CN103654803A - Synchronous acquisition system used for images and contact force under motion state - Google Patents
Synchronous acquisition system used for images and contact force under motion state Download PDFInfo
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- CN103654803A CN103654803A CN201310624145.4A CN201310624145A CN103654803A CN 103654803 A CN103654803 A CN 103654803A CN 201310624145 A CN201310624145 A CN 201310624145A CN 103654803 A CN103654803 A CN 103654803A
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Abstract
The invention discloses a synchronous acquisition system used for images and contact force under a motion state. The synchronous acquisition system comprises a sensor array, a high-speed camera, a data signal acquisition module, a signal generator, a data server and a fixing support. An image sensor comprises an image transmission optical fiber bundle and a photoelectric sensor which are located in a fixed station provided with a transparent surface. One end of the image transmission optical fiber bundle is connected onto the transparent surface of the fixed station, the other end of the same is connected to the photoelectric sensor, and contact surface images of an animal and the transparent surface of the fixed station are acquired by the aid of a channel formed by the image transmission optical fiber bundle. The photoelectric sensor is fixedly connected with the fixed station through a connecting rod, and contact stress of the animal and a thrust surface can be synchronously acquired. By the application of the synchronous acquisition system, the contact surface images and motion stress during motion of the animal and motion postures under a motion stage can be comprehensively acquired, interaction force between feet during the motion of the animal and the contact surface is beneficially analyzed, automation and comprehensiveness are improved, and the animal movement process can be fully mastered.
Description
Technical field
The present invention relates to the synchronous of a kind of image and contact force data, relate in particular to a kind of synchronous for kinestate hypograph and contact force, belong to testing sensor field.
Background technology
Motion is the basic feature of animal, is the basis of the behaviors such as predation, escape, reproduction, migration.Gekko Swinhonis, Aranea etc. have the representative of the accessible motion of three dimensions, by the interaction force between vola and contact surface, can realize the driving of various surface locations, stable, motor-driven motor behavior; To can adhere to its sticky desorption behavior in animal movement process and with the research of moving surface Interaction Force, can help to disclose the most basic physics's mechanism of the sticky desorption of animal, for the step system design of bionic wall climbing robot provides, instruct and use for reference simultaneously.
Research about sticky desorption mechanism at present mainly concentrates on the non-autonomous unit experiment under manual operation, as under in manual operation to adhering to the friction adhesion experiment of the coherent unit (single toe or single bristle) of animal (gecko), to test it, adhere to limit etc.Non-autonomous unit experiment under manual operation makes the whole research that adheres to animal adhesive systems be subject to great limitation, cannot observe its in adhesion process coherent unit freely glue detachment status, and during the mutual coordinative role between each coherent unit (as between toe and toe), coordinate and optimization mechanism the inherence between each coherent unit.
In order to observe, adhere to athletic posture, motion counter-force and the coherent unit outside of belly metamorphosis of animal under freely-movable state, test macro just need to be realized the synchronous recording of each data.The test macro of the reptile foot-face contact force that patent (CN101380235A) is introduced, the mutual relation that can realize adhesion animal movement attitude, the coherent unit back side and move between stressed; But be difficult to meet, realize the contact condition of real-time monitored coherent unit under whole freely-movable state and represent the coordination coherent condition between each coherent unit, coherent unit outside of belly metamorphosis can not be synchronously provided, with calculating contact area, the redundancy of evaluation adhesive systems, the adhesion limit etc.And in patent (CN201110152933), provide pass through digital code camera, control motor and connecting device construction system that digital camera moves, solve collection analysis of the many indexs such as motion to laboratory animal, expression, body colour etc., according to the dynamometric system of setting forth in patent (CN101380235A), the camera imaging with slide rail control is difficult to collect all images owing to being subject to blocking of mechanics sensor, due to the image restoring processing in the rapid movement of animal and the athletic meeting of camera increase later stage, imaging effect is undesirable simultaneously.The animal abdominal part sucker profile acquisition technology providing in patent (CN 201010249155), area while being obviously conducive to calculate animal and Surface Contact, but this mode be cannot obtain animal in motion global scope with the situation of Surface Contact process, therefore there is limitation.
Summary of the invention
Technical problem to be solved by this invention is to overcome the deficiencies in the prior art, the invention provides a kind of synchronous for kinestate hypograph and contact force, effectively synchronization gain animal is in the athletic posture of multi-surface, the data stressed and sole and the complete adhesion desorption process of contact surface of moving, help to disclose the most basic physics's mechanism of the sticky desorption of animal, realize and provide biological foundation to the optimal design of bionic adhesion structure etc.
