Assassination training evaluation device based on three-dimensional force sensing and control method thereof

Abstract

This invention relates to the field of training equipment, specifically to a bayonet training and assessment device and its control method based on three-dimensional force sensing. The device includes a frame, a target, and a striking component. A striking force detection component is located between the target and the frame, and a striking position detection component is located below the striking component, thus decoupling the striking position identification and striking force detection functions. The striking force detection component uses a three-dimensional force sensor, unaffected by differences in striking angle, direction, and point of impact, solving the problem of inaccurate force detection caused by the force component of traditional unidirectional sensors. Combined with dual-sensor collaborative detection, accuracy is further improved. The striking position detection component, through the use of a trachea and a pressure sensor, accurately identifies striking sites such as the head and chest. After signal conditioning, analog-to-digital conversion, and data calibration, the system can display the striking position, force, and effective number of strikes in real time. This invention provides accurate and stable detection, strong adaptability, and significantly improves the scientific rigor and practicality of bayonet training.

Description

Technical Field

[0001] This invention relates to the field of training equipment, specifically to a stabbing training and assessment device based on three-dimensional force sensing and its control method. Background Technology

[0002] Existing bayonet training targets typically employ a single pressure sensor positioned below each striking point, serving both to identify the striking location and detect the striking force. The sensor directly collects force signals to determine the impact. However, these sensors can only detect vertical, positive pressure. In bayonet training, actions such as slashing, thrusting, and cutting involve varied striking directions and angles, easily generating component forces. This leads to underestimating or distorting sensor readings, failing to accurately reflect the actual striking force. Furthermore, the single-point sensor arrangement has a limited detection range, is susceptible to deviations in the striking point, and suffers from poor data stability, making it difficult to meet the demands of precise and scientific bayonet training. Summary of the Invention

[0003] One object of the present invention is to solve at least the above-mentioned problems by using an assassination training and assessment device and its control method based on three-dimensional force sensing.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a stabbing training and assessment device based on three-dimensional force sensing, including a frame, a target and a striking component, wherein the striking component is disposed on the surface of the target, and further includes a striking position sensing component for identifying the striking position and a striking force sensing component for monitoring the striking force, wherein the striking force sensing component is disposed between the target and the frame.

[0005] Preferably, the impact force sensing component is a three-dimensional force sensor.

[0006] Preferably, two three-dimensional force sensors are provided, and the two three-dimensional force sensors are arranged vertically at an interval on the rear side of the target.

[0007] Preferably, the three-dimensional force sensor is provided with a protective shell, and the three-dimensional force sensor is connected to the target and the protective shell respectively through connectors. The back of the protective shell is connected to the frame.

[0008] Preferably, the frame is provided with a height adjustment plate, the height adjustment plate is provided with multiple rows of positioning holes of different heights, the back of the protective shell is fixedly connected to an adjustment rod, the end of the adjustment rod is provided with a threaded end, the threaded end passes through the positioning hole and is connected to the positioning nut; the frame is provided with a counterweight box, the bottom of the frame is provided with adjustable leveling feet, the frame is provided with a diagonal brace tube, a ground support rod is slidably arranged in the diagonal brace tube, the end of the ground support rod is provided with a nail hole, and a ground nail is provided in the nail hole.

[0009] Preferably, the striking position sensing component includes a pressure sensor and an air tube attached to the underside of the striking component, with one end of the air tube closed and the other end connected to the pressure sensor.

[0010] Preferably, it also includes an ADC chip, a processor, a signal transmitter, a signal receiver, and a display. The signal output terminals of the impact position sensing component and the impact force sensing component are both connected to the ADC chip. The ADC chip, processor, signal transmitter, signal receiver, and display are sequentially connected in signal connection.

[0011] The control method of the stabbing training and assessment device based on three-dimensional force sensing includes the following steps: the user performs a striking action on the striking component; the striking position sensing component detects the position of the striking component being struck, and at the same time the striking force sensing component detects the striking force value and transmits the striking force value to the display for display.

[0012] Preferably, the impact position sensing component monitoring method is as follows: the impact component transmits force to the lower air tube, the air tube undergoes compression deformation after being subjected to force, the air pressure inside the air tube increases, the signal of the air pressure change is detected by the air pressure sensor, and the impact position signal is transmitted to the processor.

