• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a device for gliding sport comprising: a gliding support (1) such as a surf or a ski; A force sensor (3) fixed on the gliding support at the interface with a user, said force sensor being adapted to capture one or more forces generated by the user on the gliding support; A position and movement sensor (5) fixed on the glide support and adapted to capture the position, the speed and the acceleration of the glide support in the space; A processing unit (7) connected to the force sensor and to the position and motion sensor and adapted to synchronize the data coming from the sensors.
    公开号:FR3037817A1
    申请号:FR1654787
    申请日:2016-05-27
    公开日:2016-12-30
    发明作者:Kevin Lestrade；Jean-Luc Barou；Philippe Viot
    申请人:Centre National de la Recherche Scientifique CNRS；Ecole National Superieure dArts et Metiers ENSAM；Universite de Bordeaux；ARTS；Institut Polytechnique de Bordeaux；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD [1] The present invention relates to gliding sports such as surfing, skiing, "snowboarding" in particular. BACKGROUND OF THE INVENTION STATE OF THE ART [2] In the following text, surfing will be taken as a main example of board sports. However, the teaching of this text also applies to other sliding sports in which a mainly rigid element will slide on a liquid or solid surface. This includes skiing in all its variants, snowboarding or snowboarding, etc. [03] The learning and development of a surf sport such as surfing goes through a training under the watch of a coach. The latter will watch the surfer evolve and, depending on the defects he finds, propose corrections to the athlete who will strive to have the correct attitude by a succession of trials / errors. [04] This work is currently assisted by video cameras installed directly on the surf, or on the coast and which, by recording the surfer's progress, will help the coach and the athlete to visualize and analyze a posteriori the work done. [5] There are also sensors capable of providing the surfer with the speed of the surf relative to the wave in real time. [6] These opportunities for learning and development are therefore very qualitative and rely heavily on the experience of the coach, or the athlete. For example, in high performance sport, minute variations in support can have important consequences on the quality of the trajectory whereas they will only be due to a position very little different from the optimal position. , difference not or little detectable by video recording. [7] It would therefore be desirable to offer sportsmen and their coaches means making it possible to quantify the various elements of an evolution and to compare them with, for example, an ideal evolution. DESCRIPTION OF THE INVENTION [8] There is therefore a real need for a sports gliding device that allows to acquire quantitative data thus overcoming the defects, disadvantages and obstacles of the prior art. [09] To solve one or more of the aforementioned drawbacks, a device for sliding sports comprises: a gliding support such as a surfboard or a ski; a force sensor fixed on the sliding support at the interface with a user, the force sensor being adapted to pick up one or more forces generated by the user on the gliding support; a position and movement sensor fixed on the glide support and adapted to capture the position, the speed and the acceleration of the glide support in the space; a processing unit connected to the force sensor and to the position and motion sensor 20 and adapted to synchronize the data coming from the sensors. [10] Particular features or embodiments, usable alone or in combination, are: - It further comprises a camera fixed on the gliding support and connected to the processing unit, said camera being positioned to capture the image of the user; the force sensor is integrated in the gliding support; - The force sensor is associated with a sealed device intermediate between the force sensor and the user; The position and motion sensor comprises a 3-axis gyroscope, a 3-axis accelerometer and a magnetometer; 3037817 3 - it includes a storage memory synchronized data; and / or - it comprises a transmitter for transmitting the synchronized data in real time to an analysis and visualization computer via a wireless link. [11] In a second aspect of the invention, a device as above is used for learning and improving a board sport. [12] In a third aspect of the invention, a method of learning a gliding sport using a device as above, comprises: - use of said device by a user to practice said gliding sport and recording of data from the sensors of said device; processing of said data and comparison with reference data; processing and merging said data for conversion and display of evaluation and progression parameters of the user. [13] A particular feature or embodiment is that the display of the evaluation and progress parameters is done in a graphical form highlighting the difference in position of the user with respect to the position of a user. reference. Another embodiment is that the display of the evaluation and progress parameters is done in a graphical form highlighting the differences of position between different users. [14] In a fourth aspect of the invention, a computer program product downloadable from a communication network and / or recorded on a computer readable and / or executable medium by a processor, includes program code instructions for the implementation of the above learning method. [15] In a fifth aspect of the invention, a device for simulating a gliding sport comprises: a gliding support such as a surf or a ski; a force sensor fixed on the sliding support at the interface with a user, said force sensor being adapted to capture all the forces generated by the user on the gliding support; an actuator fixed on the gliding support and adapted to move the gliding support according to 6 degrees of freedom; a processing unit connected to the force sensor and to the actuator and adapted to modify the position of the gliding support as a function of the forces generated by the user and of modeling parameters