Fixed large-area motion monitoring equipment

Abstract

The utility model discloses fixed type large-area motion monitoring equipment which comprises a motion capture camera and a gait monitoring platform. A measured object is located on the gait monitoring platform; the plurality of motion capture cameras are fixed on a wall body through a welding frame, and the motion capture cameras are used for measuring the motion trail of a measured object in a three-dimensional space in real time; the gait monitoring platform is formed by splicing a plurality of gait monitoring modules; each gait monitoring module comprises a flexible pressure sensor and a biomechanical force measuring table; the biomechanical force measuring table is composed of an insulating plate and a three-dimensional force frame. The three-dimensional force frame comprises a top-layer rack, a bottom-layer rack, a base plate, a wiring plate, a leveling structure and a three-dimensional force sensor. The device is composed of the motion capture camera, the flexible pressure sensor and the biomechanical force measuring table, complete motion parameter information is obtained, and accurate collection of kinematics data such as walking and moving is achieved.

Description

Technical Field

[0001] The utility model relates to the field of biological motion monitoring, in particular to a fixed large-area motion monitoring device. Background Art

[0002] The analysis and application of motion monitoring platforms are still divided into two research directions: human motion posture and gait characteristics. Human motion posture analysis covers the fields of education and teaching, medical research, animation production, intelligent monitoring and virtual reality. At present, the research on human motion posture mainly includes the motion analysis of the upper and lower limbs of the human body (gait analysis), as well as the motion analysis of human expressions. Gait characteristics can be used to discover walking patterns, reveal the causes of gait abnormalities, and evaluate rehabilitation status. They have been widely used in motion measurement, functional evaluation, medical rehabilitation and disease.

[0003] Commonly used gait analysis systems include three categories: portable sensors, visual analysis systems, and force plates. The information obtained by the above-mentioned single systems and devices for testing and analyzing kinematic information cannot fully reflect the movement characteristics during exercise, and it is difficult to fully and accurately understand the essential laws of athletes' movement parameters. In addition, the existing sports monitoring systems have certain limitations and can only be used to monitor athletes' static, walking, and weight-bearing parameters. They have large testing limitations, cannot meet the test requirements, and cannot provide complete characteristic parameters. Utility Model Content

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the utility model is to provide a fixed large-area motion monitoring device.

[0005] The technical solution of the utility model to solve the technical problem is to provide a fixed large-area motion monitoring device, characterized in that the device includes a motion capture camera and a gait monitoring platform;

[0006] The object to be measured is located on the gait monitoring platform; a number of motion capture cameras are fixed on the wall through a welding frame, and the motion capture cameras are used to measure the motion trajectory of the object to be measured in three-dimensional space in real time;

[0007] The gait monitoring platform is composed of several gait monitoring modules; each gait monitoring module includes a flexible pressure sensor and a biomechanical force platform; the biomechanical force platform is composed of an insulating plate and a three-dimensional force frame; the three-dimensional force frame includes a top frame, a bottom frame, a pad, a wiring board, a leveling structure and a three-dimensional force sensor;

[0008] A number of three-dimensional force sensors are fixed on the table top of the bottom stage; a number of leveling structures are connected to the top stage at the top, and are connected to their respective three-dimensional force sensors at the bottom, thereby connecting the top stage and the bottom stage to form a whole; the top stage is kept horizontal by adjusting the leveling structure; a number of pads are fixed to the bottom surface of the bottom stage; the pads are fixed to the ground; convex structure positioning blocks and concave structure positioning blocks are fixed to the side walls of the bottom stage, and a number of three-dimensional force frames are spliced ​​into a whole by the coordinated connection of the convex structure positioning blocks and the concave structure positioning blocks; a wiring board is fixed to the table top of the bottom stage for placing wiring; an insulating board is fixed to the table top of each top stage; and a flexible pressure sensor is fixed to each insulating board.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] (1) The utility model is composed of a motion capture camera, a flexible pressure sensor and a biomechanical force platform, which can obtain complete motion parameter information, solve the shortcomings of a single test system, inconvenient instrument coordination, incomplete human motion posture parameters, and complex analysis process, and realize the accurate collection of kinematic data such as walking and moving.

[0011] (2) The utility model adopts a leveling structure, and through the adjustment of the leveling structure, the top platform is kept in a horizontal state, thereby ensuring the structural stability and safety of the three-dimensional force frame.

