Method and device for detecting a thoracic skeleton of a crash test dummy

Abstract

The present application relates to the field of data processing, and discloses a mannequin chest cavity skeleton detection method and device.The method comprises the following steps: determining the initial position of a first laser probe based on the theoretical position of the center of a shoulder skeleton connecting hole of a mannequin chest cavity skeleton; controlling the first laser probe to move along a preset track in a plane directly above the theoretical position with the initial position as the starting point; during the movement, when the detected data meets a first preset condition, recording the coordinates of the current position of the first laser probe, and determining the position tolerance of the shoulder skeleton connecting hole according to the coordinates.This embodiment realizes the detection of the position tolerance of the mannequin chest cavity skeleton, the included angle between important planes, and the parallelism of a specific plane, improves the detection precision and efficiency, and thus realizes high-precision and high-efficiency measurement in mass production.

Description

Technical Field

[0001] This invention relates to the field of data processing, and more particularly to a method and apparatus for detecting a dummy thoracic skeleton. Background Technology

[0002] Since the 11th century, my country's car ownership has steadily increased, but this has been accompanied by a rise in road traffic accidents, making car safety increasingly important to the government and society. When a traffic accident occurs, the car's occupant protection system should protect occupants and reduce the harm caused by the accident. Before a car leaves the factory, its occupant protection system must meet the requirements of relevant standards and regulations. Passive safety testing technology is an important means of verifying the performance of car occupant protection systems, and crash dummies are essential measuring equipment in passive safety testing. During a car crash test, the dynamic response of the crash dummies can accurately evaluate the design rationality of the car occupant protection system.

[0003] The skeleton structure of a collision dummy is quite complex, and its manufacturing process involves multiple techniques, requiring high precision. The thoracic skeleton of the collision dummy, connecting the shoulder skeleton at the top and the lumbar spine skeleton at the bottom, while also maintaining a specific mounting angle, thus demands high dimensional and positional tolerances. Welding is the primary manufacturing method for the thoracic skeleton of the collision dummy. The thoracic skeleton of the collision dummy has a square hollow structure, formed using lap welding. During welding, the skeleton's deformation is constrained by heat, generating residual stress. After welding is completed and the stress is released, the skeleton will deform, amplifying its dimensional and positional tolerances. To verify whether the skeleton meets the requirements for assembly, interchangeability, and testing, its various dimensional and positional tolerances must be measured. Its accuracy and performance are mainly affected by the parallelism of face-to-face surfaces and the positional accuracy of mounting holes. If the parallelism error of the skeleton is large, the response during the car crash test will also have a large error, affecting the accuracy of the car crash test; the position tolerance of the mounting holes ensures the assembly accuracy of the shoulder and lumbar spine skeleton to meet the requirements of the car crash test; the angle of the two planes in the middle of the thoracic skeleton determines the chest posture of the crash dummy, which has an important impact on the overall bionic performance of the dummy and the fidelity of the test.

[0004] In summary, the above-mentioned measurement items should be emphasized when producing the thoracic skeleton of the collision dummy. However, due to the limitations of existing measurement methods and measuring tables, it is difficult to carry out efficient and accurate measurement work, making it difficult to guarantee product quality and production efficiency.

[0005] In view of this, the present invention is hereby proposed. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a method and apparatus for detecting a dummy thoracic skeleton. This method enables the detection of the positional accuracy, the angle between important planes, and the parallelism of specific planes within the dummy thoracic skeleton, thereby improving detection accuracy and efficiency. It facilitates accurate and efficient measurement of geometric tolerances, allowing for the assessment of whether the dummy meets the requirements for assembly accuracy, interchangeability, and collision testing. This enables high-precision and high-efficiency measurement during mass production.