of an environment. BRIEF DESCRIPTION OF THE FIGURES [16] The invention will be better understood on reading the description which follows, given solely by way of example, and with reference to the appended figures in which: FIG. instrumented surf according to one embodiment of the invention; FIG. 2 represents a data acquisition and processing flowchart of the device of FIG. 1; FIG. 3 represents the evolution of the vertical force during use of the device of FIG. 1; FIGS. 4A and 4B show the evolution of forces, angular velocities and accelerations during the evolution of FIG. 3; Fig. 5 shows a flowchart of a learning method using the device of Fig. 1; and FIG. 6 shows a simulator based on the device of FIG. 1. Embodiments [17] A device for gliding sport comprises a gliding support such as a surf, or surfboard, or a ski. Both of these sports are given by way of example but the description can be applied to any sport in which a device slides on a liquid or solid medium. Thus, and as indicated previously, the embodiments described below will focus on surfing. [18] With reference to FIG. 1, a surfboard 1 comprises a force sensor 3 in the form of a platform for capturing forces according to 6 components: the 3 forces according to Cartesian coordinates and the 3 moments around the axes of the Cartesian coordinate system. This mark is defined as linked to the surfboard, where x is the longitudinal axis, y is the transverse axis and z is the vertical axis. It should be noted that less sophisticated sensors limited to capturing one or two force components can also be used for cost reasons. The counterpart to the use of such sensors is that the information collected is less rich. This can be offset by preliminary studies using the 6-component platform to determine the principal components to be analyzed. [19] Preliminary studies make it possible to define the maximum quantities that the force sensor 3 must be able to record. Thus, it is desirable that the force sensor 3 be able to measure the following maximum forces: 5000N for Fx, 5400N for Fy, 14500N for Fz, 560Nm for Mx, 650Nm for My and 750Nm for Mz. [20] The force sensor 3 is attached to the surfboard 1 at the interface with a user. Thus, on a surfboard, the sensor 3 is preferably positioned under the front foot of the surfer because it is the main foot to direct the surf. . However, the sensor 3 can also be positioned under the back foot or two sensors are installed to collect the forces of each foot. For a ski, the force sensor is, for example, positioned under the sole of the ski boot. The force sensor thus captures all the forces generated by the user on the gliding support. It captures both the vertical and horizontal forces 3037817 6 front and rear, as the rotational torque around the 3 axes, or on 6 axes of freedom. [21] The force sensor 3 is integrated into the surfboard 1 so as to limit as far as possible the difference in position of the user with respect to an un-instrumented surfboard. [22] The force sensor 3 must resist the environmental elements of the surfboard 1 and in particular the marine water whose corrosion power is well known. At the same time, the possible protection of the force sensor 3 must not disturb the measurement of the forces. For example, a waterproof plastic film such as the Seaguard Flex 5400, Dickson, Wasquehal, France placed on the cover of the force sensor 3 has the advantage of not disturbing the capture of forces. Another solution is to use a force sensor intrinsically resistant to marine corrosion. [23] The surfboard 1 also includes a position and motion sensor 5. This position and motion sensor 5 is intended to identify the interactions between the surfboard 1 and the wave by analyzing the dynamic behavior of the surfboard 1. Surfboard 1 via, for example, angular velocities and longitudinal accelerations of the surfboard. It is therefore adapted to capture the position, speed and acceleration of the surfboard in space. It includes, for example, a 3-axis gyroscope such as the InvensSense ITG3200, San Jose, California, a 3-axis accelerometer such as the ADXL345 from Analog Devices, Norwood, USA and a magnetometer but may also be made up of components maybe less powerful but also less expensive such as a GPS receiver or use fewer components and, for example, be limited to a GPS receiver and a 3D accelerometer of the type used by consumer smart phones. [24] A processing unit 7 is connected to the force sensor 3 and the position and motion sensor 5. This processing unit 7 synchronizes the data from the sensors. For example, it may consist of a Mega 2560 card from Arduino, Torino, Italy which also includes an analog-to-digital converter. [25] Advantageously, a network may be installed to retrieve and synchronize the information from these two sensors and also to collect and synchronize information from other sensors. [26] For example, a camera 9 attached to the surfboard 1 is connected to the processing unit 7 by this network. The camera 9 is positioned to capture the image of the user, in particular his foot placed on the force sensor to advantageously allow correlations to be made between the sensed forces and the position of the user. [27] The device also includes a storage memory 11 of the synchronized data and / or a transmitter 13 for transmitting the synchronized data in real time to an analysis and visualization computer (not shown) via a wireless link. This allows the data to be used at the end of the year and / or during the exercise. [28] The data processing is carried out as follows, FIG. 2: Conversion, step 21, of the electrical measurements coming from the sensors into digital values representing the different physical values: forces (N), moments (Nm), velocities (ms-1) and accelerations (ms-2) in the Cartesian coordinate system x, y, z; Synchronization, step 23, of the various measurements and, if available, images taken by the camera; Storage and / or transmission, step 25, of the set of synchronized data. [29] Figure 3 thus shows the evolution of the force Fz as a function of time according to different situations. [30] In Area 31, the surfer is sitting