A flying insect landing / take-off contact reaction force testing system and testing method based on deflection angle

Abstract

The invention discloses a flying insect landing / takeoff contact reaction force test system and test method based on deflection angle, including a square organic glass cover, a carbon fiber spring and a high frame camera, a horizontal carbon fiber spring is placed in the organic glass cover, the high frame camera is used for clear shooting of test images during the flying insect contact reaction force test, a position information reference scale is pasted on the rear side of the organic glass cover, and the lens center of the high frame camera is at the same horizontal height as the carbon fiber spring. The invention is specifically used to test the contact reaction force generated at the interface when the flying insect lands / takes off, and has the characteristics of force measurement accuracy of millinewton level, no human interference in the test process, and simple test system structure.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical testing, and in particular relates to a flying insect landing / take-off contact reaction force testing system based on a deflection angle, which has the characteristics of no interference in the testing process, and force measurement accuracy in the millinewton to micronewton level. Background Art

[0002] The force exerted by the contact surface on the insect motion system is called the contact reaction force, and its test is widely used in the field of mechanical bionics. Movement is the basis for animal reproduction, predation, and avoidance of natural enemies. Many animals, such as flies, mosquitoes, and water striders, have unique motion functional characteristics that enable them to independently complete complex behaviors. Force measurement systems are constantly being developed to test insect contact reaction forces. Flying insects will exert a force on the interface when landing / taking off, which is also a contact reaction force. The test of this contact reaction force is crucial to studying its motion characteristics and will also be beneficial to the development of small flying robots. The test accuracy of this contact reaction force is at the millinewton level, and the test process cannot be interfered by humans, otherwise the contact reaction force test data will be inaccurate. In addition, the core components of the force measurement system are also required to have the characteristics of low cost and simple structure.

[0003] Invention patent CN101380235A discloses a method for testing the contact reaction force of animal foot-surface and a system force measurement technology. The method uses 16 sensors to form a 2×8 sensor array to test the contact force of animals on the ground, wall and ceiling surfaces. The test system is mainly composed of an elastomer, a metal strain gauge, a plexiglass plate and a camera. The elastomer structure is in an inverted T shape, and waist-shaped holes are distributed on it to reduce the weight of the elastomer and avoid the influence of gravity on the force measurement results. A square hole with a length and width of 31 mm is set at the corresponding force gauge position on the plexiglass plate. The force measurement range of the sensor force gauge is 30 mm × 30 mm, but this technology is suitable for testing the contact reaction force of large reptiles. It cannot meet the test requirements for flying insects, and it cannot test the contact reaction force during takeoff / landing. Invention patent CN107340231A discloses a centrifugal micro-newton-level insect friction online real-time test system and test method. The test system includes a test platform and its auxiliary mechanism, a speed regulating motor and a speed controller, a video monitoring system and a base that can realize the fixed installation of various components. It adopts a ball screw and a stepper motor structure, which can accurately control the displacement of the high-speed video imaging system. The camera center of the video monitoring system coincides with the center of the test platform. The camera has an adjustable degree of freedom in the vertical direction and can adjust its vertical distance from the test platform in real time. It is used to accurately obtain the radius information when the test object leaves the platform, thereby calculating the maximum adhesion force generated by the test object on the material surface. However, the force measurement system is only used to test the maximum adhesion force of insects on the material surface, and cannot test the contact reaction force generated at the interface when flying insects land / take off. Invention patent CN105444940A proposes a method for measuring tiny forces. The invention uses a shadow extraction method to observe the shadow area produced by the contact between the legs of aquatic insects and the water surface to calculate the motion support force. Based on the shadow images of the aquatic insects paddling on the water surface, the three-dimensional model of the aquatic insect legs is reconstructed through the Archimedean principle and the corresponding motion support force is calculated. The force measurement technology involved in the invention has a test accuracy of micronewtons, but the test objects can only be aquatic insects and cannot be used to test the contact reaction force of flying insects during landing / takeoff.

