Ergonomics evaluation method, device and equipment for rescue worker protective clothing and medium

Abstract

The invention relates to the technical field of safety protection, and discloses a method, a device, equipment and a medium for evaluating the work efficiency of protective clothing for rescue workers. The method comprises the following steps: acquiring spatial position and direction data of each joint of a rescue worker in a movement process when the rescue worker wears protective clothing to execute different rescue tasks; establishing a kinematic model of the rescuer in the movement process to obtain a joint angle, a joint speed, a joint acceleration, a joint angular speed and a joint angular acceleration of each joint of the rescuer in the movement process; establishing a dynamical model of the rescuer in the movement process to obtain the joint force and the joint torque of each joint of the rescuer in the movement process; according to the change conditions of the joint force and the joint torque of each joint of the rescue worker in the movement process, the flexibility degree of each joint is determined, and the working efficiency performance of the protective clothing of the rescue worker is effectively evaluated through the flexibility degree of each joint.

Description

Technical Field

[0001] The present invention relates to the field of safety protection technology, and in particular to a method, device, equipment and medium for evaluating the ergonomics of protective clothing for rescuers. Background Art

[0002] Rescuers face various dangers when performing their tasks, such as fire, high temperature, toxic gas, etc. Therefore, protective clothing is crucial to the safety of rescuers. Protective clothing must not only provide effective protection, but also ensure the freedom of movement and comfort of rescuers when wearing it.

[0003] However, traditional protective clothing design focuses mainly on protective performance and often ignores ergonomics. Ergonomics evaluation aims to analyze the impact of protective clothing on rescuers' activities and operations, thereby optimizing protective clothing design and improving rescue efficiency and personnel comfort. Therefore, the evaluation of protective clothing ergonomics performance is particularly important. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device, equipment and medium for evaluating the ergonomics of protective clothing for rescuers, which can realize effective evaluation of the ergonomics performance of protective clothing for rescuers.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method for evaluating the ergonomics of protective clothing for rescuers, comprising the following steps:

[0006] Obtain the spatial position and direction data of each joint of the rescuer during the movement when the rescuer is wearing protective clothing and performing different rescue tasks;

[0007] According to the limb movement and posture changes of the rescuer during the movement process reflected by the spatial position and direction data of each joint of the rescuer, a kinematic model of the rescuer during the movement process is established, and the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process are obtained through the kinematic model of the rescuer;

[0008] According to the rescuer's movement trajectory during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, a dynamic model of the rescuer during the movement process is established, and the joint force and joint torque of each joint of the rescuer during the movement process are obtained through the dynamic model of the rescuer;

[0009] According to the changes in joint force and joint torque of each joint of the rescuer during movement, the flexibility of each joint is determined, and the ergonomic performance of the rescuer's protective clothing is evaluated based on the flexibility of each joint.

[0010] In some optional embodiments, the kinematic model of the rescuer is used to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement, including:

[0011] Determine the position and posture of each joint based on the spatial position and orientation data of each joint;

[0012] According to the limb movement and posture changes of the rescuer during the movement reflected by the position and posture of each joint, the kinematic model is subjected to inverse kinematics analysis to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the movement.

[0013] In some optional embodiments, each joint and the connecting rod connecting the joints in the kinematic model are described using the DH parameter method.

[0014] In some optional embodiments, the dynamic model of the rescuer during the movement process is established according to the movement trajectory of the rescuer during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, including:

[0015] Using the Newton-Euler equation method, the dynamic model is established through the following steps:

[0016] Taking the rescuer's joints as rigid bodies, determine the mass, inertia tensor, center of mass position, and geometric dimensions of each rigid body;

[0017] Establish a local coordinate system for each rigid body and determine the position and direction of the local coordinate system relative to the pre-established global coordinate system;

[0018] Taking the center of mass of the rescuer as the root node, the linear velocity, angular velocity, linear acceleration and angular acceleration of each rigid body are calculated in sequence from the root node;

[0019] Take any joint of the rescuer as the end node, and calculate the force and torque of each rigid body in sequence starting from the end node;

[0020] Combining the forces and moments of each rigid body, a dynamic model of the rescuer is established.