[0007] This invention provides a method for detecting a dummy thoracic skeleton, wherein the dummy thoracic skeleton is fixed by a positioning fixture, and the method includes:

[0008] The initial position of the first laser probe is determined based on the theoretical position of the center of the shoulder skeleton connection hole of the dummy thoracic skeleton, wherein the initial position is located directly above the theoretical position;

[0009] The first laser probe is controlled to move along a first preset trajectory in a plane directly above the theoretical position, starting from the initial position;

[0010] During the process of the first laser probe moving along the first preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the first coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the first preset trajectory.

[0011] During the process of the first laser probe moving in the opposite direction of the first preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the second coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to return to the initial position.

[0012] The first laser probe is controlled to move along a second preset trajectory in a plane directly above the theoretical position, starting from the initial position;

[0013] During the process of the first laser probe moving along the second preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the third coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the second preset trajectory.

[0014] During the process of the first laser probe moving in the opposite direction of the second preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the fourth coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to return to the initial position.

[0015] The first laser probe is controlled to move along a third preset trajectory in a plane directly above the theoretical position, starting from the initial position;

[0016] During the movement of the first laser probe along the third preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the fifth coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the second preset trajectory.

[0017] During the process of the first laser probe moving in the opposite direction of the third preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the sixth coordinate of the current position of the first laser probe is recorded.

[0018] The positional tolerance of the shoulder skeleton connection hole is determined based on the first, second, third, fourth, fifth, and sixth coordinates and the theoretical position.

[0019] Wherein, the angle between any two of the first preset trajectory, the second preset trajectory and the third preset trajectory is 120°.

[0020] This invention provides a detection device for a dummy thoracic skeleton, the device comprising:

[0021] The experimental table, the positioning fixture fixed on the experimental table for positioning the thoracic skeleton of the dummy, and the slide rails on both sides of the positioning fixture.

[0022] The positioning fixture includes a positioning pin and a positioning plane that are adapted to the dummy thoracic skeleton. When the dummy thoracic skeleton is installed in the positioning fixture, the reference plane of the dummy thoracic skeleton forms a 90° angle with the base of the positioning fixture.

[0023] Each slide rail is equipped with multiple limit pins and / or limit blocks for positioning the slide table moving on the slide rail;

[0024] A vertical beam is provided on the slide platform, and a third laser probe is provided on the vertical beam. The third laser probe is used to emit a laser to the third plane of the dummy's thoracic skeleton to detect the parallelism of the third plane. The slide platform moves the third laser probe through the vertical beam.

[0025] A crossbeam is provided between the two vertical beams, and a second laser probe is provided on the crossbeam. The second laser probe is used to project a first plane and a second plane that intersect vertically on the front side of the dummy's thoracic skeleton.

[0026] The embodiments of the present invention have the following technical effects:

[0027] It improves the accuracy and efficiency of testing, making it easier to accurately and efficiently measure the positional tolerances of the thoracic skeleton of the collision dummy, and to examine whether it meets the requirements of assembly accuracy, interchangeability and collision test, thereby achieving high-precision and high-efficiency measurement in mass production. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of a method for fixing a dummy's thoracic skeleton using a positioning fixture, provided in an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the structure of a detection device for a dummy thoracic skeleton provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of a dummy thoracic skeleton being installed in the positioning fixture according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic flowchart of a method for detecting a dummy thoracic skeleton provided in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of a first preset trajectory, a second preset trajectory, and a third preset trajectory provided in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of a second laser probe moving along a fourth preset trajectory according to an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram including measurement points provided by an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram illustrating the positional relationship between a third laser probe and a third plane, provided in an embodiment of the present invention.

[0037] Figure 9 This is a schematic diagram of a fifth preset trajectory provided in an embodiment of the present invention;

[0038] Figure 10 This is a schematic diagram illustrating a spatial coordinate system provided by an embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0040] The method for detecting a dummy thoracic skeleton provided in this invention is mainly used to detect the positional accuracy of the shoulder skeleton connection holes, the angle between the first and second vertically intersecting planes on the front side, and the parallelism of the third planes on the left and right sides of the dummy thoracic skeleton. During detection, the dummy thoracic skeleton is fixed using a positioning fixture; for example, refer to... Figure 1 The diagram shows a method for fixing a dummy thoracic skeleton using a positioning fixture. In this diagram, reference numeral 110 indicates the positioning fixture, reference numeral 120 indicates the shoulder skeleton connection hole of the dummy thoracic skeleton, reference numerals 130a and 130b indicate the first and second vertically intersecting planes on the front side of the dummy thoracic skeleton, and reference numeral 140 indicates the third plane on the left side of the dummy thoracic skeleton (the third plane on the right side is not shown).