[0004] In summary, the current contact reaction force test system based on force sensor array, centrifugal motion principle and image processing method cannot meet the requirements of the contact reaction force test generated by flying insects at the interface when they land or take off in terms of force measurement accuracy and test object fixing platform. Therefore, it is necessary to develop a flying insect landing / takeoff contact reaction force test system based on deflection angle, which has the characteristics of force measurement accuracy of millinewton level, no human interference in the test process and simple test system structure. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a flying insect landing / take-off contact reaction force testing system based on deflection angle. The system is specifically used to test the contact reaction force generated at the interface when the flying insect lands / takes off. It has the characteristics of force measurement accuracy in the millinewton to micronewton level, no human interference in the test process, and a simple test system structure.

[0006] The technical problem to be solved by the present invention is to provide a method for testing the landing / take-off contact reaction force of a flying insect based on a deflection angle. The method is based on the above-mentioned testing system and can quickly calculate the landing / take-off contact reaction force of the insect.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a flying insect landing / take-off contact reaction force test system based on deflection angle, characterized in that it includes a square organic glass cover, a carbon fiber spring and a high frame rate camera, wherein the organic glass cover is placed on the test system base, and the front and right sides of the organic glass cover are respectively provided with a high frame rate camera lens moving channel and a carbon fiber spring placement square hole, the carbon fiber spring passes through the carbon fiber spring placement square hole and is horizontally placed inside the organic glass cover, one end of the carbon fiber spring is connected by a Z-shaped support, passes through the organic glass cover and is fixed to the test system base, the lens of the high frame rate camera passes through the high frame rate camera lens moving channel, enters the organic glass cover, and is used for clear shooting of test images during the flying insect contact reaction force test, the upper surface of the organic glass cover is provided with a flying insect release square hole, the flying insect release square hole is provided with a flying insect release square hole baffle, the rear side of the organic glass cover is pasted with a horizontally arranged position information reference scale, and the lens center of the high frame rate camera is at the same horizontal height as the carbon fiber spring.

[0008] To further define the above scheme, the carbon fiber spring is fixed between the Z-shaped support and the carbon fiber spring fixing plate by clamping bolts, a rubber pad for constraining the position of the carbon fiber spring is arranged around the fixed end of the carbon fiber spring, and the Z-shaped support is fixedly mounted on the base of the test system by screws.

[0009] To further limit the above scheme, a lighting assembly is arranged on the Z-shaped support, wherein the lighting assembly includes an LED lighting source and an LED lighting source fixing inclined platform, the LED lighting source and the LED lighting source fixing inclined platform are fixed by double-sided adhesive and placed inside the plexiglass cover.

[0010] To further limit the above scheme, the upper surface of the test system base is provided with a plexiglass cover mounting slot, and the lower surface of the test system base is provided with leveling anchor bolts, and the leveling anchor bolts are distributed at the four corners of the test system base.

[0011] To further limit the above scheme, the high frame rate camera is supported and fixed by a fixing component, the fixing component includes a high frame rate camera connector, a tripod, a high frame rate camera connector fixing bolt, a tripod fixing element, a horizontal fixing bolt, and a load-bearing bracket, the vertical fixing bolt is provided with a high frame rate camera fixing threaded hole and a high frame rate camera connector fixing threaded hole, the high frame rate camera and the high frame rate camera connector are connected through the high frame rate camera fixing threaded hole and screws; the high frame rate camera connector fixing threaded hole cooperates with the high frame rate camera connector fixing bolt to realize the connection between the high frame rate camera connector and the tripod.

[0012] A testing method for a flying insect landing / take-off contact reaction force testing system based on a deflection angle, characterized by comprising the following steps:

[0013] (1) First, the high frame rate camera is initialized, and then the levelness of the test system base is adjusted by leveling the anchor bolts to ensure that the test system base is absolutely level. Then, the plexiglass cover is placed on the plexiglass cover mounting slot, and then the carbon fiber spring is fixedly installed on the Z-shaped support, so that the carbon fiber spring enters the plexiglass cover through the carbon fiber spring mounting square hole, so that the flying insect can dock and generate contact reaction force during landing and take-off;

[0014] (2) placing the flying insect into the interior of the plexiglass cover through the square hole for releasing flying insects in the plexiglass cover;

[0015] (3) The high frame rate camera is fixedly mounted on the high frame rate camera connector by screw connection, and the high frame rate camera connector is fixedly mounted with the high frame rate camera connector fixing bolts by bolt connection, and then the high frame rate camera and its fixing components are moved to the high frame rate camera lens moving channel; the carbon fiber spring and the center of the high frame rate camera lens are located at the same height;

