CN111912558A - Open-air macrofauna many ground environment becomes slope mechanics and kinematics measurement platform - Google Patents

Abstract

A variable-slope mechanics and kinematics measurement platform for large animals in a multi-surface environment in the wild, comprising a biological plantar three-dimensional force measurement system and a three-dimensional biological motion capture system; the biological plantar three-dimensional force measurement system includes a three-dimensional force acquisition system and a detachable variable structure Environment construction platform; Detachable variable structure environment construction platform is composed of rod frame, common support truss and three-dimensional force table support truss; the horizontal part of the rod frame is composed of vertical support rods and horizontal support rods connected by cross chucks and bolts; rods The frame slope part and the rod frame step part are composed of the first short support rod and the second short support rod and the horizontal support rod connected by the cross chuck and the bolt; the rod frame is connected with the ordinary support truss and the three-dimensional force table support truss through the hanging lugs Lap between horizontal support rods. The invention can simulate the plane, inclined plane and step environment in biological field movement, can realize the rapid construction of various field environments, and can test biological kinematics and mechanical data.

Description

Variable-slope mechanics and kinematics measurement platform for large animals in the wild

technical field

The invention belongs to a three-dimensional biological plantar pressure measurement system suitable for wild and large creatures and a three-dimensional biological motion capture system under the condition of wild light interference, and particularly relates to a variable-slope mechanics and kinematics measurement platform for wild large animals in a multi-ground environment .

Background technique

Biodynamics is a branch of biology that applies the principles and methods of kinematics and mechanics to quantitatively study dynamic problems in living organisms. Accurate measurements of biological kinematics and mechanics are key to understanding biological kinetic properties and energy utilization. The key to understanding the gait and three-dimensional force of living things under this condition is to construct special working conditions such as inclined plane steps.

At present, most biomechanical platforms in China under special working conditions are horizontal hard ground measurement force platforms in indoor environments, such as the "Human Health Quantitative Measurement Integrated Device" with publication number CN101703393A. Three-dimensional force measurement of the lower horizontal ground, but it has certain limitations for some large creatures and special ground environments. Therefore, it is necessary to develop a variable-slope mechanics and kinematics measurement platform for large animals in the wild. At present, there are not many three-dimensional mechanics and kinematics measurement platforms for variable ground structures, such as the publication number CN104344919B "Three-dimensional force testing system with adjustable slope angle based on force platform", which can realize the slope of the force platform in the The adjustment of different angles, but the kinematics measurement cannot be realized, and the application has certain limitations.

SUMMARY OF THE INVENTION

In view of the above-mentioned problems, the purpose of the present invention is to provide a variable-slope mechanics and kinematics measurement platform for large animals in the wild with multiple ground environments, which can realize a variety of environmental tests through variable structures. The platform can simulate a variety of ground environments to realize the conversion of plane, inclined and stepped surfaces, and realize the measurement of biological kinematics and foot pressure.

A variable-slope mechanics and kinematics measurement platform for large animals in a multi-ground environment in the wild, comprising a biological foot sole three-dimensional force measurement system and a three-dimensional biological motion capture system;

The biological plantar three-dimensional force measurement system includes a three-dimensional force acquisition system and a detachable variable-structure environment building platform; the detachable variable-structure environment building platform is composed of a rod frame, a common support truss and a three-dimensional force table support truss; the rod frame The horizontal part is composed of vertical support rods and horizontal support rods connected by a cross chuck and a latch; the inclined surface part of the rod frame and the stepped part of the rod frame are composed of the first short support rod and the second short support rod and the horizontal support rod through the cross chuck and the horizontal support rod. The bolt connection is formed; the rod frame, the common support truss and the three-dimensional force table support truss are lapped between the hanging lugs and the horizontal support rods to realize the construction of the entire detachable variable structure environment construction platform.

Ordinary support truss is connected by hanging lugs, long outer frame, supporting horizontal plate, long angle steel, and short outer frame; The short angle steel, the first installation groove angle steel, the second installation groove angle steel, the third installation groove angle steel, and the fourth installation groove angle steel are connected by welding.