[0013] Preferably, the impact force sensing component uses the following method for monitoring: Step a: The three-dimensional force sensor converts the applied force into a voltage difference: When the three-dimensional force sensor is subjected to an external force, it deforms, and the internal resistance changes, forming a differential voltage. Step b: Condition the acquired signal and convert it into a readable signal: The differential voltage output by the three-dimensional force sensor is first amplified by the instrumentation amplifier, and a fixed reference bias voltage is superimposed on the amplified signal to raise the overall signal to within the effective input range of the ADC chip. Step c, Analog-to-Digital Conversion: The conditioned analog voltage signal is converted into a digital signal that the processor can understand; Step d: Analyze the data and deduce the force value from the digital signal: The processor converts the digital signal into the final impact force value through a preset algorithm and calibration parameters. The basic formula for analysis is as follows: Impact force value = (ADC chip output voltage value - zero point voltage) × sensitivity coefficient. The impact force values ​​detected by each three-dimensional force sensor are added together to obtain the equivalent impact force value on the target. Zero-point calibration and full-scale calibration are required when parsing data; The zero-point calibration includes the following steps: after confirming that there is no load other than the target, multiple data are continuously collected, the maximum and minimum values ​​are removed, and the average value of the data is calculated as the zero-point voltage of the ADC chip. The full-scale calibration includes the following steps: applying a known, calibrated force, recording the output voltage value of the ADC chip at this time, calculating the sensitivity coefficient by analyzing the basic formula, selecting multiple full-scale calibration points for full-scale calibration, and taking the average value to obtain the sensitivity coefficient.

[0014] As described above, the stab training and assessment device based on three-dimensional force sensing provided by this invention has the following beneficial effects: This invention separates the striking position and striking force detection functions, achieving functional decoupling and avoiding mutual interference caused by the traditional single sensor simultaneously handling position and force detection; the use of a three-dimensional force sensor can collect three-dimensional force components and synthesize a real spatial resultant force, unaffected by differences in striking angle, direction, and point, significantly improving the accuracy and stability of force detection for actions such as slashing and oblique thrusting, and further improving detection accuracy with dual-sensor collaborative detection; at the same time, the air pressure sensing component accurately identifies the striking point, and combined with the data processing and display system, it can output the striking position, effective force, and training data in real time, and the target height is adjustable and the frame support is stable, thus improving the overall detection reliability and training practicality of the stab training target. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the assassination training and assessment device based on three-dimensional force sensing according to the present invention.

[0016] Figure 2 for Figure 1 Rear view.

[0017] Figure 3 for Figure 1 Side view.

[0018] Figure 4 for Figure 3 A magnified view of part A. Detailed Implementation

[0019] The present invention will be further described below through specific embodiments.

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] As shown in the figure, this invention relates to a stabbing training and assessment device based on three-dimensional force sensing, comprising a frame 1, a target 2, a striking component 3, a striking position sensing component for identifying the striking position, and a striking force sensing component for monitoring the striking force. The striking component 3 is disposed on the surface of the target 2, and the striking force sensing component is disposed between the target 2 and the frame 1. The target 2 is humanoid, with its legs positioned in a forward-backward or side-by-side stance. The striking component 3 includes, but is not limited to, the head, chest, neck, left shoulder, right shoulder, left rib, right rib, abdomen, groin, left leg, and right leg. The striking component 3 can be made of polyurethane, rubber, or foam material. The head, chest, abdomen, and other thrusting parts can be made of high-elasticity foam material, while other striking parts such as the left and right ribs can be made of low-elasticity polyurethane or rubber material. The striking component 3 can also be made of polyurethane material integrally molded with the target 2. Unlike traditional bayonet training targets where sensors simultaneously measure both position and force, this invention employs a functionally decoupled architecture. The striking position sensing component identifies the striking position, while the striking force sensing component monitors the striking force. Traditional bayonet training targets use ordinary unidirectional pressure sensors that can only measure vertical force. Strike movements such as oblique thrusts, slashes, and cuts generate component forces, leading to inaccurate or smaller force readings compared to the actual force. In contrast, this invention uses a three-dimensional force sensor 5 for force detection, simultaneously detecting force components in the X, Y, and Z directions and synthesizing them into a true spatial resultant force. Regardless of changes in striking angle or direction, the total force detection remains unaffected by the angle, resulting in more accurate force measurement.