[0021] In some optional embodiments, the dynamic model of the rescuer during the movement process is established according to the movement trajectory of the rescuer during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, including:

[0022] Using the Lagrange equation method, the dynamic model is established through the following steps:

[0023] Determine generalized coordinates and corresponding generalized velocities used to describe the rescuer's position;

[0024] Define the kinetic and potential energies of the rescuer to construct the Lagrangian equations;

[0025] Applying the Lagrangian equations to each generalized coordinate, solving the generalized forces generated by the non-conservative forces in multiple Lagrangian equations to obtain a system of differential equations obtained from multiple Lagrangian equations;

[0026] The dynamic model of the rescuer is obtained through a system of differential equations obtained from multiple Lagrangian equations.

[0027] In some optional embodiments, the obtaining of the joint force and joint torque of each joint of the rescuer during the movement through the dynamic model of the rescuer includes:

[0028] According to the motion trajectory of the rescuer, the inverse dynamics analysis is performed on the dynamic model to obtain the joint force and joint torque of each joint during the motion process.

[0029] In some optional embodiments, the evaluation of the ergonomic performance of the protective clothing for rescuers includes:

[0030] According to the kinetic energy and potential energy of each joint during the movement, determine the energy consumption of each joint during the movement;

[0031] The ergonomic performance of the rescue workers' protective clothing is evaluated by the flexibility and energy consumption of each joint during movement.

[0032] An embodiment of the present invention further provides a device for evaluating the ergonomics of protective clothing for rescuers, comprising:

[0033] The data acquisition module is used to obtain the spatial position and direction data of each joint of the rescuer during the movement when the rescuer wears protective clothing to perform different rescue tasks;

[0034] The kinematic analysis module is used to establish a kinematic model of the rescuer during the movement process based on the rescuer's limb movement and posture changes reflected by the spatial position and direction data of each joint of the rescuer, and obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process through the rescuer's kinematic model;

[0035] The dynamics analysis module is used to establish a dynamics model of the rescuer during the movement process according to the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, and obtain the joint force and joint torque of each joint of the rescuer during the movement process through the dynamics model of the rescuer;

[0036] The ergonomics evaluation module is used to determine the flexibility of each joint according to the changes in joint force and joint torque of each joint of the rescuer during movement, and to evaluate the ergonomic performance of the rescuer's protective clothing based on the flexibility of each joint.

[0037] An embodiment of the present invention also provides a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned method for evaluating the ergonomics of protective clothing for rescuers.

[0038] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned method for evaluating the ergonomics of protective clothing for rescuers.

[0039] The method for evaluating the ergonomics of protective clothing for rescuers provided by the present invention has at least the following beneficial effects:

[0040] Firstly, the spatial position and orientation data of each joint of the rescuers during the movement are obtained when the rescuers are wearing protective clothing to perform different rescue tasks. The spatial position and orientation data of all joints can reflect the limb movements and posture changes of the rescuers during the movement. Based on this, a kinematic model of the rescuers during the movement can be established, and then the dynamic model of the rescuers can be established according to the kinematic parameters obtained by solving the kinematic model.

[0041] By establishing kinematic and dynamic models, the movement process of rescuers in actual rescue missions can be dynamically simulated. Among them, the kinematic model focuses on describing the changes in the joint angles of rescuers, while the dynamic model focuses on the mechanical parameters involved in the movement process, such as joint force and joint torque. Combined with the changes in the joint angles, joint forces and joint torques of each joint during the movement process, the flexibility of each joint can be determined, thereby evaluating the ergonomic performance of the rescuers' protective clothing and judging their freedom of movement and comfort when wearing protective clothing. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0043] Figure 1 is a flow chart of a method for evaluating the ergonomics of protective clothing for rescuers provided according to an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of ergonomic evaluation of a protective clothing provided according to an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of a device for evaluating the ergonomics of protective clothing for rescuers provided according to an embodiment of the present invention;

[0046] Figure 4 It is a structural schematic diagram of a computer device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0048] An embodiment of the present invention relates to a method for evaluating the ergonomics of protective clothing for rescuers. The implementation details of the method for evaluating the ergonomics of protective clothing for rescuers in this embodiment are specifically described below. The following content is only the implementation details provided for ease of understanding and is not necessary for implementing this solution.

[0049] The specific process of the method for evaluating the ergonomics of protective clothing for rescuers in this embodiment can be as follows: Figure 1 As shown, including:

[0050] Step 101, obtaining the spatial position and direction data of each joint of the rescuer during the movement when the rescuer wears protective clothing to perform different rescue tasks.