[0012] (3) The utility model adopts multiple high-precision motion capture cameras and multiple gait monitoring modules to realize the collection of high-precision real-time three-dimensional motion data, support real-time online or offline motion capture and analysis, and study the parameters such as the human body's walking speed, step frequency, step length, gait cycle, gait phase, position information and path shape in various movements. A set of human body movement posture, plantar pressure image and data testing and analysis system is established to continuously collect and process the precise three-dimensional coordinates of human body joints, pressure images of the entire movement gait process, and spatial three-dimensional force data, thereby realizing the testing and analysis of human body movement posture and parameters.

[0013] (4) The utility model has the characteristics of wide area and large space. It is the largest motion monitoring equipment so far. It can perform various motion data analysis, obtain complete motion parameter information, and form a complete motion test and analysis system, providing data analysis templates and parameter indicator systems for application research based on motion mechanics. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 It is an exploded schematic diagram of the gait monitoring module of the present utility model;

[0016] Figure 3 This is an exploded schematic diagram of the flexible pressure sensor of the utility model;

[0017] Figure 4 It is a structural schematic diagram of the three-dimensional force frame of the utility model;

[0018] Figure 5 It is a schematic diagram of the installation of the leveling structure of the utility model.

[0019] In the figure, the object to be measured 1, the motion capture camera 2, the welding frame 3, the flexible pressure sensor 4, the insulating board 5, the three-dimensional force frame 6, the top stage 7, the bottom stage 8, the pad 9, the convex structure positioning block 10, the concave structure positioning block 11, the wiring board 12, the adjustment nut 13, the stud 14, the top frame connecting block 15, the fixing nut 16, the ball fixing sleeve 17, the threaded hole ball 18, the support seat 19, and the three-dimensional force sensor 20; the plastic sealing layer 4-1, the electrode layer 4-2, and the dielectric layer 4-3. DETAILED DESCRIPTION

[0020] The specific embodiments of the present invention are given below. The specific embodiments are only used to further illustrate the present invention in detail and do not limit the protection scope of the claims of the present invention.

[0021] The utility model provides a fixed large-area motion monitoring device (hereinafter referred to as the device), characterized in that the device comprises a motion capture camera 2 and a gait monitoring platform;

[0022] The object 1 to be measured is located on a gait monitoring platform; a plurality of motion capture cameras 2 are fixed on a wall through a welding frame 3, and the motion capture cameras 2 are used to measure, track, and record the motion trajectory of the object 1 in a three-dimensional space in real time to collect motion data;

[0023] The gait monitoring platform is composed of several gait monitoring modules; each gait monitoring module includes a flexible pressure sensor 4 and a biomechanical force platform; the biomechanical force platform is composed of an insulating plate 5 and a three-dimensional force frame 6; the three-dimensional force frame 6 includes a top frame 7, a bottom frame 8, a pad 9, a wiring board 12, a leveling structure and a three-dimensional force sensor 20;

[0024] Several three-dimensional force sensors 20 are fixed on the table top of the bottom platform 8; the top of several leveling structures are connected to the top platform 7, and the bottom is connected to the respective three-dimensional force sensors 20, thereby connecting the top platform 7 and the bottom platform 8 to form a whole; by adjusting the leveling structure, the top platform 7 is kept in a horizontal state, thereby ensuring the structural stability and safety of the three-dimensional force frame 6; several pads 9 are welded and fixed to the bottom surface of the bottom platform 8; the pads 9 are permanently bonded and fixed to the cement floor by epoxy grouting, thereby achieving the fixation of the entire gait monitoring platform; convex structure positioning blocks 10 and concave structure positioning blocks 11 are fixed on the side walls of the bottom platform 8, and several three-dimensional force frames 6 are spliced ​​into a whole by the matching connection of the convex structure positioning blocks 10 and the concave structure positioning blocks 11; a wiring board 12 is fixed on the table top of the bottom platform 8 for placing wiring; the insulating plate 5 is fixed to the table top of each top platform 7 by screws; the flexible pressure sensor 4 is fixed to the respective insulating plate 5 by double-sided tape.

[0025] Preferably, the motion capture cameras 2 (24 in this embodiment, 6 in each direction) are evenly distributed on the welding frame 3 to measure, track and record the motion trajectory of the object 1 in three-dimensional space in real time from four directions: front, back, left and right, and collect motion data.

[0026] Preferably, the motion capture camera 2 is located 4 m above the gait monitoring platform.

[0027] Preferably, the four three-dimensional force sensors 20 are distributed at the four corners of the table top of the bottom platform 8 .

[0028] Preferably, the three-dimensional force sensor 20 adopts a double-beam structure.

[0029] Preferably, four pads 9 are distributed at four corners of the bottom surface of the bottom platform 8 .