The present invention specifically solves the problems of the technologies described above by the following technical solutions:
Synchronous for kinestate hypograph and contact force, comprise sensor array, high-speed camera, data signal acquisition module, signal generator, data server and for the fixed support of fixation of sensor array, utilize signal generator to send contact surface information and athletic posture that pulse signal is controlled sensor array and high-speed camera synchronous acquisition animal, after the signal of collection is nursed one's health by data signal acquisition module, transfer to data server and process; Described sensor array at least comprises picture group image-position sensor and a mechanics sensor, and wherein said imageing sensor comprises image-carrying fiber bundle and the photoelectric sensor that is positioned at the fixed station with transparent area; One end of described image-carrying fiber bundle is connected on fixed station transparent area, and the other end of image-carrying fiber bundle connects photoelectric sensor, utilizes image-carrying fiber bundle to form the contact picture picture that passage gathers animal and fixed station transparent area; Described mechanics sensor is fixedly connected with fixed station by connecting rod, the contact of synchronous acquisition animal and stress surface.
As a preferred technical solution of the present invention: the transparent area of described fixed station is made by glass.
As a preferred technical solution of the present invention: the central visual axis line of described high-speed camera is vertical with the plane at sensor array place.
As a preferred technical solution of the present invention: described sensor array is realized any adjusting angle by fixed support.
The present invention adopts technique scheme, can produce following technique effect:
Synchronous for kinestate hypograph and contact force of the present invention, imageing sensor is placed in to one end of mechanics sensor, using the fixed station at imageing sensor place as mechanics sensor and the contact surface of moving object, when animal is when image sensor surface is moved, imageing sensor forms by image-carrying fiber bundle the contact picture picture that passage gathers animal and fixed station transparent area, the contact of mechanics sensor synchronous acquisition animal and stress surface simultaneously, and the athletic posture under high-speed camera synchronous acquisition animal movement, therefore, whole realization the sole contact condition image in animal movement, the comprehensive collection of the athletic posture under the stressed and kinestate of the motion of sole, and utilize each data message gathering analyze and show.By increasing the view data of animal and contact surface, fully grasp animal movement process, contribute to sole in analyzing animal motion and the interaction force between contact surface, be convenient to can adhere to its sticky desorption behavior in animal movement process and with the research of moving surface Interaction Force, improve automatization and comprehensive, the service efficiency of system is improved.
Accompanying drawing explanation
Fig. 1 is the structural representation of the synchronous for kinestate hypograph and contact force of the present invention.
Wherein label is explained: 1-data server, 2-signal generator, 3-high-speed camera 4-sensor array, 5-data signal conditioning module, 6-fixed support.
Fig. 2 is sensor array place floor map in the present invention.
Fig. 3 is imageing sensor and mechanics sensor position relationship schematic diagram in the present invention.
Fig. 4 is the structural representation of imageing sensor in the present invention.
Wherein label is explained: a-imageing sensor, b-mechanics sensor, c – fixed station, d-image-carrying fiber bundle, e-photoelectric sensor, f-data wire.
The specific embodiment
Below in conjunction with Figure of description, embodiments of the present invention are described.
As shown in Fig. 1 and Fig. 3, Fig. 4, the present invention has designed a kind of synchronous for kinestate hypograph and contact force, comprise sensor array 4, high-speed camera 3, data signal acquisition module 5, signal generator 2, data server 1 and for the fixed support 6 of fixation of sensor array, utilize signal generator 2 to send contact surface information and athletic posture that pulse signal is controlled sensor array 4 and high-speed camera 3 synchronous acquisition animals, after the signal of collection is nursed one's health by data signal acquisition module 5, transfer to data server 1 and process; Described sensor array 4 at least comprises a picture group image-position sensor a and mechanics sensor b, and wherein said imageing sensor a comprises image-carrying fiber bundle d and the photoelectric sensor e that is positioned at the fixed station c with transparent area; One end of described image-carrying fiber bundle d is connected on fixed station c transparent area, and the other end of image-carrying fiber bundle d connects photoelectric sensor e, utilizes image-carrying fiber bundle D-shaped to become passage to gather the contact picture picture of animal and fixed station c transparent area; Described mechanics sensor b is fixedly connected with fixed station c by connecting rod, the contact of synchronous acquisition animal and stress surface.
Wherein, fixed station c transparent area can adopt transparent material commonly known in the art to form, and as made by clear glass or transparent plastic, forms a flake structure and substitutes the collection that stressed dough sheet can be realized image simultaneously.For high-speed camera 3, its central visual axis line is vertical with the plane at sensor array 4 places, high-speed camera 3 can form an integral body by fixed support 6 and the location structure at sensor array 4 places, also can fix separately, realize the vertical collection of carrying out animal movement state of plane at high-speed camera 3 central visual axis lines and sensor array 4 places.