The three-dimensional force table is composed of biological motion support plane, ME-K3D160 three-dimensional force sensor, and the sensor support plane is connected by bolts.

The inclined planes of the common support trusses are overlapped with the first plane, the second plane and the third plane respectively through the hanging lugs and the supporting beams to realize the construction of 45°, 30° and 15° inclined planes respectively.

The three-dimensional biological motion capture system includes four remote-controllable high-speed cameras, a calibration bench and a self-illuminating Mark point; the Mark point can be recognized and tracked by image recognition software in an open-air environment.

The working process of the present invention:

In order to measure the flat environment and the inclined surface/step environment, it is necessary to install the sensor support plane on the upper and lower planes, respectively. After the control computer issues an instruction, the three-dimensional force table starts to collect the force signal, and at the same time, the four remote-controlled high-speed cameras start to record. After the flashing light flashed, the tested creatures started to walk towards the built collection platform according to the test requirements. When the animal's foot just stepped on the sensor support plane of the plantar pressure test unit, the biological plantar 3D force measurement system and the 3D biological motion capture system record data to obtain the biological mechanics and kinematics data under different working conditions.

Beneficial effects of the present invention:

For the purpose of foot/ground interaction research, a plane system, an inclined plane system, a step system, a biological foot 3D force measurement system and a 3D biological motion capture system are designed, which can simulate the plane, inclined plane and step environment in biological field sports. At the same time, based on the biological plantar 3D force measurement system and the 3D biological motion capture system, the mechanical and kinematic data of the biological under the set working conditions are obtained, which provides a basis for the subsequent research on biological motion characteristics and energy. The whole test platform has a simple structure, can realize rapid construction of various environments in the field, and can test biological kinematics and mechanical data, which has extensive promotion and application value.

Description of drawings

FIG. 1 is a perspective view of the present invention.

Figure 2 is a top view of the present invention

Figure 3 is a schematic diagram of a common support truss.

FIG. 4 is a schematic diagram of a three-dimensional force table supporting truss.

Figure 5 is a schematic diagram of the structure of the three-dimensional force table.

Among them: 1-vertical support rod, 2-first plane, 3-second plane, 4-horizontal support rod, 5-third plane, 6-detachable variable structure environment construction platform, 7-three-dimensional force table support Truss, 8—three-dimensional force table, 9—first short support rod, 10—normal support truss, 11—second short support rod, 12—bolt, 13—cross chuck, 14—remote controlled high-speed camera, 15— Mounting lugs, 16—long frame, 17—supporting horizontal plate, 18—long angle steel, 19—short frame, 20—first installation channel angle, 21—short angle, 22—second installation channel angle, 23—the first Three installation groove angle steel, 24—fourth installation groove angle steel, 25—biological motion support plane, 25—MK3D160 three-dimensional force sensor, 26—sensor support plane.

Detailed ways

As shown in Figures 1 to 5, a field large animal multi-ground environment variable gradient mechanics and kinematics measurement platform, including a biological plantar three-dimensional force measurement system and a three-dimensional biological motion capture system;

The biological plantar three-dimensional force measurement system includes a three-dimensional force acquisition system and a detachable variable-structure environment building platform 6; the detachable variable-structure environment building platform 6 is composed of a rod frame, a common support truss and a three-dimensional force table support truss; The horizontal part of the rod frame is composed of the vertical support rod 1 and the horizontal support rod 4 connected by the cross chuck 13 and the latch 12; The horizontal support rod 4 is formed by connecting the cross chuck 13 and the latch 12; the whole detachable transformer is realized through the overlap between the hanging lug 15 and the horizontal support rod 4 between the rod frame and the common support truss 10 and the three-dimensional force table support truss 7. Construction of the structural environment construction platform 6 .

The ordinary support truss 10 is connected by welding among the hanging lugs 15, the long outer frame 16, the supporting horizontal plate 17, the long angle steel 18 and the short outer frame 19; the three-dimensional force table supporting truss 7 is composed of the hanging lugs 15, the long outer frame 16. The long angle steel 18, the short outer frame 19, the short angle steel 21, the first installation groove angle steel 20, the second installation groove angle steel 22, the third installation groove angle steel 23, and the fourth installation groove angle steel 24 are connected by welding.

