阅读说明：本技术 一种爆炸环境下表面冲击波测试装置及评估方法 (Surface shock wave testing device and surface shock wave evaluation method under explosive environment ) 是由 赖富文 王文廉 孔凡胜 高赫 刘榆华 王玉 霍李 张传明 雷铁新 温乐鹏 于 2021-01-21 设计创作，主要内容包括：本发明涉及爆炸冲击波测试及毁伤评估技术,具体是一种爆炸环境下表面冲击波测试装置及评估方法。本发明解决了现有爆炸冲击波测试及毁伤评估方法测试结果及毁伤评估结果不准确的问题。一种爆炸环境下表面冲击波测试装置,包括密闭腔体、支撑立柱、柔性衬底、柔性覆盖层、四个压力传感器、无线数据记录仪、四根导线、计算机；其中,密闭腔体为圆柱形结构；支撑立柱垂直固定于密闭腔体的外底面中央；柔性衬底为条带状结构；柔性衬底箍设于密闭腔体的外侧面中部,且柔性衬底的两端缝接在一起；柔性覆盖层为条带状结构；柔性覆盖层箍设于柔性衬底的外侧面,且柔性覆盖层的两端均与柔性衬底的外侧面缝接在一起。本发明适用于爆炸冲击波测试及毁伤评估。(The invention relates to an explosion shock wave test and damage evaluation technology, in particular to a surface shock wave test device and an evaluation method under an explosion environment. The invention solves the problem that the test result and the damage evaluation result of the existing explosion shock wave test and damage evaluation method are not accurate. A surface shock wave testing device in an explosion environment comprises a closed cavity, a supporting upright post, a flexible substrate, a flexible covering layer, four pressure sensors, a wireless data recorder, four leads and a computer, wherein the closed cavity is provided with a plurality of through holes; wherein, the closed cavity is a cylindrical structure; the supporting upright post is vertically fixed in the center of the outer bottom surface of the closed cavity; the flexible substrate is in a strip-shaped structure; the flexible substrate is hooped in the middle of the outer side surface of the closed cavity, and two ends of the flexible substrate are sewn together; the flexible covering layer is of a strip-shaped structure; the flexible covering layer is hooped on the outer side face of the flexible substrate, and two ends of the flexible covering layer are sewn with the outer side face of the flexible substrate. The invention is suitable for explosive shock wave test and damage assessment.)

1. The utility model provides an explosion environment surface shock wave testing arrangement which characterized in that: the device comprises a closed cavity (1), a supporting upright post (2), a flexible substrate (3), a flexible covering layer (4), four pressure sensors (5), a wireless data recorder (6), four leads (7) and a computer;

wherein, the closed cavity (1) is a cylindrical structure;

the supporting upright post (2) is vertically fixed in the center of the outer bottom surface of the closed cavity (1);

the flexible substrate (3) is of a strip-shaped structure; the flexible substrate (3) is hooped in the middle of the outer side surface of the closed cavity (1), and two ends of the flexible substrate (3) are sewn together;

the flexible covering layer (4) is of a strip-shaped structure; the flexible covering layer (4) is hooped on the outer side surface of the flexible substrate (3), and two ends of the flexible covering layer (4) are sewn with the outer side surface of the flexible substrate (3); a distance is reserved between the two ends of the flexible covering layer (4); the flexible covering layer (4) is provided with four pressure through holes (8) which are communicated from inside to outside, and the four pressure through holes (8) are arranged around the central line of the closed cavity (1) at equal intervals;

the four pressure sensors (5) are all adhered to the outer side face of the flexible substrate (3), and the four pressure sensors (5) are located in the four pressure through holes (8) in a one-to-one correspondence mode;

the wireless data recorder (6) is fixed on the outer side surface of the flexible substrate (3), and the wireless data recorder (6) is positioned between the two ends of the flexible covering layer (4);

four leads (7) are all laid between the outer side surface of the flexible substrate (3) and the inner side surface of the flexible covering layer (4); the head ends of the four leads (7) are electrically connected with the four pressure sensors (5) in a one-to-one correspondence manner; the tail ends of the four leads (7) are electrically connected with the wireless data recorder (6);

the computer is wirelessly connected with the wireless data recorder (6).