For sensor array 4, can comprise many group mechanics sensor b and imageing sensor a, as shown in Figure 2, sensor array place floor map, provides in figure that the place plane of sensor array 4 is comprised of the fixed station c in a plurality of imageing sensor a.The place that the bottom of sensor array 4 is connected with fixed support 6 is the region at mechanics sensor b place.Photoelectric sensor e, mechanics sensor b, by data wire f connection data signal acquisition module 5, will sense that corresponding signal is transferred to data signal acquisition module 5 by data wire f.
For the sensor array 4 being fixed on fixed support 6, can realize by fixed support 6 integral body the adjusting of different angles, if but the surface of sensor array 4 changes with respect to fixed support 6, high-speed camera 3 need to coordinate with it rotation respective angles, guarantee that its central visual axis line is vertical with the plane at sensor array 4 places, thereby the animal movement of realizing under sensor array 4 and high-speed camera 3 collection different angles characterizes.
Entire system is utilized a plurality of imageing sensor a, mechanics sensor b forms after sensor array 4, realization is the sole contact condition image in the animal movement on sensor array 4 surfaces to motion, the comprehensive collection of the athletic posture under the stressed and kinestate of the motion of sole, movable information after collection is nursed one's health by data signal acquisition module 5, and then transfer to data server 1 and carry out analyzing and processing and demonstration, according to the data that obtain, fully grasp animal movement process, sole in analyzing animal motion and the interaction force between contact surface, realization to can adhere to its sticky desorption behavior in animal movement process and with the research of moving surface Interaction Force.
In order to verify that the present invention can synchronous acquisition arrive the kinestate information under animal movement state, exemplifies an embodiment and verifies.
Embodiment is set up system according to Fig. 1 to 4 structure, image-carrying fiber bundle d and photoelectric sensor e are all fixed in fixed station c, wherein select that quality is light, rigidity is strong and pass as the high image-carrying fiber bundle d of rate, image-carrying fiber bundle d is constructed to up big and down small fixed station c internal structure according to the shape shown in Fig. 4, the inner surface of fixed structure c is close in upper end, lower end directly contacts with photoelectric sensor e, and photoelectric sensor e receives the image that transmit upper end, realizes image acquisition.
The knot of fixed station c forms cubic, and rigidity is strong, and its surperficial transparent area adopts glass surface, and the upper end in contact of the lower surface of glass surface and image-carrying fiber bundle d, is convenient to imaging; Fixed station c is fixed on one end of mechanics sensor b as a whole by a connecting rod, realize the structure location of imageing sensor a and mechanics sensor b, forms sensor array 4, meets Mechanical Data and picture synchronization collection demand.
The central visual axis line of high-speed camera 3 is vertical with the plane at sensor array 4 places.When animal starts at sensor array 4 apparent motion, signal generator 2 sends pulse signal control photoelectric sensor e, mechanics sensor b and synchronously gathers simultaneously.During the upper glass surface of sole motion contact image-carrying fiber bundle d, corresponding mechanics sensor b receives stressed variation, and Mechanical Data is passed to data signal acquisition module 5; Meanwhile, photoelectric sensor e gathers the image from image-carrying fiber bundle d, and view data is passed to data signal acquisition module 5 by data wire f; Thereby realize force data that same sole realizes when touching mechanics sensor and the synchronous acquisition of view data.Data signal acquisition module 5 uploads to data server 1 by power and view data, high speed image internal storage data again, realize the simultaneous display of each data message, data server 1 is again in conjunction with three data, sole in comprehensive analysis animal movement and the interaction force between contact surface, can obtain comprehensive data and the relation thereof of animal movement, then demonstrate its result.
According to above-described embodiment, can verify that the present invention is to adhering to the creep synchronous acquisition of attitude, the coherent unit outside of belly or sole form and attached power of animal, can be convenient to analyze, grasp animal movement process, contribute to can adhere to its sticky desorption behavior in animal movement process and with the research of moving surface Interaction Force, improve automatization and comprehensive.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken possessing those of ordinary skills, can also under the prerequisite that does not depart from aim of the present invention, makes a variety of changes.