[0016] (4) When a flying insect lands on a carbon fiber spring or takes off from a carbon fiber spring without human interference, the carbon fiber spring will produce a deflection angle. At this time, a high-frame camera records the entire process in high-definition video, converts the recorded video into a picture, and imports it into the deflection angle solution system of the bionic prototype micro-morphology structure;

[0017] (5) Then analyze and obtain the deflection angle data of the carbon fiber spring θ ; Obtain the position data of the carbon fiber spring through position information reference scale analysis x The actual working length of the carbon fiber spring is 50.0 mm. Points are taken every 2.0 mm, and 26 points are taken. A total of 26 points of deflection angle-force equations are fitted; based on the landing point position data of the flying insect x Select the deflection angle-force equation of the landing proximity point and convert the deflection angle data θCombined with the deflection angle-force equation, the contact reaction force generated by the flying insect when landing / taking off on the carbon fiber spring without human interference is solved.

[0018] The beneficial effects produced by the above-mentioned technical scheme are: a flying insect landing / take-off contact reaction force testing system based on deflection angle of the present invention is specially used to test the contact reaction force generated at the interface when the flying insect lands / takes off, and a carbon fiber spring is used to generate a deflection angle, and a high-frame camera is used to record the entire process in high-definition video, and the video is imported into the bionic prototype micro-morphology structure deflection angle solution system. The contact reaction force corresponding to different deflection angles can be obtained according to the characteristic equation of the carbon fiber spring. The system has the characteristics of force measurement accuracy of millinewton to micronewton level, no human interference in the test process, and a simple test system structure, which is of great significance for revealing the motion characteristics of flying insects during the landing / take-off process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The overall structural diagram of the test system in the present invention;

[0020] Figure 2 Axonometric view of the carbon fiber spring fixing assembly of the test system of the present invention;

[0021] Figure 3 An isometric view of the test system of the present invention;

[0022] Figure 4 An isometric view of a test system base of a test system of the present invention;

[0023] Figure 5 Axonometric view of the organic glass cover of the test system of the present invention;

[0024] Figure 6 Axonometric view of the organic glass cover and scale assembly of the test system of the present invention;

[0025] Figure 7 Axonometric view of the square hole baffle for releasing flying insects in the test system of the present invention;

[0026] Figure 8 Axonometric view of the high frame rate camera connector of the test system of the present invention;

[0027] Fig. 9 Axonometric view of a tripod of the test system of the present invention;

[0028] Fig.10 Functional flow chart of the test method in the present invention.

[0029] In the figure: 1. Carbon fiber spring and its fixing assembly; 1-1. Carbon fiber spring; 1-2. Z-shaped support; 1-2-1. Through hole for fixing bolt of Z-shaped support; 1-3. Rubber pad; 1-4. Carbon fiber spring fixing plate; 1-5. Clamping bolt; 2. Test system base and its lighting assembly; 2-1. LED lighting source; 2-2. LED lighting source fixing ramp; 2-3. Test system base; 2-3-1. Organic glass cover mounting slot; 2-3-2. Leveling anchor threaded hole; 2-3-3. Z-shaped support fixing threaded hole; 2-4. Leveling anchor bolt; 3. Organic glass cover and its scale assembly; 3-1. Organic glass cover; 3-1-1. Carbon fiber spring placement square hole; 3-1-2. High frame Camera lens moving channel; 3-1-3, flying insect release square hole; 3-2, position information reference scale; 3-3, flying insect release square hole baffle; 3-3-1, flying insect release square hole baffle fixing threaded hole; 3-4, flying insect release square hole baffle fixing bolt; 4, high frame rate camera and its fixing assembly; 4-1, high frame rate camera; 4-2, high frame rate camera connector; 4-2-1, high frame rate camera fixing threaded hole; 4-2-2, high frame rate camera connector fixing threaded hole; 4-3, tripod; 4-3-1, high frame rate camera connector fixing bolt; 4-3-2, tripod fixing element; 4-3-3, horizontal fixing bolt; 4-3-4, load-bearing bracket; 4-3-5, vertical fixing bolt. DETAILED DESCRIPTION

[0030] like Figure 1 As shown, a flying insect landing / take-off contact reaction force test system based on deflection angle mainly includes a carbon fiber spring and its fixing component 1, a test system base and its lighting component 2, a plexiglass cover and its scale component 3, a high frame rate camera and its fixing component 4, etc.