2. The surface shock wave testing device under explosive environment according to claim 1, characterized in that: the closed cavity (1) is made of steel, the outer diameter of the closed cavity is 30-40 cm, the height of the closed cavity is 70-80 cm, and the wall thickness of the closed cavity is 3-5 mm.

3. The surface shock wave testing device under explosive environment according to claim 1, characterized in that: the flexible substrate (3) and the flexible covering layer (4) are both made of leather; the two ends of the flexible substrate (3) are sewed together by a zipper.

4. The surface shock wave testing device under explosive environment according to claim 1, characterized in that: the four pressure sensors (5) are piezoresistive patch pressure sensors or piezoelectric patch pressure sensors; the four pressure sensors (5) are adhered to the outer side surface of the flexible substrate (3) through RTV glue; the sensitive surfaces of the four pressure sensors (5) are all flush with the outer side surface of the flexible covering layer (4).

5. The surface shock wave testing device under explosive environment according to claim 1, characterized in that: the computer is wirelessly connected with the wireless data recorder (6) through a WiFi channel or a ZigBee channel or a LoRa channel.

6. A surface shock wave evaluation method under an explosive environment, which is realized based on the surface shock wave test device under the explosive environment according to claim 1, and is characterized in that: the method is realized by adopting the following steps:

firstly, the device is fixed on a test site through a support upright post (2);

when an explosion test needing to evaluate the killing capacity is carried out, explosion shock waves act on the closed cavity (1), the flexible covering layer (4) and the four pressure sensors (5); the four pressure sensors (5) measure the pressure of the explosion shock waves borne by the outer side surface of the closed cavity (1) in real time, and the measurement results are sent to the wireless data recorder (6) through corresponding wires (7), so that the explosion shock wave test is realized;

the wireless data recorder (6) sequentially amplifies, converts and stores the measurement result into analog-digital, and then calculates the cavity displacement x according to the measurement result_i(t) and Cavity velocity v_i(t) then according to the cavity velocity v_i(t) calculating a speed prediction factor V, and then storing the speed prediction factor V;

when the wireless data recorder (6) receives an instruction from the computer, the wireless data recorder (6) wirelessly transmits the speed prediction factor V to the computer; the computer calculates a damage degree index DI according to the speed prediction factor V, and inquires a damage evaluation table according to the damage degree index DI, so that the damage degree is obtained, and the damage evaluation of the explosive shock wave is realized;

displacement x of cavity_i(t) Cavity velocity v_i(t), the calculation formula of the velocity prediction factor V and the damage degree index DI is as follows:

DI＝(0.124+0.117V)^2.63 (5)；

in the formula: m represents an effective mass, M ═ 2.03 kg; j represents the model damping coefficient, J is 696 Ns/m; k represents model elastic coefficient, and K is 989N/m; a represents the force-bearing area, and A is 0.082m²；i＝1，2，3，4；p_i(t) represents the measurement result of the ith pressure sensor (5); p is a radical of_i，lung(t) denotes pulmonary pressure; p is a radical of₀Represents ambient pressure; g₀Representing the initial lung volume, G₀＝0.00182m³(ii) a g represents the intra-pulmonary gas index, g is 1.2;

the damage evaluation table is as follows:

degree of damage DI Without damage 0≤DI≤0.2 Minute size 0.2＜DI≤0.3 Light and slight 0.3＜DI≤1.0 Of moderate degree 1.0＜DI≤1.9 Severe severity of disease 1.9＜DI≤3.6 Greater than 50% lethality DI＞3.6

。

7. The method for evaluating surface shock waves in an explosive environment according to claim 6, wherein: the wireless data recorder (6) comprises an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory, a 2.4G wireless transmission module and an XC6SLX9 type FPGA;

the tail ends of the four leads (7) are electrically connected with an INA821 type instrument amplifier; the INA821 type instrumentation amplifier is electrically connected with the AD7482 type analog-digital converter; the AD7482 type digital converter is electrically connected with a first MT48LC8M type memory; the computer is wirelessly connected with the 2.4G wireless transmission module; the XC6SLX9 type FPGA is respectively and electrically connected with an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory and a 2.4G wireless transmission module;

the INA821 type instrument amplifier is responsible for amplifying the measurement result;

the AD7482 type analog-to-digital converter is responsible for performing analog-to-digital conversion on the measurement result;

the first MT48LC8M type memory is responsible for storing the measurement results;

the second MT48LC8M type memory is responsible for data caching;

the AT24C02 type memory is responsible for storing the speed predictor V;

the 2.4G wireless transmission module is in charge of receiving instructions from a computer on one hand and wirelessly sending a speed prediction factor V to the computer on the other hand;