Claims (4)
1. for the synchronous of kinestate hypograph and contact force, comprise sensor array, high-speed camera, data signal acquisition module, signal generator, data server and for the fixed support of fixation of sensor array, utilize signal generator to send contact surface information and athletic posture that pulse signal is controlled sensor array and high-speed camera synchronous acquisition animal, after the signal of collection is nursed one's health by data signal acquisition module, transfer to data server and process; It is characterized in that: described sensor array at least comprises picture group image-position sensor and a mechanics sensor, wherein said imageing sensor comprises image-carrying fiber bundle and the photoelectric sensor that is positioned at the fixed station with transparent area; One end of described image-carrying fiber bundle is connected on fixed station transparent area, and the other end of image-carrying fiber bundle connects photoelectric sensor, utilizes image-carrying fiber bundle to form the contact picture picture that passage gathers animal and fixed station transparent area; Described mechanics sensor is fixedly connected with fixed station by connecting rod, the contact of synchronous acquisition animal and stress surface.
2. according to claim 1 for the synchronous of kinestate hypograph and contact force, it is characterized in that: the transparent area of described fixed station is made by glass.
3. according to claim 1 for the synchronous of kinestate hypograph and contact force, it is characterized in that: the central visual axis line of described high-speed camera is vertical with the plane at sensor array place.
4. according to claim 1 for the synchronous of kinestate hypograph and contact force, it is characterized in that: described sensor array is realized any adjusting angle by fixed support.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678781A (en) * | 2015-03-05 | 2015-06-03 | 南京航空航天大学 | System and method of regulation and control of postures and landing experiments for space robot simulating gecko |
| CN105784205A (en) * | 2016-03-08 | 2016-07-20 | 南京航空航天大学 | Synchronous measurement system and synchronous measurement method for motion behavior, counterforce and contact-friction induced charges |
| CN108184708A (en) * | 2017-12-29 | 2018-06-22 | 南京航空航天大学 | Stick animal and stick-desorption process microscopic behavior and Mechanical Data synchronous collection method |
| CN108651319A (en) * | 2017-03-29 | 2018-10-16 | 锦州医科大学 | Solid step state dynamics digitized measurement instrument when experimental animal |
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| CN101380235A (en) * | 2008-09-24 | 2009-03-11 | 南京航空航天大学 | Test method and system of animal foot-face contact counter force |
| CN102141584A (en) * | 2010-01-29 | 2011-08-03 | 徐启峰 | Digital electronic fluorescent scanning voltage sensor |
| JP2011250723A (en) * | 2010-06-01 | 2011-12-15 | Cic:Kk | Insect pest detector |
| CN102589777A (en) * | 2012-02-11 | 2012-07-18 | 东华大学 | Pick-needle type interference device and method for measuring crawling posture and crawling attachment force of insects or small animals |
| CN102599113A (en) * | 2012-03-05 | 2012-07-25 | 南京航空航天大学 | High-speed synchronous acquisition system for images and power data |
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2013
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Patent Citations (5)
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| CN101380235A (en) * | 2008-09-24 | 2009-03-11 | 南京航空航天大学 | Test method and system of animal foot-face contact counter force |
| CN102141584A (en) * | 2010-01-29 | 2011-08-03 | 徐启峰 | Digital electronic fluorescent scanning voltage sensor |
| JP2011250723A (en) * | 2010-06-01 | 2011-12-15 | Cic:Kk | Insect pest detector |
| CN102589777A (en) * | 2012-02-11 | 2012-07-18 | 东华大学 | Pick-needle type interference device and method for measuring crawling posture and crawling attachment force of insects or small animals |
| CN102599113A (en) * | 2012-03-05 | 2012-07-25 | 南京航空航天大学 | High-speed synchronous acquisition system for images and power data |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678781A (en) * | 2015-03-05 | 2015-06-03 | 南京航空航天大学 | System and method of regulation and control of postures and landing experiments for space robot simulating gecko |
| CN104678781B (en) * | 2015-03-05 | 2017-03-29 | 南京航空航天大学 | Imitative gecko robot for space attitude regulation and control and landing experimental system and method |
| CN105784205A (en) * | 2016-03-08 | 2016-07-20 | 南京航空航天大学 | Synchronous measurement system and synchronous measurement method for motion behavior, counterforce and contact-friction induced charges |
| CN105784205B (en) * | 2016-03-08 | 2019-01-29 | 南京航空航天大学 | Motor behavior, counter-force and contact-the friction amount of sending a telegraph synchronized measurement system and method |
| CN108651319A (en) * | 2017-03-29 | 2018-10-16 | 锦州医科大学 | Solid step state dynamics digitized measurement instrument when experimental animal |
| CN108184708A (en) * | 2017-12-29 | 2018-06-22 | 南京航空航天大学 | Stick animal and stick-desorption process microscopic behavior and Mechanical Data synchronous collection method |
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Application publication date: 20140326 |