[0031] like Figure 1 , Figure 2 , Figure 3As shown, the carbon fiber spring and its fixing assembly 1 are composed of a carbon fiber spring 1-1, a Z-shaped support 1-2, a rubber pad 1-3, a carbon fiber spring fixing plate 1-4, a clamping bolt 1-5, etc. The carbon fiber spring 1-1 of the carbon fiber spring and its fixing assembly 1 is used to sense the contact reaction force generated when the flying insect lands / takes off, that is, when the flying insect lands or takes off from the carbon fiber spring 1-1 to the carbon fiber spring 1-1, the carbon fiber spring 1-1 will produce a deflection angle change. According to the characteristic equation of the carbon fiber spring 1-1, the contact reaction force corresponding to different deflection angles can be obtained. The carbon fiber spring 1-1 is fixed between the Z-shaped support 1-2 and the carbon fiber spring fixing plate 1-4 by the clamping bolt 1-5, and a rubber pad 1-3 is provided for fixed installation. The Z-shaped support 1-2 is fixedly installed on the test system base 2-3 by screws, and the Z-shaped support fixing bolt through hole 1-2-1 is a through hole structure.

[0032] like Figure 1 , Figure 3 , Figure 4 As shown, the test system base and its lighting assembly 2 are composed of an LED lighting source 2-1, an LED lighting source fixing inclined platform 2-2, a test system base 2-3, and a leveling anchor bolt 2-4. Among them, the test system base 2-3 is provided with an organic glass cover mounting slot 2-3-1, a leveling anchor threaded hole 2-3-2, a Z-shaped support fixing threaded hole 2-3-3, etc. Because the LED lighting source 2-1 is of relatively small mass, the LED lighting source 2-1 and the LED lighting source fixing inclined platform 2-2 are fixed by double-sided adhesive bonding and placed inside the organic glass cover 3-1 to improve the brightness inside the organic glass cover 3-1, improve the quality of the image captured during the contact reaction force test of the flying insect, and ultimately improve the accuracy of the contact reaction force test data. The organic glass cover mounting slot 2-3-1 is used to place the organic glass cover 3-1 on the test system base 2-3; the leveling anchor bolts 2-4 are distributed at the four corners of the test system base 2-3, and the leveling anchor threaded holes 2-3-2 cooperate with the leveling anchor bolts 2-4 to ensure the horizontality of the test system base 2-3.

[0033] like Figure 1 , Figure 5 , Figure 6 , Figure 7As shown, the organic glass cover and its scale assembly 3 are composed of an organic glass cover 3-1, a position information reference scale 3-2, a square hole baffle plate 3-3 for flying insects, and a fixing bolt 3-4 for the square hole baffle plate for flying insects. Among them, the organic glass cover 3-1 is provided with a square hole 3-1-1 for placing a carbon fiber spring, a high frame rate camera lens moving channel 3-1-2, and a square hole 3-1-3 for flying insects. The right side of the organic glass cover 3-1 is provided with a square hole 3-1-1 for placing a carbon fiber spring, which serves as a placement channel for the carbon fiber spring 1-1. The square hole baffle plate 3-3 for flying insects is provided with a fixing threaded hole 3-3-1 for fixing the square hole baffle plate for flying insects, so as to realize the cooperation between the fixing threaded hole 3-3-1 for fixing the square hole baffle plate for flying insects and the fixing bolt 3-4 for fixing the square hole baffle plate for flying insects. The high frame rate camera 4-1 can enter the organic glass cover 3-1 through the high frame rate camera lens moving channel 3-1-2, which is used for clear shooting of test images during the flying insect contact reaction force test; the flying insect release square hole 3-1-3 is a release channel for flying insects, which can be blocked by a flying insect release square hole baffle 3-3 to prevent flying insects from flying away from the organic glass cover 3-1; the flying insect release square hole baffle fixing threaded hole 3-3-1 cooperates with the flying insect release square hole baffle fixing bolt 3-4 to achieve the fixed installation of the organic glass cover 3-1 and the flying insect release square hole baffle 3-3. The back of the organic glass cover 3-1 is placed with a position information reference scale 3-2, which is used to accurately obtain the position data of the carbon fiber spring 1-1 during the flying insect contact reaction force test.