[0041] In one specific embodiment, the method for detecting the dummy thoracic skeleton provided by this invention can be performed using a specific detection device, but the embodiments of this invention do not limit the structure of the detection device. For example, refer to... Figure 2 The diagram shows a structural schematic of a detection device for a dummy thoracic skeleton. The detection device includes:

[0042] The experimental table 1 includes a positioning fixture 2 fixed on the experimental table 1 for positioning the dummy thoracic skeleton, and slide rails 3 on both sides of the positioning fixture. Each slide rail 3 is equipped with multiple limiting pins and / or limiting blocks for positioning a slide table 4 moving on the slide rail 3. A vertical beam 5 is provided on the slide table 4, and a third laser probe is provided on the vertical beam 5. The third laser probe emits a laser beam towards a third plane of the dummy thoracic skeleton to detect the parallelism of the third plane. The slide table 4 moves the third laser probe via the vertical beam 5. A crossbeam 6 is provided between the two vertical beams 5, and a second laser probe is provided on the crossbeam 6. The second laser probe is used to target a first plane and a second plane that intersect vertically on the front side of the dummy thoracic skeleton. The positioning fixture includes a positioning pin and a positioning plane that are adapted to the dummy thoracic skeleton. When the dummy thoracic skeleton is installed in the positioning fixture, the reference plane of the dummy thoracic skeleton forms a 90° angle with the base of the positioning fixture (e.g., Figure 3The diagram shown illustrates the mounting of a dummy thoracic skeleton onto the positioning fixture, where a reference surface 310 and a base 320 are shown, forming a 90° angle.

[0043] Furthermore, the detection device may further include: a first laser probe corresponding to the shoulder skeleton connection hole of the dummy's thoracic skeleton, used to detect the positional accuracy of the shoulder skeleton connection hole of the dummy's thoracic skeleton. Figure 2 As shown, the first laser probe can be specifically positioned at the associated location of the height adjustment mechanism 7 and the angle adjustment mechanism 8, so as to facilitate the adjustment of the height and angle of the first laser probe through the height adjustment mechanism 7 and the angle adjustment mechanism 8. Wherein, Figure 2 In the diagram, number 9 indicates the limit mechanism, number 10 indicates the laser displacement sensor used for position measurement, number 11 indicates the lead screw, number 12 indicates the clamping knob, number 13 indicates the handheld laser displacement sensor, and number 14 indicates the cover plate.

[0044] The positioning fixture is fixed to the experimental platform by bolts, and the slide rail is also fixed to the experimental platform by bolts. A motor-driven lead screw moves the slide table along the slide rail.

[0045] It is understood that the detection device may also include a control system capable of storing, processing, and displaying test results. The control system includes a data interface capable of receiving detection data from laser sensors associated with each laser probe, a storage device capable of storing some data, a programmable logic controller capable of processing measurement data, and a display component capable of displaying measurement results.

[0046] Based on the above embodiments, this invention also provides a method for detecting a dummy thoracic skeleton. This method is based on the aforementioned detection device (it is understood that this method can also be based on detection devices with other structures). See [link to documentation]. Figure 4 As shown, the detection method for the dummy's thoracic skeleton specifically includes the following steps:

[0047] S410. The initial position of the first laser probe is determined by the theoretical position of the center of the connecting hole of the shoulder skeleton based on the dummy thoracic skeleton.

[0048] The initial position is located directly above the theoretical position. The dummy's thoracic skeleton includes two shoulder skeleton connection holes; this embodiment uses the testing of one of them as an example for illustration.