on the board waiting for the wave. It is therefore not in contact with the force sensor 3 and the force 30 Fz is equal to O. 3037817 8 [31] In zone 33, the surfer is lying on the board and paddle with his hands to catch the wave . Only his chest is in contact with the force sensor 3 also the force Fz corresponds to about 40 to 60% of the weight of the surfer. [32] In zone 35, the actual surfing phase starts and begins with a peak of Fz corresponding to the support of the surfer standing up. Then there is a series of support / withdrawal corresponding to the evolutions of surfing. This typically corresponds to a bending / extension taking up phase. [33] Finally, in zone 37, the surfer leaves the board either by fall or because it is the end of the wave and Fz returns to 0. [34] Of course, it is the zone 35 corresponding to the surfing phase that is the most interesting to analyze. [35] Figures 4A, 4C and 4D show as a function of time and synchronized respectively: - the vertical force; - angular velocities; and - longitudinal accelerations. [36] The dashed vertical line corresponds to these three figures at the start of the surf phase. [37] Knowing that FIGS. 4 correspond to the same surfing phase as that of FIG. 3, it can be seen that the search for speeding results in acceleration peaks along the longitudinal axis: the desired result is therefore well achieved. [38] This device is advantageously usable for learning and improving a gliding sport by allowing a coach and the athlete to see and analyze precisely what happened during the exercise. [39] Thus, a surfboard instruction using surfboard comprises, FIG. 5: Use of the surfboard by a user to surf and record data from the sensors 3 , 5 of the surfboard 1; - Data processing and comparison with reference data, step 53; Processing and merging of data for conversion and display of user evaluation and progress parameters, step 55. [40] Step 53 of data comparison can be based on data from one session previous or data from a session of a professional surfer (thus showing "the ideal") or finally, as part of a fun activity, the data of an "opponent". [41] The display of the evaluation and progress parameters is made in a graphical form highlighting the difference in position of the user with respect to the position of a reference user or highlighting the differences in position between different users. In a first example, several users use the same board and all the evolutions are synthesized and put in parallel on this display. In a second example, several users each use an instrumented surfboard in parallel and all the evolutions are reported on a common display, which may allow playful or competitive applications. [42] For implementation, it is conceivable that the on-board processing unit such as those used for analysis are driven by computer programs. Thus, a computer program product downloadable from a communication network and / or recorded on a computer readable medium and / or executable by a processor, includes program code instructions for implementing the learning method. [43] Furthermore, it is particularly interesting to use the instrumented device as a basis for a simulator thus allowing a user to train outside the natural environment. [44] In particular, FIG. 6, the simulation device comprises a glide support and a force sensor fixed on the glide support at the interface with a user, as described above. In addition, an actuator 61 is fixed on the gliding support and is adapted to move the gliding support in 6 degrees of freedom. This actuator is for example a hexapod positioner or a motion platform. [45] Note that in this configuration, the position and motion sensor is advantageously integrated with the actuator. It can even be deleted considering that the position of the surf is perfectly defined at any time by the positioner. [46] A processing unit 63 is connected to the force sensor 3 and the actuator 61. It is adapted to modify the position of the glide support according to the user-generated forces and modeling parameters. an environment for simulating the result of the forces applied to the gliding support by the user according to an environment programmed to simulate, for example, the shape of a wave, or the slope of a ski slope . [47] For this, the modeling is based on a predictive model making it possible to predict the behavior of the board according to the behavior of the surfer. This model is built from data acquisition sessions using surfboard 1. 25 [48] This simulator also includes display screens 65 to enable the user to be informed in the most natural way possible of the environment that has been programmed so that the user can react to it. [49] The invention has been illustrated and described in detail in the drawings and the foregoing description. This should be considered illustrative and given by way of example and not as limiting the invention to this description alone. Many alternative embodiments are possible. [50] For example, as part of the practice of skiing, it is interesting to instrument both skis by installing on each a force sensor and a 5 position and motion sensor and to synchronize the assembly in order to get a complete set of information. In surfing, it is also possible to instrument the surf with a second force sensor to record the forces coming from the surfer's back foot. [51] It is also possible to provide a manual 10 on / off device allowing the user to start acquisition only during an interesting phase of evolution.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Device for gliding sport comprising: a gliding support (1) such as a surf or a ski; a force sensor (3) fixed on the gliding support (1) at the interface with a user, said force sensor being adapted to capture one or more forces generated by the user on the gliding support ( 1); - a position and movement sensor (5) fixed on the glide support (1) and adapted to sense the position, speed and acceleration of the glide support (1) in space; - a processing unit (7) connected to the force sensor (3) and the position and movement sensor (5) and adapted to synchronize the data from the sensors.