[0034] like Figure 1 , Figure 8 , Fig. 9As shown, the high frame rate camera and its fixing assembly 4 are composed of a high frame rate camera 4-1, a high frame rate camera connector 4-2, a tripod 4-3, a high frame rate camera connector fixing bolt 4-3-1, a tripod fixing element 4-3-2, a horizontal fixing bolt 4-3-3, a load-bearing bracket 4-3-4, a vertical fixing bolt 4-3-5, etc. Among them, the high frame rate camera connector 4-2 is provided with a high frame rate camera fixing threaded hole 4-2-1 and a high frame rate camera connector fixing threaded hole 4-2-2. The high frame rate camera 4-1 and the high frame rate camera connector 4-2 are fixed by the high frame rate camera fixing threaded hole 4-2-1 and screws; the high frame rate camera connector fixing threaded hole 4-2-2 cooperates with the high frame rate camera connector fixing bolt 4-3-1 to realize the connection between the high frame rate camera connector 4-2 and the tripod 4-3; the tripod 4-3 is composed of the high frame rate camera connector fixing bolt 4-3-1, the tripod fixing element 4-3-2, the horizontal fixing bolt 4-3-3, the load-bearing bracket 4-3-4, the vertical fixing bolt 4-3-5, etc. Tighten the horizontal fixing bolt 4-3-3 to realize the fixed installation of the high frame rate camera connector fixing bolt 4-3-1 and the tripod fixing element 4-3-2; tighten the vertical fixing bolt 4-3-5 to realize the fixed installation of the tripod fixing element 4-3-2 and the load-bearing bracket 4-3-4.

[0035] The working process of the present invention is described in detail below in conjunction with the accompanying drawings. A fly is used as a test object of the present invention, and its weight is 29.65 mg.

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the test system base 2-3 is used as a supporting platform for the test system, and has the characteristics of good rigidity and high stability. The upper surface of the test system base 2-3 is 220.0 mm long, 110.0 mm wide, and 10.0 mm thick, and is used to place the carbon fiber spring and its fixing component 1, the LED lighting source 2-1, the LED lighting source fixing inclined platform 2-2, the organic glass cover and its scale component 3, etc. A flying insect landing / takeoff contact reaction force test system based on deflection angle, whose core components are the carbon fiber spring and its fixing component 1 and the high frame number camera and its fixing component 4. The Z-shaped support 1-2 is made of aluminum alloy, and the surface fixed with the carbon fiber spring fixing plate 1-4 is 11.0 mm long and 10.5 mm wide, and the surface for screw fixing is 15.0 mm long and 11.0 mm wide; the carbon fiber spring fixing plate 1-4 is made of aluminum alloy, and the upper surface is 11.0 mm long, 7.5 mm wide, and 2. 0 mm, the material of the rubber pad 1-3 is rubber, the upper surface of the rubber pad 1-3 is 11.0 mm long, 7.5 mm wide and 1.5 mm high; the carbon fiber spring fixing plate 1-4 is tightly fitted with the rubber pad 1-3, and then fixedly installed on the surface of the Z-shaped support 1-2, and aligned with the left edge of the upper surface of the Z-shaped support 1-2, the carbon fiber spring 1-1 is placed between the Z-shaped support 1-2 and the rubber pad 1-3, and the carbon fiber spring 1-1 and the carbon fiber spring fixing plate 1-4 are fixedly installed by the clamping bolt 1-5. The Z-shaped support 1-2 is provided with two through holes with a diameter of 2.5 mm, and the M2×6 screws are matched with the Z-shaped support fixing threaded holes 2-3-3 to realize the fixed installation of the Z-shaped support 1-2 on the test system base 2-3.