XC6SLX9 FPGA is responsible for Bessel filtering of measurement results on one hand and calculating cavity displacement x on the other hand_i(t) Cavity velocity v_i(t) a speed prediction factor V, and a third aspect is responsible for performing function control on an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory and a 2.4G wireless transmission module.

Technical Field

The invention relates to an explosion shock wave test and damage evaluation technology, in particular to a surface shock wave test device and an evaluation method under an explosion environment.

Background

In an explosion test (for example, a damage efficacy evaluation test, an ammunition static explosion power test, etc.) requiring the evaluation of the killing ability, an experimental sheep is generally adopted as a test object, and an explosion shock wave test and a damage evaluation are performed on the test object. Currently, the blast shock wave test and damage assessment are mainly realized by the following methods: on one hand, an indirect test method is adopted for carrying out the explosion shock wave test, and the specific method comprises the following steps: and placing a pressure sensor on the ground near the test object, measuring the pressure of the explosion shock wave near the test object by using the pressure sensor, and estimating the pressure of the explosion shock wave borne by the surface of the test object according to the measurement result, thereby realizing the explosion shock wave test. On the other hand, the general and pathological anatomy, the electroencephalogram, the electrocardio, the biochemical detection and analysis and other examinations are carried out on the test object, and the damage condition of the explosive shock wave to the test object is obtained according to the examination result. And then, carrying out damage assessment of the explosive shock wave according to the test result and the damage condition.

The problems of the method are as follows: when the explosion shock wave test is carried out, due to the influence of factors such as the complex characteristic of a shock wave propagation path, the interference of a test object on a shock wave flow field and the like, the measurement result of the pressure sensor is difficult to accurately reflect the explosion shock wave pressure borne by the surface of the test object, so that the test result is inaccurate, and the damage evaluation result is inaccurate. Therefore, it is necessary to provide a surface shock wave testing device and an evaluation method under an explosive environment to solve the problem of inaccurate test results and damage evaluation results of the conventional explosive shock wave testing and damage evaluation methods.

Disclosure of Invention

The invention provides a surface shock wave testing device and an evaluation method under an explosive environment, aiming at solving the problem that the testing result and the damage evaluation result of the existing explosive shock wave testing and damage evaluation method are inaccurate.

The invention is realized by adopting the following technical scheme:

a surface shock wave testing device in an explosion environment comprises a closed cavity, a supporting upright post, a flexible substrate, a flexible covering layer, four pressure sensors, a wireless data recorder, four leads and a computer, wherein the closed cavity is provided with a plurality of through holes;

wherein, the closed cavity is a cylindrical structure;

the supporting upright post is vertically fixed in the center of the outer bottom surface of the closed cavity;

the flexible substrate is in a strip-shaped structure; the flexible substrate is hooped in the middle of the outer side surface of the closed cavity, and two ends of the flexible substrate are sewn together;

the flexible covering layer is of a strip-shaped structure; the flexible covering layer is hooped on the outer side surface of the flexible substrate, and two ends of the flexible covering layer are sewn with the outer side surface of the flexible substrate; a distance is reserved between the two ends of the flexible covering layer; the flexible covering layer is provided with four pressure through holes which are communicated from inside to outside, and the four pressure through holes are arranged around the central line of the closed cavity at equal intervals;

the four pressure sensors are all adhered to the outer side surface of the flexible substrate and are positioned in the four pressure through holes in a one-to-one correspondence manner;

the wireless data recorder is fixed on the outer side surface of the flexible substrate and positioned between the two ends of the flexible covering layer;

the four wires are all laid between the outer side surface of the flexible substrate and the inner side surface of the flexible covering layer; the head ends of the four wires are electrically connected with the four pressure sensors in a one-to-one correspondence manner; the tail ends of the four leads are electrically connected with a wireless data recorder;

the computer is in wireless connection with the wireless data recorder.