    [0002]
    2. Device according to claim 2, characterized in that it further comprises a camera (9) fixed on the slide support (1) and connected to the processing unit (7), said camera being positioned to capture the image of the user.
    [0003]
    3. Device according to claim 1 or 2, characterized in that the force sensor (3) is integrated in the gliding support (1).
    [0004]
    4. Device according to claim 3, characterized in that the force sensor (3) is associated with a sealed device intermediate between the force sensor and the user.
    [0005]
    5. Device according to any one of the preceding claims, characterized in that the position and movement sensor (5) comprises a 3-axis gyroscope, a 3-axis accelerometer and a magnetometer. 3037817 2
    [0006]
    6. Device according to any one of the preceding claims, characterized in that it comprises a storage memory (11) synchronized data. 5
    [0007]
    7. Device according to any one of the preceding claims, characterized in that it comprises a transmitter (13) for transmitting the synchronized data in real time to an analysis and visualization computer via a wireless link. 10
    [0008]
    8. A method of learning a gliding sport using a device according to any one of claims 1 to 7, characterized in that it comprises: - use (51) of said device by a user to practice said sport of slides and records data from the sensors of said device; processing (53) said data and comparing it with reference data; processing and merging (55) said data for conversion and display of user evaluation and progress parameters.
    [0009]
    9. Method according to claim 8, characterized in that the display of the evaluation and progress parameters is carried out in a graphic form highlighting the difference in position of the user with respect to the position of a user. reference.
    [0010]
    10. Method according to claim 8, characterized in that the display of the evaluation and progression parameters is carried out in a graphic form highlighting the differences in position between different users. 3037817 3
    [0011]
    11. Computer program product downloadable from a communication network and / or recorded on a computer readable medium and / or executable by a processor, characterized in that it comprises program code instructions for the implementation of the learning method according to at least one of claims 8, 9 or 10.
    [0012]
    12. A simulation device for a gliding sport comprising: a gliding support (1) such as a surf or a ski; - A force sensor (3) fixed on the sliding support at the interface with a user, said force sensor being adapted to capture user generated forces on the gliding support; an actuator (61) fixed on the gliding support and adapted to move the gliding support in 6 degrees of freedom; - A processing unit (63) connected to the force sensor and the actuator and adapted to change the position of the gliding support according to the forces generated by the user and modeling parameters of an environment. 20
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    法律状态:
    2017-02-24| PLSC| Publication of the preliminary search report|Effective date: 20170224 |
    2017-03-20| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-21| PLFP| Fee payment|Year of fee payment: 3 |
    2018-03-23| TQ| Partial transmission of property|Owner name: UNIVERSITE DE BORDEAUX, FR Effective date: 20180221 Owner name: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE -, FR Effective date: 20180221 Owner name: INSTITUT POLYTECHNIQUE DE BORDEAUX, FR Effective date: 20180221 Owner name: ARTS, FR Effective date: 20180221 Owner name: ECOLE NATIONALE SUPERIEURE D'ARTS ET METIERS (, FR Effective date: 20180221 |
    2019-05-29| PLFP| Fee payment|Year of fee payment: 4 |
    2020-05-27| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-28| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1556047A|FR3037816A1|2015-06-29|2015-06-29|DEVICE FOR SLIDING SPORT AND ASSOCIATED LEARNING METHOD|
    FR1557359A|FR3037921A1|2015-07-31|2015-07-31|DEVICE FOR SLIDING SPORT AND ASSOCIATED LEARNING METHOD|EP16744442.1A| EP3313542A1|2015-06-29|2016-06-29|Device for board sports and associated learning method|
    AU2016285151A| AU2016285151A1|2015-06-29|2016-06-29|Device for board sports and associated learning method|
    US15/740,779| US10780331B2|2015-06-29|2016-06-29|Device for board sports and associated learning method|
    PCT/FR2016/051623| WO2017001780A1|2015-06-29|2016-06-29|Device for board sports and associated learning method|
    JP2017564744A| JP6783805B2|2015-06-29|2016-06-29|Board sports devices and related learning methods|
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