[0022] The impact force sensing component is a three-dimensional force sensor 5. The three-dimensional force sensor 5 is positioned between the frame 1 and the target 2, serving both to support the target 2 and to detect the impact force. The three-dimensional force sensor 5 monitors analog pressure data and obtains the specific pressure value through analog-to-digital conversion and data analysis. Unlike traditional bayonet training targets that rely on pressure sensors at each impact point to directly monitor the impact force, in this invention, the three-dimensional force sensor 5 can detect forces from all directions, thus effectively detecting forces applied to the front, sides, and other directions of the target 2.

[0023] The number of three-dimensional force sensors 5 can be one or more. In a preferred embodiment, two three-dimensional force sensors 5 are provided, arranged vertically at a distance from each other on the rear side of the target 2. The two vertically spaced three-dimensional force sensors 5 work together to detect specific pressure data, and calculate the specific impact force value through a simulation algorithm, thereby effectively improving the accuracy of detection and also enhancing the support stability of the target 2. In other embodiments, the number of three-dimensional force sensors 5 can also be expanded to three or more.

[0024] The three-dimensional force sensor 5 is equipped with a protective shell 51. The three-dimensional force sensor 5 is connected to the target 2 and the protective shell 51 through connectors. The back of the protective shell 51 is connected to the frame 1. The two sides of the three-dimensional force sensor 5 are connected to the target 2 and the protective shell 51 through threaded connectors, so the target 2 is suspended on the frame 1 by the three-dimensional force sensor 5.

[0025] The frame 1 is equipped with a height adjustment plate 11, which has multiple rows of positioning holes 111 of different heights. An adjustment rod 511 is fixedly connected to the back of the protective shell 51. The end of the adjustment rod 511 is threaded and passes through the positioning hole 111 to connect with the positioning nut 112. The frame 1 is equipped with a counterweight box 12. The bottom of the frame 1 is equipped with adjustable leveling feet 13. The frame 1 is equipped with a diagonal brace tube 14. A ground support rod 15 is slidably installed inside the diagonal brace tube 14. The end of the ground support rod 15 is equipped with a nail hole and a ground nail 16 is installed in the nail hole. During use, the height of the target 2 can be adjusted according to the user's height: each protective shell 51 is equipped with two adjustment rods 511 at the back. The adjustment rods 511 are inserted into the positioning holes 111 of different heights on the height adjustment plate 11 and locked with the positioning nut 112. The frame 1 is leveled by adjusting the leveling feet 13, and the ground support rod 15 is adjusted until its end touches the ground. The ground nail 16 passes through the nail hole and is driven into the ground to further improve the stability of the entire device during the striking process.

[0026] The impact position sensing component includes a pressure sensor and an air tube attached to the underside of the impact component 3. One end of the air tube is closed, and the other end is connected to the pressure sensor. The air tube is sandwiched between the impact component 3 and the frame of the target 2. When the impact component 3 encounters a chopping or thrusting action, the pressure is transmitted to the air tube below. Because the air tube is closed, it is compressed under force, and the internal air pressure increases. The air pressure change signal is collected and identified by the pressure sensor and transmitted to the system. This pressure sensor does not directly detect the pressure magnitude, but only detects whether a certain impact component 3 has been triggered to sense the specific impact position. The specific impacted part can be displayed on the display in real time.

[0027] The 3D force sensing-based assassination training and assessment device also includes an ADC chip, a processor, a signal transmitter, a signal receiver, and a display. The signal output terminals of the 3D force sensor 5 in the impact position sensing component and the air pressure sensor in the impact force sensing component are both connected to the ADC chip. The ADC chip, processor, signal transmitter, signal receiver, and display are sequentially connected. The ADC chip converts the analog signals from the impact position sensing component and the impact force sensing component into digital signals. The processor converts the digital signals into the final force value using a preset algorithm and calibration parameters. The signal transmitter and signal receiver preferably use wireless devices. Through wireless signal transmission, the target 2 and the display can be arranged separately. The impact force value is transmitted wirelessly to the display, which displays the impacted part and the impact force value in real time. The display can also display information such as time, historical maximum impact force, total number of times, number of effective attacks, and user name in real time.