The sealed cavity is made of steel, the outer diameter of the sealed cavity is 30-40 cm, the height of the sealed cavity is 70-80 cm, and the wall thickness of the sealed cavity is 3-5 mm.

The flexible substrate and the flexible covering layer are both made of leather; the two ends of the flexible substrate are sewn together by a zipper.

The four pressure sensors are piezoresistive patch pressure sensors or piezoelectric patch pressure sensors; the four pressure sensors are all adhered to the outer side surface of the flexible substrate through RTV glue; the sensitive surfaces of the four pressure sensors are all flush with the outer side surface of the flexible covering layer.

The computer is in wireless connection with the wireless data recorder through a WiFi channel or a ZigBee channel or a LoRa channel.

A surface shock wave evaluation method under an explosion environment (the method is realized based on the surface shock wave testing device under the explosion environment), which is realized by adopting the following steps:

firstly, fixing the device on a test site through a support upright post;

when an explosion test needing to evaluate the killing capacity is carried out, the explosion shock wave acts on the closed cavity, the flexible covering layer and the four pressure sensors; the four pressure sensors measure the pressure of the explosion shock waves borne by the outer side surface of the closed cavity in real time, and the measurement results are sent to the wireless data recorder through corresponding wires, so that the explosion shock wave test is realized;

the wireless data recorder sequentially amplifies, converts and stores the measurement result into analog-to-digital, and then the Bessel filter is carried out, and the cavity displacement x is calculated according to the measurement result_i(t) and Cavity velocity v_i(t) then according to the cavity velocity v_i(t) calculation ofOutputting a speed prediction factor V, and then storing the speed prediction factor V;

when the wireless data recorder receives an instruction from the computer, the wireless data recorder wirelessly transmits the speed prediction factor V to the computer; the computer calculates a damage degree index DI according to the speed prediction factor V, and inquires a damage evaluation table according to the damage degree index DI, so that the damage degree is obtained, and the damage evaluation of the explosive shock wave is realized;

displacement x of cavity_i(t) Cavity velocity v_i(t), the calculation formula of the velocity prediction factor V and the damage degree index DI is as follows:

DI＝(0.124+0.117V)^2.63 (5)；

in the formula: m represents an effective mass, M ═ 2.03 kg; j represents the model damping coefficient, J is 696 Ns/m; k represents model elastic coefficient, and K is 989N/m; a represents the force-bearing area, and A is 0.082m²；i＝1，2，3，4；p_i(t) represents a measurement result of the ith pressure sensor; p is a radical of_i，lung(t) denotes pulmonary pressure; p is a radical of₀Represents ambient pressure; g₀Representing the initial lung volume, G₀＝0.00182m³(ii) a g represents the intra-pulmonary gas index, g is 1.2;

the damage evaluation table is as follows:

degree of damage	DI
		Without damage	0≤DI≤0.2
Minute size	0.2＜DI≤0.3
		Light and slight	0.3＜DI≤1.0
Of moderate degree	1.0＜DI≤1.9
		Severe severity of disease	1.9＜DI≤3.6
Greater than 50% lethality	DI＞3.6

。

The wireless data recorder comprises an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory, a 2.4G wireless transmission module and an XC6SLX9 type FPGA;

the tail ends of the four leads are electrically connected with an INA821 type instrument amplifier; the INA821 type instrumentation amplifier is electrically connected with the AD7482 type analog-digital converter; the AD7482 type digital converter is electrically connected with a first MT48LC8M type memory; the computer is wirelessly connected with the 2.4G wireless transmission module; the XC6SLX9 type FPGA is respectively and electrically connected with an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory and a 2.4G wireless transmission module;

the INA821 type instrument amplifier is responsible for amplifying the measurement result;

the AD7482 type analog-to-digital converter is responsible for performing analog-to-digital conversion on the measurement result;

the first MT48LC8M type memory is responsible for storing the measurement results;

the second MT48LC8M type memory is responsible for data caching;

the AT24C02 type memory is responsible for storing the speed predictor V;

the 2.4G wireless transmission module is in charge of receiving instructions from a computer on one hand and wirelessly sending a speed prediction factor V to the computer on the other hand;

XC6SLX9 FPGA is responsible for Bessel filtering of measurement results on one hand and calculating cavity displacement x on the other hand_i(t) Cavity velocity v_i(t) a speed prediction factor V, and a third aspect is responsible for performing function control on an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory and a 2.4G wireless transmission module.