[0037] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, LED lighting source 2-1 and LED lighting source fixing inclined platform 2-2 are placed inside organic glass cover 3-1. Because LED lighting source 2-1 is of small mass, LED lighting source 2-1 and LED lighting source fixing inclined platform 2-2 are fixed by double-sided adhesive and placed inside organic glass cover 3-1, so as to improve the brightness inside organic glass cover 3-1, improve the quality of images taken during the contact reaction force test of flying insects, and finally improve the accuracy of contact reaction force test data. Test system base 2-3 is set as follows Figure 4The plexiglass cover mounting slot 2-3-1 shown is customized according to the size of the plexiglass cover 3-1 to achieve the placement of the plexiglass cover 3-1 on the test system base 2-3; the outer area of ​​the plexiglass cover mounting slot 2-3-1 is 106.0 mm long, 106.0 mm wide, and 2.0 mm deep; four leveling anchor threaded holes 2-3-2 are set at the corners of the test system base 2-3, which are used for the test system base 2-3 to cooperate with the leveling anchor bolts 2-4, so as to level the horizontality of the test system and make it absolutely horizontal; two Z-shaped support fixing threaded holes 2-3-3 with a diameter of 2.0 mm are set on the right side of the test system base 2-3, and the screws cooperate with the Z-shaped support fixing threaded holes 2-3-3 to achieve the fixed installation of the Z-shaped support 1-2 and the test system base 2-3.

[0038] like Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the organic glass cover 3-1 is 106.0 mm long, 106.0 mm wide, 103.0 mm high, and 3.0 mm thick, and has the advantages of strong light transmission. A carbon fiber spring placement square hole 3-1-1 with a length of 12.2 mm and a width of 6.2 mm is set on the right side of the organic glass cover 3-1, and the placement square hole is a through-hole structure; a high-frame camera lens moving channel 3-1-2 with a diameter of 27.0 mm is set on the front of the organic glass cover 3-1, and the distance between the center of the circular hole of the high-frame camera lens moving channel 3-1-2 and the upper surface of the organic glass cover 3-1 is 50.0 mm; a flying insect release square hole 3-1-3 with a length and width of 20.0 mm is set above the organic glass cover 3-1 for releasing flies; the flying insect release square hole baffle 3-3 is 30.0 mm long. .0 mm and 25.0 mm wide, the flying insect release square hole baffle fixing threaded hole 3-3-1 of the flying insect release square hole baffle 3-3 is matched with the flying insect release square hole baffle fixing bolt 3-4 to achieve the fixed installation of the organic glass cover 3-1 and the flying insect release square hole baffle 3-3 to prevent flies from flying away from the organic glass cover 3-1; the position information reference scale 3-2 on the back of the organic glass cover 3-1 is 100.0 mm long and is fixed by double-sided adhesive bonding to accurately obtain the position data of the carbon fiber spring 1-1 during the flying insect contact reaction force test.

[0039] like Figure 1 , Figure 8 , Fig. 9As shown, the high frame rate camera 4-1 and the high frame rate camera connector 4-2 are fixed by the high frame rate camera fixing threaded hole 4-2-1 and screws; the high frame rate camera connector 4-2 is 38.7 mm long, 30.0 mm wide and 10.0 mm high, and is made of aluminum alloy. There are 4 high frame rate camera fixing threaded holes 4-2-1 with a diameter of 3.5 mm on the bottom. The screws cooperate with the high frame rate camera fixing threaded holes 4-2-1 to fix the high frame rate camera 4-1 and the high frame rate camera connector 4-2; the high frame rate camera connector 4-2 is provided with a high frame rate camera connector fixing threaded hole 4-2-2 with a diameter of 6.3 mm. The high frame rate camera connector fixing threaded hole 4-2-2 cooperates with the high frame rate camera connector fixing bolt 4-3-1 to realize the fixed installation of the high frame rate camera connector 4-2 and the tripod 4-3. The tripod 4-3 is composed of a high frame rate camera connector fixing bolt 4-3-1, a tripod fixing element 4-3-2, a horizontal fixing bolt 4-3-3, a load-bearing bracket 4-3-4, a vertical fixing bolt 4-3-5, etc. Tighten the horizontal fixing bolt 4-3-3 to achieve the fixed installation of the high frame rate camera connector fixing bolt 4-3-1 and the tripod fixing element 4-3-2; tighten the vertical fixing bolt 4-3-5 to achieve the fixed installation of the tripod fixing element 4-3-2 and the load-bearing bracket 4-3-4.