[0051] Specifically, when rescuers wear protective clothing to perform different rescue tasks, they will perform actions such as carrying objects, crossing obstacles, and going up and down stairs, which are typical actions of rescuers in rescue tasks. These actions are regarded as the movement process of rescuers wearing protective clothing to perform different rescue tasks. By obtaining the spatial position and direction data of each joint of the rescuers during the movement process when the rescuers wear protective clothing to perform different rescue tasks, the limb movements and posture changes of the rescuers in different movement scenes can be captured.

[0052] Step 102, based on the limb movements and posture changes of the rescuer during the movement reflected by the spatial position and direction data of each joint of the rescuer, a kinematic model of the rescuer during the movement is established, and the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement are obtained through the kinematic model of the rescuer.

[0053] Specifically, since forward kinematics analysis refers to solving the joint position and posture (which can be reflected by the spatial position and direction data of each joint) with known parameters such as joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration, and inverse kinematics analysis is to solve the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration with given joint position and posture, therefore, in this embodiment, the position and posture of each joint is determined according to the three-dimensional spatial coordinates of each joint, and the kinematic model is subjected to inverse kinematics analysis according to the position and posture of each joint to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the movement.

[0054] Step 103, based on the motion trajectory of the rescuer during the motion process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the motion process, a dynamic model of the rescuer during the motion process is established, and the joint force and joint torque of each joint of the rescuer during the motion process are obtained through the dynamic model of the rescuer.

[0055] Specifically, the forward problem of dynamics refers to solving the parameters such as the velocity and acceleration of each joint when the joint forces or joint torques of the rescuer are known, and obtaining the motion trajectory of the rescuer. The inverse problem of dynamics refers to solving the joint forces or joint torques of each joint when the parameters such as the velocity and acceleration of each joint of the rescuer are known. Therefore, this embodiment can determine the motion trajectory of the rescuer according to the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the motion process, and perform inverse dynamics analysis on the dynamic model according to the motion trajectory of the rescuer to obtain the joint forces and joint torques of each joint during the motion process.

[0056] In a specific implementation, when establishing a dynamic model of the rescuer's movement process based on the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the movement, the Newton-Euler equation method or the Lagrange equation method can be used.

[0057] Among them, the Newton-Euler equation method is a dynamic analysis method based on classical mechanics, which is widely used in robot dynamics and multi-rigid body systems. This method is based on Newton's laws of motion and Euler's laws of rotation. It effectively calculates the forces and torques of each rigid body in the system through a recursive algorithm. The specific solution steps are as follows:

[0058] (1) Determine the rigid body parameters: Determine the mass m, inertia tensor I, center of mass position rc, geometric dimensions and other parameters of each rigid body in the system.

[0059] (2) Establish a coordinate system: Establish a local coordinate system for each rigid body and determine its position and orientation relative to the global coordinate system.

[0060] (3) Forward iterative calculation of velocity and acceleration: Starting from the root node (base), the linear velocity and angular velocity, as well as the linear acceleration and angular acceleration of each rigid body are calculated in turn.

[0061] Linear speed v i :v i =v i-1 +ω i-1 × i +r i ;

[0062] In the formula, v i is the linear velocity of the ith rigid body; ω i-1 is the angular velocity of the i-1th rigid body; r i It is a relative position.

[0063] Angular velocity ω i :

[0064] In the formula, is the angular velocity.

[0065] Linear acceleration a i :

[0066] In the formula, a i is the linear acceleration of the ith rigid body; α i-1 is the angular acceleration of the i-1th rigid body.

[0067] Angular acceleration α i :

[0068] In the formula, is the angular acceleration

[0069] (4) Reverse iterative calculation of forces and moments: Starting from the end node, calculate the forces and moments of each rigid body in turn.

[0070] Force equation f i :f i =m i a i ;

[0071] In the formula, f i is the force of the ith rigid body; m i It's quality.

[0072] Torque equation τ i :τ i =I i α i +ω i ×(I i ω i );

[0073] In the formula, τ i is the moment of the ith rigid body; I i is the moment of inertia.

[0074] Combined Force F i : F i =F i+1 +f i ;

[0075] In the formula, F i+1 is the resultant force of the i+1th rigid body.

[0076] Resultant moment: τ i =τ i+1 +r i ×f i +τ i ;

[0077] In the formula, τ i+1 is the resultant moment of the i+1th rigid body.

[0078] (5) Constructing the dynamic equation: Combine the force and torque equations of each rigid body to construct the dynamic equation of the system, that is, the dynamic model of the rescuer during the movement process.