[0030] Preferably, the flexible pressure sensor 4 is a capacitive flexible pressure sensor, including a plastic sealing layer 4-1, an electrode layer 4-2 and a dielectric layer 4-3; the flexible pressure sensor 4 adopts a sandwich structure, which is composed of a plastic sealing layer 4-1, an electrode layer 4-2, a dielectric layer 4-3, an electrode layer 4-2 and a plastic sealing layer 4-1 package arranged in sequence from top to bottom.

[0031] Preferably, the material of the plastic sealing layer 4 - 1 is TPU thermoplastic polyurethane elastomer.

[0032] Preferably, the leveling structure includes an adjustment nut 13, a stud 14, a top frame connection block 15, a fixing nut 16, a ball fixing sleeve 17, a threaded hole ball 18 and a support seat 19;

[0033] The support seat 19 is fixed on the three-dimensional force sensor 20; the ball fixing sleeve 17 is fixed on the ball support seat 19, and a ball space is formed inside the two for installing the threaded hole ball 18; the threaded hole ball 18 is connected to the ball space formed by the ball fixing sleeve 17 and the support seat 19; the top frame connection block 15 is fixed on the top platform 7; the stud 14 passes through the top frame connection block 15 and is slidably installed in the top frame connection block 15; the stud 14 is threadedly installed with an adjustment nut 13 and a fixing nut 16, the adjustment nut 13 is located above the top surface of the top frame connection block 15, and the fixing nut 16 is located below the bottom surface of the top frame connection block 15, and the top frame connection block 15 is slid up and down along the stud 14 by adjusting the adjustment nut 13 and the fixing nut 16, thereby adjusting the distance between the top platform 7 and the bottom platform 8; the top of the ball fixing sleeve 17 is provided with a through hole; the stud 14 passes through the top through hole of the ball fixing sleeve 17, and the end is threadedly fixedly connected with the threaded hole ball 18. The threaded hole ball 18 plays a leveling role.

[0034] Preferably, the motion capture camera 2 uses an FPGA module to quickly process data through edge computing, supports operations to complete system calibration, correction, data acquisition, and export, supports long-term continuous data acquisition, supports real-time processing, and freely establishes data analysis modes and user-required models. It supports long-term continuous data acquisition and can provide a real-time SDK, which can import data into Matlab, C++, Linux, Simulink, etc. in real time. It is suitable for all kinds of real-time control systems that need to obtain instantaneous position and posture data, and can obtain high-precision six-degree-of-freedom data.

[0035] Preferably, the gait monitoring platform is composed of 81 gait monitoring modules of 1500mm×1500mm×181mm, with an overall area of ​​13500mm×13500mm. It is the largest sports monitoring equipment to date and can effectively measure the force information, torque information, pressure center, and power spectrum information between the human body and the table during various sports (running, artistic gymnastics, weightlifting, fencing, etc.).

[0036] Preferably, the flexible pressure sensor 4 is communicatively connected to the signal acquisition module; the three-dimensional force sensor 20 is communicatively connected to the hub; the motion capture camera 2, the signal acquisition module and the hub are all communicatively connected to the switch via cables; the switch is communicatively connected to the computer via optical fiber; all cables are placed on the wiring board 12.

[0037] The working principle and workflow of the utility model are:

[0038] By adjusting the leveling structure, the top platform 7 is kept in a horizontal state. After the leveling is completed, the test begins. The subject 1 puts on the motion capture suit (hat, top, pants, shoe covers), and then walks or moves on the gait monitoring platform. Through the motion capture suit on the subject 1, the flexible pressure sensor 4 and the three-dimensional force sensor 20 under the feet, the motion capture camera 2 obtains the motion posture data of the subject 1, the flexible pressure sensor 4 obtains the gait contact image of the subject 1, and the three-dimensional force sensor 20 obtains the mechanical information (i.e., vector contact force) of the subject 1. After the computer calculates the contact image of the subject 1, the three-dimensional force information (i.e., the component force and resultant force in the horizontal, vertical and longitudinal directions), the pressure spectrum (the distribution of force in the contact image between the moving object and the force platform), the maximum pressure (the value of the maximum force measured by the force platform), the pressure center trajectory (the trajectory formed by the pressure application point, also known as the COP trajectory), and other dynamic and static indicators, the complete posture parameter information of the human body during movement can be obtained. It is provided for analysis by scientific researchers and coaches, and provides data analysis templates and parameter indicator systems for application research based on gait kinematics.

[0039] Anything not described in the present invention is applicable to the prior art.