[0040] like Fig.10The figure shows a functional flow chart of a flying insect landing / takeoff contact reaction force test system based on a deflection angle. The test method of the flying insect contact reaction force is as follows: first, a carbon fiber spring and its fixing component 1, a test system base and its lighting component 2, an organic glass cover and its scale component 3 are placed on the test system base 2-3. The carbon fiber spring 1-1 is fixedly installed on the Z-shaped support 1-2, and the horizontality of the test system base 2-3 is adjusted to make it absolutely horizontal; the organic glass cover 3-1 is placed on the organic glass cover installation slot 2-3-1, and the LED lighting source 2-1 is turned on to increase the brightness inside the organic glass cover 3-1, so that the carbon fiber spring 1-1 passes through the carbon fiber spring placement square hole 3-1-1 and enters the organic glass cover 3-1, so that the working length of the carbon fiber spring 1-1 in the organic glass cover 3-1 is 50.0 mm; the high frame rate camera and its fixing component 4 are moved to the high frame rate camera lens moving channel 3-1-2; the flying insect release square hole baffle 3-3 is opened to release the fly into the organic glass cover 3-1, and then the flying insect release square hole baffle 3-3 is quickly closed to prevent the fly from flying away from the organic glass cover 3-1. When a fly lands on the carbon fiber spring 1-1 or takes off from the carbon fiber spring 1-1 without human interference (without affecting the physiological activity of the insect), the carbon fiber spring 1-1 will produce a deflection angle. At this time, the high-frame camera 4-1 records the entire process in high-definition video, converts the recorded video into a picture, and imports it into the registered software copyright "Bionic Prototype Micro-morphology Structure Deflection Angle Solution System (Registration No.: 2020SR1187508)"; then analyze and obtain the deflection angle data of the carbon fiber spring 1-1 θ =13.32°, and the position data of the fly landing on the carbon fiber spring 1-1 is obtained by analyzing the position information reference scale 3-2. x =32.2 mm. The actual working length of the carbon fiber spring 1-1 is 50.0 mm. Points are taken every 2.0 mm, and 26 points are taken. A total of 26 points of deflection angle-force equations are fitted; based on the position data of the fly landing on the carbon fiber spring 1-1 x Select the deflection angle-force equation of the landing point, and the position data of the fly landing on the carbon fiber spring 1-1 x =32.2 mm, that is, the deflection angle-force equation at 32.0 mm near the landing point is selected, and the equation expression is

[0041] ,

[0042] in, θ Indicates the deflection angle data of the carbon fiber spring 1-1, in degrees; F It represents the force applied to the carbon fiber spring 1-1 when the fly lands / takes off, in Newtons. θ=13.32° is substituted into the deflection angle-force equation to obtain the contact reaction force generated when the fly lands / takes off on the carbon fiber spring 1-1 without human interference (without affecting the physiological activity of the insect). F =6.89 millinewtons.

[0043] The present invention provides a flying insect landing / take-off contact reaction force testing system based on deflection angle, which is specially used to test the contact reaction force generated at the interface when the flying insect lands / takes off. It has the advantages of force measurement accuracy of millinewton level, no human interference in the test process, and simple test system structure.

Claims

1. A flying insect landing / take-off contact reaction force testing system based on deflection angle, characterized in that The invention comprises a square organic glass cover (3-1), a carbon fiber spring (1-1) and a high frame rate camera (4-1), wherein the organic glass cover (3-1) is placed on a test system base (2-3), and the front side and right side of the organic glass cover (3-1) are respectively provided with a high frame rate camera lens moving channel (3-1-2) and a carbon fiber spring placement square hole (3-1-1), the carbon fiber spring (1-1) passes through the carbon fiber spring placement square hole (3-1-1) and is horizontally placed inside the organic glass cover (3-1), and one end of the carbon fiber spring (1-1) is connected via a Z-shaped support (1-2), passes through the organic glass cover (3-1) and is fixed to the test system base. The lens of the high frame rate camera (4-1) passes through the high frame rate camera lens moving channel (3-1-2) and enters the interior of the organic glass cover (3-1) and is used for clearly shooting the test image during the flying insect contact reaction force test. The upper surface of the organic glass cover (3-1) is provided with a flying insect release square hole (3-1-3), and the flying insect release square hole (3-1-3) is provided with a flying insect release square hole baffle (3-3). A horizontally arranged position information reference scale (3-2) is pasted on the back of the organic glass cover (3-1). The center of the lens of the high frame rate camera (4-1) and the carbon fiber spring (1-1) are at the same horizontal height. The carbon fiber spring (1-1) is fixed between a Z-shaped support (1-2) and a carbon fiber spring fixing plate (1-4) by means of clamping bolts (1-5); a rubber pad (1-3) for constraining the position of the carbon fiber spring (1-1) is arranged around the fixed end of the carbon fiber spring (1-1); and the Z-shaped support (1-2) is fixedly mounted on a test system base (2-3) by means of screws; The actual working length of the carbon fiber spring (1-1) is 50.0 mm; The upper surface of the test system base (2-3) is provided with a plexiglass cover mounting slot (2-3-1), and the lower surface of the test system base (2-3) is provided with leveling anchor bolts (2-4), and the leveling anchor bolts (2-4) are distributed at the four corners of the test system base (2-3); The high frame rate camera (4-1) is supported and fixed by a fixing assembly, which comprises a high frame rate camera connector (4-2), a tripod (4-3), a high frame rate camera connector fixing bolt (4-3-1), a tripod fixing element (4-3-2), a horizontal fixing bolt (4-3-3), a load-bearing bracket (4-3-4), and a vertical fixing bolt (4-3-5), wherein the high frame rate camera connector (4-2) is provided with a high frame rate camera fixing threaded hole (4-2-1) and a high frame rate camera connector fixing threaded hole (4-2-2), and the high frame rate camera (4-1) and the high frame rate camera connector (4-2) are connected via the high frame rate camera fixing threaded hole (4-2-1) and a screw; the high frame rate camera connector fixing threaded hole (4-2-2) cooperates with the high frame rate camera connector fixing bolt (4-3-1) to achieve the connection between the high frame rate camera connector (4-2) and the tripod (4-3).