Compared with the existing explosion shock wave test and damage evaluation method, the surface shock wave test device and the evaluation method under the explosion environment have the following advantages: in an explosion test needing to evaluate the killing capacity, an experimental sheep does not need to be used as a test object, but only the closed cavity in the invention is used as the test object (the closed cavity is used for simulating the chest cavity of a human body or an animal), the four pressure sensors are used for directly measuring the pressure of explosion shock waves borne by the surface of the test object, and then a brand new algorithm is used for obtaining the damage degree, so that the explosion shock wave test and damage evaluation can be realized, the influence of factors such as the complex characteristic of a shock wave propagation path, the interference of the test object to a shock wave flow field and the like on a test result is thoroughly avoided, the test result is more accurate, and the damage evaluation result is more accurate.

The invention has reasonable structure and ingenious design, effectively solves the problem that the test result and the damage evaluation result of the existing explosive shock wave test and damage evaluation method are not accurate, and is suitable for the explosive shock wave test and the damage evaluation.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural diagram of the wireless data recorder of the present invention.

In the figure: the method comprises the following steps of 1-sealing a cavity, 2-supporting upright posts, 3-flexible substrates, 4-flexible covering layers, 5-pressure sensors, 6-wireless data recorders, 7-leads and 8-pressure through holes.

Detailed Description

A surface shock wave testing device in an explosion environment comprises a closed cavity 1, a supporting upright post 2, a flexible substrate 3, a flexible covering layer 4, four pressure sensors 5, a wireless data recorder 6, four leads 7 and a computer;

wherein, the closed cavity 1 is a cylindrical structure;

the supporting upright post 2 is vertically fixed in the center of the outer bottom surface of the closed cavity 1;

the flexible substrate 3 is a strip-shaped structure; the flexible substrate 3 is hooped in the middle of the outer side surface of the closed cavity 1, and two ends of the flexible substrate 3 are sewn together;

the flexible covering layer 4 is of a strip-shaped structure; the flexible covering layer 4 is hooped on the outer side surface of the flexible substrate 3, and two ends of the flexible covering layer 4 are sewn with the outer side surface of the flexible substrate 3; a distance is left between the two ends of the flexible covering layer 4; the flexible covering layer 4 is provided with four pressure through holes 8 which are communicated from inside to outside, and the four pressure through holes 8 are arranged around the central line of the closed cavity 1 at equal intervals;

the four pressure sensors 5 are all adhered to the outer side surface of the flexible substrate 3, and the four pressure sensors 5 are correspondingly positioned in the four pressure through holes 8 one by one;

the wireless data recorder 6 is fixed on the outer side surface of the flexible substrate 3, and the wireless data recorder 6 is positioned between the two ends of the flexible covering layer 4;

four wires 7 are all laid between the outer side surface of the flexible substrate 3 and the inner side surface of the flexible covering layer 4; the head ends of the four wires 7 are electrically connected with the four pressure sensors 5 in a one-to-one correspondence manner; the tail ends of the four leads 7 are electrically connected with the wireless data recorder 6;

the computer is wirelessly connected with the wireless data recorder 6.

The closed cavity 1 is made of steel, the outer diameter of the closed cavity is 30-40 cm, the height of the closed cavity is 70-80 cm, and the wall thickness of the closed cavity is 3-5 mm.

The flexible substrate 3 and the flexible covering layer 4 are both made of leather; the two ends of the flexible substrate 3 are sewn together by a zipper.

The four pressure sensors 5 are piezoresistive patch pressure sensors or piezoelectric patch pressure sensors; the four pressure sensors 5 are adhered to the outer side surface of the flexible substrate 3 through RTV glue; the sensitive faces of the four pressure sensors 5 are all flush with the outer side face of the flexible covering layer 4.