[0079] The Lagrange equation method is a dynamic analysis method based on the energy method. It is widely applicable to multi-degree-of-freedom systems and systems with complex constraints. This method constructs the Lagrange function of the system (that is, the difference between the kinetic energy and potential energy of the system) and applies the Lagrange equation to derive the dynamic equation of the system. The basic calculation steps include:

[0080] (1) Determine the generalized coordinates and generalized velocity: Determine the generalized coordinates q that describe the position of the system i and the corresponding generalized velocity

[0081] (2) Construct Lagrangian function: define the kinetic energy and potential energy of the system and construct the Lagrangian equation L = T - V;

[0082] (3) Apply the Lagrange equation:

[0083] Apply the Lagrange equations to each generalized coordinate qi

[0084] Where Qi is the generalized force generated by non-conservative force;

[0085] (4) Solving the dynamic equations: Solve the differential equations obtained from the Lagrange equations to obtain the system's motion equations, that is, the dynamic model of the rescue personnel during their movement.

[0086] Step 104, according to the changes in the joint force and the changes in the joint torque of each joint of the rescuer during the movement, the flexibility of each joint is determined, and the ergonomic performance of the rescuer's protective clothing is evaluated through the flexibility of each joint.

[0087] Specifically, by analyzing the joint force and joint torque of each joint during the movement, the curves of joint angle-time, joint force-time and joint torque-time are drawn. Based on this, the changes in the joint angle, joint force and joint torque of each joint during the movement can be determined, and then the impact of the protective clothing on the joint burden can be analyzed, the joint flexibility can be analyzed, and the comfort of the protective clothing in actual use can be comprehensively evaluated in combination with the subjective comfort evaluation. At the same time, the changes in the kinetic energy and potential energy of the rescuers can also be analyzed, and their energy consumption can be evaluated to reveal the metabolic level of the firefighters during the execution of the task, so as to evaluate the ergonomic performance of the rescuers' protective clothing in combination with the joint flexibility and energy consumption of the rescuers during the movement.

[0088] It can be understood that the protective clothing described in this embodiment can be various types of protective clothing, so as to achieve various types of protective clothing ergonomics evaluation, such as Figure 2 Ergonomics evaluation of protective clothing including basic clothing, fire-fighting protective clothing, semi-enclosed chemical protective clothing and fully enclosed chemical protective clothing as shown.

[0089] In this embodiment, first, the spatial position and direction data of each joint of the rescuer during the movement process are obtained when the rescuer wears protective clothing to perform different rescue tasks. The spatial position and direction data of all joints can reflect the limb movement and posture changes of the rescuer during the movement process. Based on this, a kinematic model of the rescuer during the movement process can be established, and then the dynamic model of the rescuer can be established according to the kinematic parameters obtained by solving the kinematic model. By establishing kinematic and dynamic models, the movement process of the rescuer in the actual rescue mission can be dynamically simulated. Among them, the kinematic model focuses on describing the changes in the joint angles of the rescuer, while the dynamic model focuses on the mechanical parameters involved in the movement process, such as joint force and joint torque. Combined with the changes in the joint angles, joint forces and joint torques of each joint during the movement process, the flexibility of each joint can be determined, thereby evaluating the ergonomic performance of the rescuer's protective clothing and judging their freedom of movement and comfort when wearing protective clothing.

[0090] In one embodiment, it is assumed that rescuers need to go up stairs, through narrow passages, carry heavy objects, and avoid obstacles when entering a firefighting rescue scenario. The ambient temperature is about 50℃ and the humidity is 60%. The three-dimensional spatial position coordinates and direction data of each joint are obtained through a three-dimensional motion capture system. The kinematic model is input to obtain parameters such as joint angles. The joint angles are input into a dynamic model to obtain dynamic parameters such as joint force and joint torque. Images are drawn and the typical actions of firefighters under different tasks are analyzed to analyze the effects of joint range of motion, flexibility, and subjective comfort on ergonomic performance. The results are as follows: In the inclined stair task, the protective clothing has a certain restriction on the range of motion of the firefighters' knee and ankle joints, resulting in an increase of about 10% in the gait cycle when going up stairs; in the task of passing through narrow passages, the weight and structure of the protective clothing restrict the firefighters' low-posture movement, which reduces the range of motion of the waist and hip joints by about 15%, resulting in an increase in the time to pass through the passage; in the task of carrying heavy objects, the protective clothing increases the energy consumption of the firefighters' upper limbs, especially the torque of the shoulder and elbow joints increases by about 20%, but the protective clothing effectively prevents the risk of injury that may be caused by excessive force on the shoulder joint.