The three-dimensional force table 8 is composed of a biological motion support plane 25 , an ME-K3D160 three-dimensional force sensor 26 , and a sensor support plane 27 connected by bolts.

The inclined planes of the common support truss 10 and the first plane 2, the second plane 3, and the third plane 5 are overlapped by the hanging lugs 15 and the supporting beams 4, respectively, so as to realize the construction of 45°, 30°, and 15° inclined planes respectively. .

The three-dimensional biological motion capture system includes four remote-controllable high-speed cameras 14, a calibration bench and a self-illuminating Mark point; the Mark point can be recognized and tracked by image recognition software in an open-air environment.

The dimensions of the common support truss 10 and the three-dimensional force table support truss 7 of the detachable variable structure environment construction platform 6 are 1000×450 mm.

The two ends of the horizontal support rod 4 are welded with plug pins 12 that cooperate with the cross chuck 13, and the vertical support rod 1 is respectively welded with a cross chuck matched with the plug pins at 0.517 meters, 1 meter, and 1.414 meters from the ground. 13.

The size of the installation groove 17 of the three-dimensional force table support truss 7 of the plantar pressure measurement system is 460×250×185 mm ³ .

The sensor support plane 26 of the three-dimensional force table 8 is supported by an aluminum material structure with a thickness of 10 mm for sensor support, and the biological motion support plane 25 is supported by an aluminum material structure with a thickness of 20 mm for biological motion foot support.

The invention can realize the construction of various environments by changing the structure: plane system, inclined plane system. The range of the three-dimensional force table is ±20KN, and the error is 5‰. The test principle is: after the biological foot steps on the three-dimensional force table, the three-dimensional force table records the three-dimensional mechanical data of the entire bottoming cycle of a single biological foot. At the same time, the three-dimensional biological motion capture system collects the kinematic data of the biological in the whole touchdown cycle. So as to realize the simultaneous acquisition of biomechanics and kinematics.

As shown in FIG. 1 , the horizontal support rod 4 realizes the construction of support planes with heights of 0.517 m, 1 m, and 1.414 m above the ground through the cooperation of the latch 12 and the cross chuck 13 on the vertical support rod 1. The common support truss 10 The three-dimensional force platform support truss 8 is lapped to the top of the horizontal support rod 4 through the hanging lugs 15, so as to complete the construction of the entire platform.

The detachable variable structure environment construction platform 6 is matched by welding the cross chuck 13 matched with the latch 12 on the horizontal support rod 4 and the vertical support rod 1 1.414 meters above the ground respectively, and at the same time the common support truss 10 is matched. The support table of the inclined part is overlapped with the horizontal support rod 4 on one side of the horizontal part to realize the construction of a 45° inclined plane, as shown in Figure 1.

The detachable variable structure environment construction platform 6 is matched by welding the cross chuck 13 matched with the latch 12 on the horizontal support rod 4 and the vertical support rod 1 1 meter above the ground respectively, and at the same time, the common support truss 10 is inclined. Part of the support table is overlapped with the horizontal support rod 4 on one side of the horizontal part to realize the construction of a 30° inclined plane, as shown in Figure 1.

The detachable variable structure environment construction platform 6 is matched by welding the cross chuck 13 matched with the latch 12 on the horizontal support rod 4 and the vertical support rod 1 at 0.517 meters above the ground, and at the same time, the common support truss 10 is inclined. Part of the support table is overlapped with the horizontal support rod 4 on one side of the horizontal part to realize the construction of a 15° inclined plane, as shown in Figure 1.

Use the detachable variable structure environment to build the upper plane of the platform 6 alone, and install the three-dimensional force table support truss 7 on the upper plane to complete the 0° plane environment construction, as shown in Figure 1.

The detachable variable structure environment construction platform 6 is kept horizontal with the second upper plane and the third upper plane respectively by moving the supporting truss structure, and the step construction can be realized by means of the first upper plane, as shown in FIG. 1 .

The three-dimensional force platform 8 and the sensor support plane 26 are connected by four M8 bolts, and the sensor support plane 26 and the horizontal support rod 4 are overlapped by hanging lugs, thereby completing the installation of the entire three-dimensional force measuring platform.