[0049] The theoretical position of the center of the shoulder skeleton connection hole is determined. Assume the coordinates of the theoretical center of the two shoulder skeleton connection holes are Q1(x...). 01 y 01 , z 01 ), Q2(x 02y 02 , z 02 ), to Q1(x 01 y 01 , z 01 Taking the detection as an example, the initial position of the first laser probe is determined as Qa(x). 01 y 01 (z0), and That is, the initial position is located directly above the theoretical position.

[0050] S420. Control the first laser probe to move along a first preset trajectory in the plane directly above the theoretical position, starting from the initial position.

[0051] S430. During the process of the first laser probe moving along the first preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the first coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the first preset trajectory.

[0052] The first preset condition can be a significant change in the data detected by the first laser sensor. Understandably, the data detected by the first laser sensor will change significantly when the laser emitted by the first laser probe hits the hole compared to when it hits the wall of the dummy's thoracic skeleton; this is considered to meet the first preset condition. When the data detected by the first laser sensor meets the first preset condition, the first coordinates of the current position of the first laser probe are immediately recorded, and the first laser probe is controlled to change its movement direction, moving in the opposite direction of the first preset trajectory. The first laser probe emits a laser towards the shoulder skeleton connection hole.

[0053] S440. During the process of the first laser probe moving in the opposite direction of the first preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the second coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to return to the initial position.

[0054] S450: Control the first laser probe to move along a second preset trajectory in the plane directly above the theoretical position, starting from the initial position.

[0055] S460. During the process of the first laser probe moving along the second preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the third coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the second preset trajectory.

[0056] S470. During the process of the first laser probe moving in the opposite direction along the second preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the fourth coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to return to the initial position.

[0057] S480. Control the first laser probe to move along a third preset trajectory in the plane directly above the theoretical position, starting from the initial position.

[0058] S490. During the process of the first laser probe moving along the third preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the fifth coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the second preset trajectory.

[0059] S500. During the process of the first laser probe moving in the opposite direction along the third preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the sixth coordinate of the current position of the first laser probe is recorded.

[0060] Wherein, the angle between any two of the first preset trajectory, the second preset trajectory, and the third preset trajectory is 120°. For example... Figure 5 The diagram shows a first preset trajectory, a second preset trajectory, and a third preset trajectory, wherein the included angle between any two of the first preset trajectory 510, the second preset trajectory 520, and the third preset trajectory 530 is 120°. After the above steps S420-S500, the coordinates of six position points of the shoulder skeleton connecting hole can be detected. These six points divide the projection of the shoulder skeleton connecting hole onto the z=z0 plane into six equal parts. Therefore, the center position of the shoulder skeleton connecting hole can be determined based on the coordinates of these six points, and then the positional tolerance of the shoulder skeleton connecting hole can be determined by combining the theoretical position of the hole center.

[0061] S510. Determine the positional tolerance of the shoulder skeleton connecting hole based on the first coordinate, second coordinate, third coordinate, fourth coordinate, fifth coordinate, sixth coordinate and the theoretical position.

[0062] One specific implementation method is to determine the coordinates of the midpoint between the two points based on the first and second coordinates, and then use these midpoint coordinates as the coordinates of the center of the shoulder frame connecting hole; alternatively, the coordinates of the midpoint between the two points can be determined based on the third and fourth coordinates, or the fifth and sixth coordinates. Alternatively, the average of the three midpoint coordinates can be used as the coordinates of the center of the shoulder frame connecting hole.

[0063] In a preferred embodiment, the detection accuracy of the coordinates of the center of the shoulder frame connecting hole can be further improved. Specifically, determining the positional tolerance of the shoulder frame connecting hole based on the first coordinate, second coordinate, third coordinate, fourth coordinate, fifth coordinate, sixth coordinate, and the theoretical position includes:

[0064] Multiple auxiliary circles are constructed based on the first, second, third, fourth, fifth, and sixth coordinates; the positional tolerance of the shoulder skeleton connecting hole is determined based on the distance between the center of the multiple auxiliary circles and the theoretical position, or the positional tolerance of the shoulder skeleton connecting hole is determined based on the difference between the radius of the multiple auxiliary circles and the theoretical radius.