Claims

1. A fixed large-area motion monitoring device, characterized in that: The device includes a motion capture camera (2) and a gait monitoring platform; The object to be measured (1) is located on a gait monitoring platform; a plurality of motion capture cameras (2) are fixed on a wall through a welding frame (3), and the motion capture cameras (2) are used to measure the motion trajectory of the object to be measured (1) in three-dimensional space in real time; The gait monitoring platform is composed of a plurality of gait monitoring modules; each gait monitoring module comprises a flexible pressure sensor (4) and a biomechanical force measuring platform; the biomechanical force measuring platform comprises an insulating plate (5) and a three-dimensional force frame (6); the three-dimensional force frame (6) comprises a top frame (7), a bottom frame (8), a pad (9), a wiring board (12), a leveling structure and a three-dimensional force sensor (20); A plurality of three-dimensional force sensors (20) are fixed on the table top of the bottom table (8); a plurality of leveling structures are connected at the top to the top table (7) and at the bottom to the respective three-dimensional force sensors (20), thereby connecting the top table (7) and the bottom table (8) to form a whole; the top table (7) is kept in a horizontal state by adjusting the leveling structure; a plurality of pads (9) are fixed on the bottom surface of the bottom table (8); the pads (9) are fixed on the ground; a convex structure positioning block (10) and a concave structure positioning block (11) are fixed on the side wall of the bottom table (8), and a plurality of three-dimensional force frames (6) are spliced ​​into a whole by the matching connection of the convex structure positioning block (10) and the concave structure positioning block (11); a wiring board (12) is fixed on the table top of the bottom table (8) for placing wiring; an insulating board (5) is fixed on the table top of each top table (7); and a flexible pressure sensor (4) is fixed on each insulating board (5).

2. The fixed large-area motion monitoring device according to claim 1, characterized in that: The motion capture cameras (2) are evenly distributed on the welding frame (3) to measure the motion trajectory of the measured object (1) in three-dimensional space in real time from four directions: front, back, left, and right.

3. The fixed large-area motion monitoring device according to claim 1, characterized in that: The motion capture camera (2) is located 4m above the gait monitoring platform.

4. The fixed large-area motion monitoring device according to claim 1, characterized in that: Four three-dimensional force sensors (20) are distributed at the four corners of the table top of the bottom table frame (8).

5. The fixed large-area motion monitoring device according to claim 1, characterized in that: The three-dimensional force sensor (20) adopts a double-beam structure.

6. The fixed large-area motion monitoring device according to claim 1, characterized in that: Four pads (9) are distributed at the four corners of the bottom surface of the bottom platform (8).

7. The fixed large-area motion monitoring device according to claim 1, characterized in that: The flexible pressure sensor (4) comprises a plastic sealing layer (4-1), an electrode layer (4-2) and a dielectric layer (4-3); the flexible pressure sensor (4) is composed of a plastic sealing layer (4-1), an electrode layer (4-2), a dielectric layer (4-3), an electrode layer (4-2) and a plastic sealing layer (4-1) which are arranged in sequence from top to bottom.

8. The fixed large-area motion monitoring device according to claim 7, characterized in that: The material of the plastic sealing layer (4-1) is TPU thermoplastic polyurethane elastomer.

9. The fixed large-area motion monitoring device according to claim 1, characterized in that: The leveling structure comprises an adjusting nut (13), a stud (14), a top frame connecting block (15), a fixing nut (16), a ball fixing sleeve (17), a threaded hole ball (18) and a supporting seat (19); The support seat (19) is fixed on the three-dimensional force sensor (20); the ball fixing sleeve (17) is fixed on the ball support seat (19), and a ball space is formed inside the two for installing the threaded hole ball (18); the threaded hole ball (18) is connected to the ball space formed by the ball fixing sleeve (17) and the support seat (19); the top frame connecting block (15) is fixed on the top frame platform (7); the stud (14) passes through the top frame connecting block (15) and is slidably installed in the top frame connecting block (15); the stud (14) is threadedly installed with an adjusting nut (13) and a fixing nut (18). The adjusting nut (13) is located above the top surface of the top frame connection block (15), and the fixing nut (16) is located below the bottom surface of the top frame connection block (15). By adjusting the adjusting nut (13) and the fixing nut (16), the top frame connection block (15) can slide up and down along the stud (14), thereby adjusting the distance between the top platform (7) and the bottom platform (8); a through hole is opened at the top of the ball fixing sleeve (17); the stud (14) passes through the top through hole of the ball fixing sleeve (17), and the end is threadedly fixedly connected with the threaded hole ball (18).

10. The fixed large-area motion monitoring device according to claim 1, characterized in that: The gait monitoring platform is composed of 81 gait monitoring modules of 1500mm×1500mm×181mm, with an overall area of ​​13500mm×13500mm.

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