The invention can realize the variable-slope mechanics and kinematics measurement of large animals in a multi-ground environment in a complex field environment, and provide a basis for subsequent research on biological motion characteristics and energy. After the control computer issues an instruction, the three-dimensional force table starts to collect the force signal, and at the same time, the four remote-controlled high-speed cameras start to record. After the flashing light flashed, the creatures began to walk toward the built collection platform according to the test requirements. When the animal's foot just stepped on the sensor support plane of the plantar pressure test unit, the biological plantar 3D force measurement system and the 3D biological motion capture system record data to obtain the biological mechanics and kinematics data under different working conditions.

Claims (5)

1. The utility model provides a many ground environment of open-air macro animal become slope mechanics and kinematics measurement platform which characterized in that: the device comprises a biological plantar three-dimensional force measuring system and a three-dimensional biological motion capturing system;

the biological plantar three-dimensional force measuring system comprises a three-dimensional force acquisition system and a detachable variable structure environment building platform (6); the detachable variable-structure environment building platform (6) consists of a rod frame, a common supporting truss and a three-dimensional force platform supporting truss; the horizontal part of the rod frame is formed by connecting a vertical supporting rod (1) and a horizontal supporting rod (4) through a cross chuck (13) and a bolt (12); the inclined plane part and the step part of the bar frame are formed by connecting a first short supporting rod (9), a second short supporting rod (11) and a horizontal supporting rod (4) through a cross chuck (13) and a bolt (12); the whole detachable variable-structure environment building platform (6) is built between the rod frame and the common supporting truss (10) and between the rod frame and the three-dimensional force platform supporting truss (7) through the lap joint between the hangers (15) and the horizontal supporting rods (4);

the common supporting truss (10) is connected by a hanging lug (15), a long outer frame (16), a supporting transverse plate (17), a long angle steel (18) and a short outer frame (19) in a welding mode; the three-dimensional force platform supporting truss (7) is formed by welding and connecting a hanging lug (15), a long outer frame (16), a long angle steel (18), a short outer frame (19), a short angle steel (21), a first mounting groove angle steel (20), a second mounting groove angle steel (22), a third mounting groove angle steel (23) and a fourth mounting groove angle steel (24);

the three-dimensional force platform (8) is formed by connecting a biological motion supporting plane (25), an ME-K3D160 three-dimensional force sensor (26) and a sensor supporting plane (27) through bolts;

the inclined plane of the common supporting truss (10) is respectively lapped with the first plane (2), the second plane (3) and the third plane (5) through the hangers (15) and the supporting cross rod (4), so that the construction of inclined planes of 45 degrees, 30 degrees and 15 degrees is respectively realized;

the three-dimensional biological motion capture system comprises four remotely-controllable high-speed cameras (14), a calibration rack and self-luminous Mark points.

2. The field large-sized animal multi-ground environment gradient-varying mechanics and kinematics measurement platform according to claim 1, wherein: the size of the common supporting truss (10) and the three-dimensional force platform supporting truss (7) of the detachable variable structure environment building platform (6) is 1000 multiplied by 450 mm.

3. The field large-sized animal multi-ground environment gradient-varying mechanics and kinematics measurement platform according to claim 1, wherein: horizontal support pole (4) both ends welding have with cross chuck (13) matched with bolt (12), vertical support pole (1) respectively in apart from ground 0.517 meter, 1 meter, 1.414 meter welding have with bolt matched with cross chuck (13).

4. The field large-sized animal multi-ground environment gradient-varying mechanics and kinematics measurement platform according to claim 1, wherein: three-dimensional force platform supporting truss of plantar pressure measuring system(7) The size of the mounting groove is 460 multiplied by 250 multiplied by 185mm³。

5. The field large-sized animal multi-ground environment gradient-varying mechanics and kinematics measurement platform according to claim 1, wherein: the sensor support plane (26) of the three-dimensional force platform (8) is supported by an aluminum structure with the thickness of 10mm, and the biological motion support plane (25) is supported by an aluminum structure with the thickness of 20 mm.

Images