant acceleration is in quadrant II; when a x <0 a y <0 a z When >0, the direction of the resultant acceleration is in quadrant III; when a x >0 a y <0 a z >0, the direction of the resultant acceleration is in quadrant IV; when a x >0 a y >0 a z When <0, the direction of the resultant acceleration is in quadrant V; when a x <0 a y >0 a z When <0, the direction of the resultant acceleration is in quadrant VI; when a x <0 a y <0 a z When <0, the direction of the resultant acceleration is in quadrant VII; when a x >0 a y <0 a z When <0, the direction of the resultant acceleration is in quadrant VIII; Step 42: The orientation of the coordinate system after rotation in step 41 can be determined by using the roll angle, pitch angle, and yaw angle data transmitted by the multi-axis acceleration sensor module; Step 43, judging the quadrant of the acceleration based on the positive and negative values ​​of the x, y, and z three-axis acceleration data transmitted by the multi-axis acceleration sensor module; Step 44, synthesize the magnitudes of the accelerations of the various axes to obtain the accurate direction of the resultant acceleration.

2. The striking force measuring method based on the striking force measuring device according to claim 1, characterized in that: The method also includes step 5 of displaying the data to be displayed.

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