2. A flying insect landing / takeoff contact reaction force testing system based on deflection angle according to claim 1, characterized in that The Z-shaped support (1-2) is provided with a lighting assembly, wherein the lighting assembly comprises an LED lighting source (2-1) and an LED lighting source fixing inclined platform (2-2); the LED lighting source (2-1) and the LED lighting source fixing inclined platform (2-2) are fixed by double-sided adhesive bonding and are placed inside the organic glass cover (3-1).

3. The testing method of the flying insect landing / take-off contact reaction force testing system based on the deflection angle according to claim 1 is characterized in that The steps include: (1) First, the high frame rate camera is initialized, and then the horizontality of the test system base (2-3) is adjusted by leveling the anchor bolts (2-4) to ensure that the test system base (2-3) is absolutely level, and then the organic glass cover (3-1) is placed on the organic glass cover mounting slot (2-3-1), and then the carbon fiber spring (1-1) is fixedly installed on the Z-shaped support (1-2), so that the carbon fiber spring (1-1) enters the organic glass cover (3-1) through the carbon fiber spring mounting square hole (3-1-1), so that the flying insect can dock and generate contact reaction force during landing and take-off; (2) placing the flying insect into the interior of the organic glass cover (3-1) through the flying insect placing square hole (3-1-3) of the organic glass cover (3-1); (3) The high frame rate camera (4-1) is fixedly mounted on the high frame rate camera connector (4-2) by screw connection, and the high frame rate camera connector (4-2) and the high frame rate camera connector fixing bolt (4-3-1) are fixedly mounted by bolt connection, and then the high frame rate camera and its fixing components are moved to the high frame rate camera lens moving channel (3-1-2); the carbon fiber spring (1-1) and the center of the high frame rate camera (4-1) lens are located at the same height; (4) When a flying insect lands on the carbon fiber spring (1-1) or takes off from the carbon fiber spring (1-1) without human interference, the carbon fiber spring (1-1) will generate a deflection angle. At this time, a high-frame camera (4-1) records the entire process in high-definition video, converts the recorded video into a picture, and imports it into the deflection angle solution system of the bionic prototype micro-morphology structure; (5) Then analyze and obtain the deflection angle data of the carbon fiber spring (1-1) θ ; Analyze and obtain the position data of the carbon fiber spring (1-1) through the position information reference scale (3-2) x The actual working length of the carbon fiber spring (1-1) is 50.0 mm. Points are taken every 2.0 mm, and 26 points are taken. A total of 26 points of deflection angle-force equations are fitted; based on the landing point position data of the flying insect x Select the deflection angle-force equation of the landing proximity point and convert the deflection angle data θ Combined with the deflection angle-force equation, the contact reaction force generated by the flying insect when it lands / takes off on the carbon fiber spring (1-1) without human interference is solved.

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