The computer is in wireless connection with the wireless data recorder 6 through a WiFi channel or a ZigBee channel or a LoRa channel.

A surface shock wave evaluation method under an explosion environment (the method is realized based on the surface shock wave testing device under the explosion environment), which is realized by adopting the following steps:

firstly, the device is fixed on a test site through a support upright post 2;

when an explosion test needing to evaluate the killing capacity is carried out, explosion shock waves act on the closed cavity 1, the flexible covering layer 4 and the four pressure sensors 5; the four pressure sensors 5 measure the pressure of the explosion shock waves borne by the outer side surface of the closed cavity 1 in real time, and the measurement results are sent to the wireless data recorder 6 through the corresponding leads 7, so that the explosion shock wave test is realized;

the wireless data recorder 6 sequentially amplifies, converts and stores the measurement result into analog-digital, and then calculates the cavity displacement x according to the measurement result_i(t) and Cavity velocity v_i(t) then according to the cavity velocity v_i(t) calculating a speed prediction factor V, and then storing the speed prediction factor V;

when the wireless data recorder 6 receives an instruction from the computer, the wireless data recorder 6 wirelessly transmits the speed prediction factor V to the computer; the computer calculates a damage degree index DI according to the speed prediction factor V, and inquires a damage evaluation table according to the damage degree index DI, so that the damage degree is obtained, and the damage evaluation of the explosive shock wave is realized;

displacement x of cavity_i(t) Cavity velocity v_i(t), the calculation formula of the velocity prediction factor V and the damage degree index DI is as follows:

DI＝(0.124+0.117V)^2.63 (5)：

in the formula: m represents an effective mass, M ═ 2.03 kg; j represents the model damping coefficient, J is 696 Ns/m; k represents model elastic coefficient, and K is 989N/m; a represents the force-bearing area, and A is 0.082m²；i＝1，2，3，4；p_i(t) represents the measurement result of the i-th pressure sensor 5; p is a radical of_i，lung(t) denotes pulmonary pressure; p is a radical of₀Represents ambient pressure; g₀Representing the initial lung volume, G₀＝0.00182m³(ii) a g represents the intra-pulmonary gas index, g is 1.2;

the damage evaluation table is as follows:

degree of damage	DI
		Without damage	0≤DI≤0.2
Minute size	0.2＜DI≤0.3
		Light and slight	0.3＜DI≤1.0
Of moderate degree	1.0＜DI≤1.9
		Severe severity of disease	1.9＜DI≤3.6
Greater than 50% lethality	DI＞3.6

。

The wireless data recorder 6 comprises an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory, a 2.4G wireless transmission module and an XC6SLX9 type FPGA;

the tail ends of the four leads 7 are electrically connected with an INA821 type instrument amplifier; the INA821 type instrumentation amplifier is electrically connected with the AD7482 type analog-digital converter; the AD7482 type digital converter is electrically connected with a first MT48LC8M type memory; the computer is wirelessly connected with the 2.4G wireless transmission module; the XC6SLX9 type FPGA is respectively and electrically connected with an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory and a 2.4G wireless transmission module;

the INA821 type instrument amplifier is responsible for amplifying the measurement result;

the AD7482 type analog-to-digital converter is responsible for performing analog-to-digital conversion on the measurement result;

the first MT48LC8M type memory is responsible for storing the measurement results;

the second MT48LC8M type memory is responsible for data caching;

the AT24C02 type memory is responsible for storing the speed predictor V;

the 2.4G wireless transmission module is in charge of receiving instructions from a computer on one hand and wirelessly sending a speed prediction factor V to the computer on the other hand;

XC6SLX9 FPGA is responsible for Bessel filtering of measurement results on one hand and calculating cavity displacement x on the other hand_i(t) Cavity velocity v_i(t) a speed prediction factor V, and a third aspect is responsible for performing function control on an INA821 type instrument amplifier, an AD7482 type analog-to-digital converter, two MT48LC8M type memories, an AT24C02 type memory and a 2.4G wireless transmission module.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.