[0091] It can be seen that the ergonomics evaluation method of the protective clothing for rescuers of the present invention can achieve the following functions:

[0092] (1) High-precision motion capture: The three-dimensional motion capture system can accurately record the movements of rescuers. The system places multiple high-precision sensors on the rescuers to capture and record their various movements and postures when performing tasks. These sensors can track the movement of each joint of the rescuers in real time in three-dimensional space and obtain position information with millimeter-level accuracy. With these data, the impact of protective clothing on human movement in different working environments can be fully analyzed. For example, in high-intensity physical labor or complex rescue environments, the motion capture system can accurately capture the limb movements and posture changes of the rescuers and identify the restrictions or discomfort that the protective clothing may cause to specific movements. Through this high-precision and comprehensive motion capture technology, researchers can identify and improve deficiencies in the design of protective clothing, thereby further improving the comfort, flexibility and safety of protective clothing.

[0093] (2) Dynamic simulation analysis: By establishing kinematic and dynamic models, the movement process of rescuers in actual rescue missions can be dynamically simulated. The kinematic model focuses on describing the limb movements and joint angle changes of rescuers, while the dynamic model focuses on the mechanical parameters involved in the movement process, such as muscle strength, ground reaction force, etc. Combining these models, researchers can simulate the complex movement scenarios of rescuers when performing different tasks, such as climbing, carrying heavy objects, and crossing obstacles.

[0094] (3) This dynamic simulation analysis can not only predict the performance of protective clothing in actual operations, but also evaluate its protective effect in extreme environments. By simulating movement under extreme conditions, such as high temperature, smoke and other harsh environments, we can further understand the protective ability of protective clothing for the human body and the performance degradation that may occur under these conditions. By analyzing the simulation results, researchers can identify potential problems of protective clothing in extreme environments and make improvement suggestions accordingly. Ultimately, this method can significantly improve the design of protective clothing, enabling it to provide better protection and support in actual rescue missions.

[0095] The step division of the various methods above is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the protection scope of the present invention. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the protection scope of the invention.

[0096] Another embodiment of the present invention relates to a device for evaluating the ergonomics of protective clothing for rescuers. The implementation details of the device for evaluating the ergonomics of protective clothing for rescuers in this embodiment are described in detail below. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for the implementation of this solution. The schematic diagram of the device for evaluating the ergonomics of protective clothing for rescuers in this embodiment can be as follows: Figure 3 As shown, it includes: a data acquisition module 301, a kinematic analysis module 302, a dynamic analysis module 303 and an ergonomics evaluation module 304.

[0097] Specifically, the data acquisition module 301 is used to obtain the spatial position and direction data of each joint of the rescuer during the movement when the rescuer wears protective clothing to perform different rescue tasks.

[0098] The kinematic analysis module 302 is used to establish a kinematic model of the rescuer during the movement process based on the limb movements and posture changes of the rescuer during the movement process reflected by the spatial position and direction data of each joint of the rescuer, and obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement through the kinematic model of the rescuer.

[0099] The dynamic analysis module 303 is used to establish a dynamic model of the rescuer during the movement process according to the motion trajectory of the rescuer during the movement reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, and obtain the joint force and joint torque of each joint of the rescuer during the movement process through the dynamic model of the rescuer.

[0100] The ergonomics evaluation module 304 is used to determine the flexibility of each joint according to the changes in the joint force and the changes in the joint torque of each joint of the rescuer during the movement, and to evaluate the ergonomics performance of the rescuer's protective clothing through the flexibility of each joint.

[0101] It is not difficult to find that this embodiment is a device embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above embodiment.

[0102] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in this embodiment.

[0103] Another embodiment of the present invention relates to a computer device, such as Figure 4 As shown, it includes: at least one processor 401; and a memory 402 that is communicatively connected to the at least one processor 401; wherein the memory 402 stores instructions that can be executed by the at least one processor 401, and the instructions are executed by the at least one processor 401 so that the at least one processor 401 can execute the ergonomics evaluation method of the protective clothing for rescue personnel in the above-mentioned embodiments.

[0104] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0105] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0106] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0107] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as: ROM), random access memory (Random Access Memory, referred to as: RAM), disk or optical disk and other media that can store program codes.