[0065] At most two of the above six points lie on the same straight line. Therefore, by using three non-collinear points to determine an auxiliary circle, a total of 20 auxiliary circles can be determined. In the plane z=z0, the family of plane circles can be represented as:

[0066] This family of multi-parameter curves is then rearranged into the standard equation of a circle: Since the above six points are obtained from actual measurements and there are no imaginary circles, the following relationship exists: The center coordinates of the above multi-parameter circle family are: The theoretical position of the center of the shoulder skeleton connection hole is Q1 (x 01 y 01 , z 01 Given a theoretical radius of R0, define the following family of functions:

[0067]

[0068] The positional tolerance of the shoulder frame connection hole f w for: .

[0069] Furthermore, the detection method also includes:

[0070] The second laser probe is controlled to move along a fourth preset trajectory. During the movement, the second laser probe emits laser light perpendicularly to the first and second planes to determine the first and second planes that intersect vertically on the anterior side of the dummy's thoracic skeleton (e.g., Figure 1The coordinates of multiple measurement points on the first plane 130a and the second plane 130b shown are obtained. Based on the coordinates of the multiple measurement points, plane fitting is performed using the overall least squares method to obtain two fitted planes. The angle between the two fitted planes is determined as the angle between the first plane and the second plane. The number of measurement points is 60, the number of measurement points on the first plane is 36, and the number of measurement points on the second plane is 24. The travel distance of the second laser probe corresponding to the first plane is 90 mm, and the travel distance of the second laser probe corresponding to the second plane is 60 mm. The fourth preset trajectory includes four sub-trajectories, each with a direction from the lumbar spine mounting point of the dummy's thoracic skeleton to the shoulder skeleton mounting point. For example, refer to... Figure 6 The diagram shows a second laser probe moving along a fourth preset trajectory, wherein the second laser probe 610 moves from the lumbar spine mounting point of the dummy's thoracic skeleton to the shoulder skeleton mounting point. (See reference...) Figure 7 The diagram shown includes measurement points, wherein the fourth preset trajectory includes 4 sub-trajectories, the number of measurement points located on the first plane is 4×9=36, and the number of measurement points located on the second plane is 6×4=24.

[0071] In summary, the coordinate data of a total of 60 measurement points can be obtained. The measurement points located on the first plane are represented as follows: M i Then the coordinate data of the 36 measurement points can be expressed as: The measurement point located in the second plane is represented as... N j Then the coordinate data of the 24 measurement points can be expressed as: .

[0072] Labeling the first plane as M and the second plane as N, plane fitting based on the overall least squares method yields the following expression:

[0073]

[0074] The overall least squares method has the following constraints:

[0075]

[0076] The least squares real symmetric matrix A is defined as:

[0077]

[0078] The feature vector is Then we have:

[0079]

[0080] Solve for the eigenvectors corresponding to the smallest eigenvalues ​​in the above equation, which are the direction vectors corresponding to the fitted planes. The angle between the two direction vectors is the angle θ between the two planes, expressed as follows:

[0081] .

[0082] Furthermore, the detection method also includes:

[0083] The third laser probe is controlled to move along a fifth preset trajectory. During the movement, the third laser probe emits laser light perpendicularly to the third plane. The coordinates of the third laser probe and the detection data of the third laser sensor associated with the third laser probe are recorded during the movement to determine the coordinates of the farthest point and the nearest point on the third plane of the dummy thoracic skeleton from the reference plane. The fifth preset trajectory includes three horizontal sub-trajectories and three vertical sub-trajectories. In the same spatial coordinate system, a first enclosing plane passing through the farthest point and parallel to the reference plane and a second enclosing plane passing through the farthest point and parallel to the reference plane are calculated respectively. Based on the first enclosing plane and the second enclosing plane, the parallelism of the third plane is determined using the minimum enclosing region method.

