CN102621981A - Driven linear motion research system for small animal - Google Patents
Driven linear motion research system for small animal Download PDFInfo
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- CN102621981A CN102621981A CN201210079162XA CN201210079162A CN102621981A CN 102621981 A CN102621981 A CN 102621981A CN 201210079162X A CN201210079162X A CN 201210079162XA CN 201210079162 A CN201210079162 A CN 201210079162A CN 102621981 A CN102621981 A CN 102621981A
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Abstract
The invention discloses a driven linear motion research system for a small animal. The system comprises a small vehicle carrying tool, an oblong-shaped enclosed linear track, a main control computer, a nerve signal recorder and a video camera, wherein the small vehicle carrying tool is used for fixedly loading the small animal; an NXT automatic controller is carried on a vehicle body; anti-touch sensors are arranged at the front and back ends of the small vehicle carrying tool respectively; the small vehicle carrying tool moves in a reciprocating way in a track of the oblong-shaped enclosed linear track; the main control computer is used for receiving real-time information of the small vehicle carrying tool acquired by using the NXT automatic controller for displaying, monitoring and tracking, and is used for controlling and adjusting the motion of the small vehicle carrying tool through the NXT automatic controller according to the real-time information; the nerve signal recorder is connected with the small vehicle carrying tool, and is used for acquiring change information of a nerve signal of the small animal; and the video camera is used for acquiring video data information of an entire experimental process and transmitting to the main control computer for displaying. The system can be taken as a driven linear motion research platform for small animals, is easy and convenient to build, has high reliability, and is convenient to control.
Description
Technical field
The present invention relates to the passive straight line passive movement research of a kind of toy system.
Background technology
The people is doing passive movement, and the spatial cognition research of the people's during passive movement relevant brain region is extremely important.Owing to be confined to ethics and research means, correlative study in the past is main with scale mainly, can't do quantitative examination at neuroelectricity physiology level, has greatly limited the development of correlative study.
Summary of the invention
The object of the present invention is to provide the passive straight line passive movement research of a kind of toy system, aim to provide a kind of system that on neuroelectricity physiology level, quantitative examination is carried out in the toy passive movement.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts is following:
The passive rectilinear motion research of a kind of toy system comprises:
One is used for fixing the trolley type carrier that loads toy, is equipped with the NXT self-actuated controller on its car body, the rear and front end is separately installed with the touch-proof sensor;
One rectangular closed linear track is used for said dolly carrier in its track to-and-fro movement;
Main control computer, the real-time information that is used to receive the trolley type carrier of said NXT self-actuated controller collection shows, and controls, adjusts said trolley type carrier according to described real-time information through said NXT self-actuated controller and move;
One nerve signal registering instrument is connected with described trolley type carrier, is used to gather the change information of toy nerve signal;
One video camera is used to gather the video data information of whole experiment and is transferred to described main control computer and shows, monitors and follow the tracks of.
On described trolley type carrier, also be provided with the electrode clip that the motion that prevents the trolley type carrier is disturbed.
Described linear track is made by acryl resin.
The real-time information of described trolley type carrier comprises the angle information of the driving wheel rotation of trolley type carrier.
Described touch-proof sensor is the touch-control probe that is installed in the ultrasonic probe of trolley type carrier front end and is installed in trolley type carrier rear end.
A follower is established in the car body of described dolly carrier bottom, the two bottom sides end is established a driving wheel respectively, both sides also respectively be provided with two be used for the linear track flanked touch prevent the dolly sideslip the collimation wheel.
Described main control computer and said NXT self-actuated controller carry out communication through bluetooth approach.
The present invention can be used as the allokinetic research platform of toy, its build easy, reliability is high, control is convenient.