[0108] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for evaluating the ergonomics of protective clothing for rescuers, characterized in that: include: Obtain the spatial position and direction data of each joint of the rescuer during the movement when the rescuer is wearing protective clothing and performing different rescue tasks; According to the limb movement and posture changes of the rescuer during the movement process reflected by the spatial position and direction data of each joint of the rescuer, a kinematic model of the rescuer during the movement process is established, and the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process are obtained through the kinematic model of the rescuer; According to the rescuer's movement trajectory during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, a dynamic model of the rescuer during the movement process is established, and the joint force and joint torque of each joint of the rescuer during the movement process are obtained through the dynamic model of the rescuer; According to the changes in joint force and joint torque of each joint of the rescuer during movement, the flexibility of each joint is determined, and the ergonomic performance of the rescuer's protective clothing is evaluated based on the flexibility of each joint.

2. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 1, characterized in that: The kinematic model of the rescuer is used to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement, including: Determine the position and posture of each joint based on the spatial position and orientation data of each joint; According to the limb movement and posture changes of the rescuer during the movement reflected by the position and posture of each joint, the kinematic model is subjected to inverse kinematics analysis to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the movement.

3. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 2, characterized in that: Each joint and the connecting rod connecting the joints in the kinematic model are described by the DH parameter method.

4. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 1, characterized in that: The method of establishing a dynamic model of the rescuer during the movement process according to the movement trajectory of the rescuer during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process includes: Using the Newton-Euler equation method, the dynamic model is established through the following steps: Taking the rescuer's joints as rigid bodies, determine the mass, inertia tensor, center of mass position, and geometric dimensions of each rigid body; Establish a local coordinate system for each rigid body and determine the position and direction of the local coordinate system relative to the pre-established global coordinate system; Taking the center of mass of the rescuer as the root node, the linear velocity, angular velocity, linear acceleration and angular acceleration of each rigid body are calculated in sequence from the root node; Take any joint of the rescuer as the end node, and calculate the force and torque of each rigid body in sequence starting from the end node; Combining the forces and moments of each rigid body, a dynamic model of the rescuer is established.

5. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 1, characterized in that: The method of establishing a dynamic model of the rescuer during the movement process according to the movement trajectory of the rescuer during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process includes: Using the Lagrange equation method, the dynamic model is established through the following steps: Determine generalized coordinates and corresponding generalized velocities used to describe the rescuer's position; Define the kinetic and potential energies of the rescuer to construct the Lagrangian equations; Applying the Lagrangian equations to each generalized coordinate, solving the generalized forces generated by the non-conservative forces in multiple Lagrangian equations to obtain a system of differential equations obtained from multiple Lagrangian equations; The dynamic model of the rescuer is obtained through a system of differential equations obtained from multiple Lagrangian equations.

6. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 4 or 5, characterized in that: The method of obtaining the joint force and joint torque of each joint of the rescuer during the movement by using the dynamic model of the rescuer includes: According to the motion trajectory of the rescuer, the inverse dynamics analysis is performed on the dynamic model to obtain the joint force and joint torque of each joint during the motion process.

7. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 5, characterized in that: The evaluation of the ergonomic performance of the protective clothing for rescuers includes: According to the kinetic energy and potential energy of each joint during the movement, determine the energy consumption of each joint during the movement; The ergonomic performance of the rescue workers' protective clothing is evaluated by the flexibility and energy consumption of each joint during movement.

8. A device for evaluating the ergonomics of protective clothing for rescuers, characterized in that: include: The data acquisition module is used to obtain the spatial position and direction data of each joint of the rescuer during the movement when the rescuer wears protective clothing to perform different rescue tasks; The kinematic analysis module is used to establish a kinematic model of the rescuer during the movement process based on the rescuer's limb movement and posture changes reflected by the spatial position and direction data of each joint of the rescuer, and obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process through the rescuer's kinematic model; The dynamics analysis module is used to establish a dynamics model of the rescuer during the movement process according to the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, and obtain the joint force and joint torque of each joint of the rescuer during the movement process through the dynamics model of the rescuer; The ergonomics evaluation module is used to determine the flexibility of each joint according to the changes in joint force and joint torque of each joint of the rescuer during movement, and to evaluate the ergonomic performance of the rescuer's protective clothing based on the flexibility of each joint.

9. A computer device, characterized in that: include: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for evaluating the ergonomics of protective clothing for rescuers as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for evaluating the ergonomics of protective clothing for rescuers according to any one of claims 1 to 7 is implemented.

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