[0028] The control method of the stabbing training and assessment device based on three-dimensional force sensing includes the following steps: the user performs a striking action on the striking component 3; the striking position sensing component detects the position of the striking component 3 being struck, and at the same time the striking force sensing component detects the striking force value and transmits the striking force value to the display for display.

[0029] The impact position sensing component monitors the following: The impact component 3 transmits the force to the lower air tube. After the air tube is subjected to force, it undergoes compression deformation, and the air pressure inside the air tube increases. The signal of the air pressure change is detected by the air pressure sensor, and the impact position signal is transmitted to the processor.

[0030] The impact force sensing component monitors impact force as follows: Step a: The three-dimensional force sensor 5 converts the applied force into a voltage difference: When the three-dimensional force sensor 5 is subjected to an external force, it deforms and its internal resistance changes, forming a differential voltage. The differential voltage formed by the internal change is usually very small, with a typical full-scale output of about 2mV / V. Under ideal conditions, the output voltage is linearly related to the pressure.

[0031] Step b: Condition the acquired signal and convert it into a readable signal: The differential voltage output by the three-dimensional force sensor 5 is first amplified by an instrumentation amplifier. A fixed reference bias voltage is then superimposed on the amplified signal to raise the overall signal to within the effective input range of the ADC chip, thus obtaining an analog voltage signal. The original signal output by the bridge is very weak and easily interfered with, and cannot be directly sent to the analog-to-digital converter for conditioning. Therefore, it needs to be amplified by an instrumentation amplifier first, and a small bias voltage is added to the signal to ensure that the signal is always within the positive range and to avoid dead zones. At the same time, the filter will remove high-frequency noise.

[0032] Step c, Analog-to-Digital Conversion: The conditioned analog voltage signal is converted into a digital signal that the processor can understand; in order to capture weak voltage changes, a 24-bit high-resolution ADC chip is used for analog-to-digital conversion, and the ADC chip outputs a digital quantity that is proportional to the input voltage.

[0033] Step d: Data analysis to deduce the force value from the digital signal: The processor converts the digital signal into the final impact force value using a preset algorithm and calibration parameters. The basic formula is as follows: Impact force value = (ADC chip output voltage value - zero-point voltage) × sensitivity coefficient. The ADC chip output voltage value is the digital quantity obtained after analog-to-digital conversion by the ADC chip. Then, the impact force values ​​detected by each of the three-dimensional force sensors 5 are added together to obtain the equivalent impact force value on the target. When the impact force value is greater than the preset standard value, the system determines it as a valid impact and displays the valid impact force value and number of impacts on the display.

[0034] Zero-point calibration and full-scale calibration are required when analyzing data; accurate sensitivity coefficient and zero-point voltage are prerequisites for data analysis, so calibration is necessary first.

[0035] Zero-point calibration includes the following steps: After confirming that there is no load other than target 2, let it stand for 1 to 2 seconds until the structure is in a steady state, continuously collect multiple data, remove the maximum and minimum values ​​to prevent pulse interference, and calculate the average value of the data as the zero-point voltage of the ADC chip. Full-scale calibration includes the following steps: Apply a known, calibrated impact force value, record the ADC chip output voltage value at this time, and calculate the sensitivity coefficient using the analytical basic formula, i.e., sensitivity coefficient = impact force value / (ADC chip output voltage value - zero-point voltage). By selecting multiple full-scale calibration points and performing full-scale calibration, multiple calibrated forces are taken, multiple sensitivity coefficients are calculated, and the average value is taken to obtain the final sensitivity coefficient, completing the calibration. Through zero-point calibration and full-scale calibration, the zero-point voltage and sensitivity coefficient required for the analytical basic formula are obtained.

[0036] When using this invention, the impact force value is converted into a pressure difference, the ADC chip value is converted into a digital quantity, and the specific force value is calculated through conversion. The specific impact location still needs to be transmitted by the air pressure sensor, and the air pressure sensor and the three-dimensional force sensor 5 are used in combination.

[0037] The above are merely some specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A bayonet training and assessment device based on three-dimensional force sensing, comprising a frame, a target, and a striking component, wherein the striking component is disposed on the surface of the target, characterized in that: It also includes a strike position sensing component for identifying the strike position and a strike force sensing component for monitoring the strike force, the strike force sensing component being disposed between the target and the frame.