[0084] For example, see references to Figure 8 The diagram shows the positional relationship between a third laser probe and a third plane, wherein the third laser probe 810 emits laser light perpendicularly toward the third plane 820. (See reference...) Figure 9 The diagram shows a fifth preset trajectory, which includes three horizontal sub-trajectories and three vertical sub-trajectories.

[0085] Given that the initial position of the third laser probe is P0(x0, y0, z0), the coordinates of the farthest point are measured. Then the following relationship holds:

[0086] in, This refers to the data measured by the third laser sensor when the third laser probe emits a laser to the farthest point, i.e., the distance between the third laser probe and the measurement point. This is the angle between the laser emission direction and the positive directions of the x, y, and z axes of the spatial coordinate system during the measurement process. The spatial coordinate system can be referenced as follows: Figure 10 As shown.

[0087] Similarly, measure the coordinates of the nearest point. as follows:

[0088] This is the data measured by the third laser sensor when the third laser probe emits a laser beam towards the nearest point. That is, the distance between the probe and the measurement point. Let be the angle between the laser emission direction and the three coordinate axes during the measurement process. In the same spatial coordinate system, calculate the general equations for the upper and lower enclosing planes (i.e., the first and second enclosing planes) parallel to the reference plane, passing through the two points mentioned above:

[0089] The enclosed area is the smallest containment area, and the parallelism error... f p for: .

[0090] The method for detecting the dummy thoracic skeleton provided in this embodiment enables the detection of the positional accuracy, the angle between important planes, and the parallelism of specific planes of the dummy thoracic skeleton, thereby improving the detection accuracy and efficiency. It facilitates accurate and efficient measurement of geometric tolerances and examines whether they meet the requirements of assembly accuracy, interchangeability, and collision testing, thus achieving high-precision and high-efficiency measurement in mass production.

[0091] It should be noted that the terminology used in this invention is for describing specific embodiments only and is not intended to limit the scope of this application. As indicated in this specification, unless the context clearly indicates otherwise, words such as "a," "an," "an," and / or "the" do not specifically refer to the singular and may include the plural. The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element.

[0092] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting a dummy thoracic skeleton, characterized in that, The dummy thoracic skeleton is fixed using a positioning fixture, and the detection method includes: The initial position of the first laser probe is determined based on the theoretical position of the center of the shoulder skeleton connection hole of the dummy thoracic skeleton, wherein the initial position is located directly above the theoretical position; The first laser probe is controlled to move along a first preset trajectory in a plane directly above the theoretical position, starting from the initial position; During the movement of the first laser probe along the first preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the first coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the first preset trajectory; the first preset condition is that the amplitude change of the data detected by the first laser sensor reaches a set threshold. During the process of the first laser probe moving in the opposite direction of the first preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the second coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to return to the initial position. The first laser probe is controlled to move along a second preset trajectory in a plane directly above the theoretical position, starting from the initial position; During the process of the first laser probe moving along the second preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the third coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the second preset trajectory. During the process of the first laser probe moving in the opposite direction of the second preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the fourth coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to return to the initial position. The first laser probe is controlled to move along a third preset trajectory in a plane directly above the theoretical position, starting from the initial position; During the movement of the first laser probe along the third preset trajectory, when the data detected by the first laser sensor associated with the first laser probe meets the first preset condition, the fifth coordinate of the current position of the first laser probe is recorded, and the first laser probe is controlled to move in the opposite direction of the second preset trajectory. During the process of the first laser probe moving in the opposite direction of the third preset trajectory, when the data detected by the first laser sensor meets the first preset condition, the sixth coordinate of the current position of the first laser probe is recorded. The positional tolerance of the shoulder skeleton connection hole is determined based on the first coordinate, second coordinate, third coordinate, fourth coordinate, fifth coordinate, sixth coordinate and the theoretical position; Wherein, the angle between any two of the first preset trajectory, the second preset trajectory and the third preset trajectory is 120°.