2. The assassination training and assessment device based on three-dimensional force sensing according to claim 1, characterized in that: The impact force sensing component is a three-dimensional force sensor.

3. The assassination training and assessment device based on three-dimensional force sensing according to claim 2, characterized in that: Two three-dimensional force sensors are provided, and the two three-dimensional force sensors are arranged vertically and horizontally at an interval on the rear side of the target.

4. The assassination training and assessment device based on three-dimensional force sensing according to claim 2, characterized in that: The three-dimensional force sensor is equipped with a protective shell. The three-dimensional force sensor is connected to the target and the protective shell through connectors. The back of the protective shell is connected to the frame.

5. The assassination training and assessment device based on three-dimensional force sensing according to claim 4, characterized in that: The frame is equipped with a height adjustment plate, which has multiple rows of positioning holes of different heights. An adjustment rod is fixedly connected to the back of the protective shell. The end of the adjustment rod has a threaded end, which passes through the positioning hole and connects to the positioning nut. The frame is equipped with a counterweight box, and the bottom of the frame is equipped with adjustable leveling feet. The frame is equipped with a diagonal brace tube, and a ground support rod is slidably installed inside the diagonal brace tube. The end of the ground support rod has a nail hole, and a ground nail is installed in the nail hole.

6. The assassination training and assessment device based on three-dimensional force sensing according to claim 1, characterized in that: The striking position sensing component includes a pressure sensor and an air tube attached to the underside of the striking component. One end of the air tube is closed, and the other end is connected to the pressure sensor.

7. The assassination training and assessment device based on three-dimensional force sensing according to claim 1, characterized in that: It also includes an ADC chip, a processor, a signal transmitter, a signal receiver, and a display. The signal output terminals of the impact position sensing component and the impact force sensing component are both connected to the ADC chip. The ADC chip, processor, signal transmitter, signal receiver, and display are sequentially connected in signal connection.

8. The control method for the assassination training and assessment device based on three-dimensional force sensing according to any one of claims 1-7, characterized in that, The process includes the following steps: the user performs a striking action on the striking component; the striking position sensing component detects the position of the striking component being struck, while the striking force sensing component detects the striking force value and transmits the striking force value to the display for display.

9. The control method for the assassination training and assessment device based on three-dimensional force sensing according to claim 8, characterized in that: The impact position sensing component monitoring method is as follows: the impact component transmits force to the lower air tube. After the air tube is subjected to force, it undergoes compression deformation, and the air pressure inside the air tube increases. The signal of the air pressure change is detected by the air pressure sensor, and the impact position signal is transmitted to the processor.

10. The control method for the assassination training and assessment device based on three-dimensional force sensing according to claim 8, characterized in that: The impact force sensing component uses the following method for monitoring: Step a: The three-dimensional force sensor converts the applied force into a voltage difference: When the three-dimensional force sensor is subjected to an external force, it deforms, and the internal resistance changes, forming a differential voltage. Step b: Condition the acquired signal and convert it into a readable signal: The differential voltage output by the three-dimensional force sensor is first amplified by the instrumentation amplifier, and a fixed reference bias voltage is superimposed on the amplified signal to raise the overall signal to within the effective input range of the ADC chip. Step c, Analog-to-Digital Conversion: The conditioned analog voltage signal is converted into a digital signal that the processor can understand; Step d: Analyze the data and deduce the force value from the digital signal: The processor converts the digital signal into the final impact force value through a preset algorithm and calibration parameters. The basic formula for analysis is as follows: Impact force value = (ADC chip output voltage value - zero point voltage) × sensitivity coefficient. The impact force values ​​detected by each three-dimensional force sensor are added together to obtain the equivalent impact force value on the target. Zero-point calibration and full-scale calibration are required when parsing data; The zero-point calibration includes the following steps: after confirming that there is no load other than the target, multiple data are continuously collected, the maximum and minimum values ​​are removed, and the average value of the data is calculated as the zero-point voltage of the ADC chip. The full-scale calibration includes the following steps: applying a known, calibrated force, recording the output voltage value of the ADC chip at this time, calculating the sensitivity coefficient by analyzing the basic formula, selecting multiple full-scale calibration points for full-scale calibration, and taking the average value to obtain the sensitivity coefficient.

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