2. The method for detecting the dummy thoracic skeleton according to claim 1, characterized in that, The determination of the positional tolerance of the shoulder frame connection hole based on the first coordinate, second coordinate, third coordinate, fourth coordinate, fifth coordinate, sixth coordinate, and the theoretical position includes: Construct multiple auxiliary circles based on the first, second, third, fourth, fifth, and sixth coordinates; The positional tolerance of the shoulder skeleton connecting hole is determined based on the distance between the center of the plurality of auxiliary circles and the theoretical position, or based on the difference between the radius of the plurality of auxiliary circles and the theoretical radius.

3. The method for detecting the dummy thoracic skeleton according to claim 1, characterized in that, Also includes: The second laser probe is controlled to move along a fourth preset trajectory to determine the coordinates of multiple measurement points on a first plane and a second plane that intersect vertically on the front side of the dummy's thoracic skeleton. Based on the coordinates of the multiple measurement points, plane fitting is performed using the overall least squares method to obtain two fitting planes; The angle between the two fitted planes is defined as the angle between the first plane and the second plane; The number of measurement points is 60, the number of measurement points located on the first plane is 36, the number of measurement points located on the second plane is 24, the movement stroke of the second laser probe corresponding to the first plane is 90mm, the movement stroke of the second laser probe corresponding to the second plane is 60mm, and the fourth preset trajectory includes 4 sub-trajectories, the direction of each sub-trajector being from the lumbar spine mounting point of the dummy's thoracic skeleton to the shoulder skeleton mounting point.

4. The method for detecting the dummy thoracic skeleton according to claim 1, characterized in that, Also includes: The third laser probe is controlled to move along the fifth preset trajectory. During the movement, the coordinates of the third laser probe and the detection data of the third laser sensor associated with the third laser probe are recorded to determine the coordinates of the farthest point and the closest point on the third plane of the dummy thoracic skeleton from the reference plane. The fifth preset trajectory includes three horizontal sub-trajectories and three vertical sub-trajectories. In the same spatial coordinate system, calculate the first enclosing plane that passes through the farthest point and is parallel to the reference plane, and the second enclosing plane that passes through the farthest point and is parallel to the reference plane. The parallelism of the third plane is determined based on the first and second enclosing planes using the minimum enclosing region method.

5. A device for detecting a dummy thoracic skeleton, used to perform the detection method for a dummy thoracic skeleton according to any one of claims 1-4, characterized in that, include: The experimental table, the positioning fixture fixed on the experimental table for positioning the thoracic skeleton of the dummy, and the slide rails on both sides of the positioning fixture. The positioning fixture includes a positioning pin and a positioning plane that are adapted to the dummy thoracic skeleton. When the dummy thoracic skeleton is installed in the positioning fixture, the reference plane of the dummy thoracic skeleton forms a 90° angle with the base of the positioning fixture. Each slide rail is equipped with multiple limit pins and / or limit blocks for positioning the slide table moving on the slide rail; A vertical beam is provided on the slide platform, and a third laser probe is provided on the vertical beam. The third laser probe is used to emit a laser to the third plane of the dummy's thoracic skeleton to detect the parallelism of the third plane. The slide platform moves the third laser probe through the vertical beam. A crossbeam is provided between the two vertical beams, and a second laser probe is provided on the crossbeam. The second laser probe is used to project a first plane and a second plane that intersect vertically on the front side of the dummy's thoracic skeleton.

6. The apparatus according to claim 5, characterized in that, Also includes: A first laser probe, corresponding to the shoulder skeleton connection hole of the dummy's thoracic skeleton, is used to detect the position accuracy of the shoulder skeleton connection hole of the dummy's thoracic skeleton.

7. The apparatus according to claim 5, characterized in that, The positioning fixture is fixed to the experimental platform by bolts, and the slide rail is fixed to the experimental platform by bolts.

8. The apparatus according to claim 5, characterized in that, The slide table moves on the slide rail by a lead screw driven by a motor.

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