Description of drawings
Fig. 1 is the front view of the trolley type carrier that provides of the embodiment of the invention;
Fig. 2 is the vertical view of the trolley type carrier that provides of the embodiment of the invention;
Fig. 3 is the theory structure synoptic diagram of the passive rectilinear motion research of a kind of toy of providing of embodiment of the invention system;
Fig. 4 is the control flow chart of the primary control program of the main control computer that provides of the embodiment of the invention;
Fig. 5 is the control flow chart of the subroutine of the control carrier propulsion that provides of the embodiment of the invention;
Fig. 6 is the control flow chart of the subroutine of the control carrier reverse that provides of the embodiment of the invention;
Fig. 7 is the process flow diagram of the video monitoring trace routine that provides of the embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing.
See also shown in Fig. 1-3, the passive rectilinear motion research of a kind of toy system comprises:
One is used for fixing the trolley type carrier 10 that loads toy, is equipped with NXT self-actuated controller 7 on its car body, the rear and front end is separately installed with the touch-proof sensor; Wherein, front end touch-proof sensor adopts supersonic sounding mode touch-proof, and rear end touch-proof sensor adopts the touch control manner touch-proof; It is the self-actuated controller of NXT Mindstorm that this self-actuated controller 7 adopts happy high Lego board, model;
The NXT self-actuated controller stores the subroutine of control carrier propulsion and reverse, the programmed environment that programmed method adopts standard N XT self-actuated controller to carry; Through the program development storehouse that the NXT self-actuated controller carries, the real-time information that can regulate and control and obtain the trolley type carrier to the trolley type carrier comprises the angle information etc. of the driving wheel rotation of trolley type carrier; And, utilize programmed control its energy that advances and travel direction according to the angle information that driving wheel rotates;
This trolley type carrier top end opening, the inner blacking of track avoid reflective, and the bottom surface is smooth, is beneficial to moving of trolley type carrier; The width and the linear track of trolley type carrier mate each other;
See also shown in Fig. 1-2; The car body of described dolly carrier bottom establishes that a follower 5, two bottom sides end are established a driving wheel 3 respectively, two driving wheels connect side by side, and both sides also respectively are provided with two and are used for the collimation wheel 4 that prevents the dolly sideslip that touches with the linear track flanked; One side head also is provided with cable fixed mount 2;
Described touch-proof sensor is the touch-control probe 2 that is installed in the ultrasonic probe 6 of trolley type carrier front end and is installed in trolley type carrier rear end; The distance of being mainly used in and gathering related data, judging the sidewall of trolley type carrier and linear track; And the distance of surveying at ultrasonic probe is when triggering less than the threshold values of setting or touch-control probe; Finish the forward movement and the back row motion of trolley type carrier respectively, touch linear track to prevent the trolley type carrier;
One rectangular closed linear track 20 is used for said dolly carrier 10 in its track to-and-fro movement; More excellent, described linear track is made by acryl resin, its long 150cm, wide 20cm, the dark 40cm of track.
Main control computer 50; Form by main control system and display device; The real-time information that is used to receive the trolley type carrier of said NXT self-actuated controller collection shows, and controls, adjusts said trolley type carrier according to described real-time information through said NXT self-actuated controller and move; The real-time information of described trolley type carrier comprises the angle information of the driving wheel rotation of trolley type carrier;
One nerve signal registering instrument 30 is connected through cable with described trolley type carrier 10, is used to gather the change information that fixedly is loaded in the toy nerve signal in the trolley type carrier;
One video camera 40 is used to gather the video data information of whole experiment and is transferred to described main control computer 50 and shows, monitors and follow the tracks of.Described video camera 40 is connected with described main control computer 50 and communication through wired mode.
Further, the present invention also also is provided with the electrode clip that the motion that prevents the trolley type carrier is disturbed on described trolley type carrier 10.
Wherein, described main control computer 50 carries out communication with the said NXT self-actuated controller 7 that carries on the trolley type carrier through the blue teeth wireless mode.The master routine of main control computer can be used the subroutine of LabVIEW software programming real-time calling NXT self-actuated controller.
During use, toy is fixed on the described carrier, carrier is placed in the linear track, connect neural registering instrument, and be fixedly connected cable in case the principal vertical line cable comes off with described cable fixed mount through corresponding cable.Main control computer calls corresponding N XT self-actuated controller subroutine (can adopt the LabVIEW software programming to realize) through the wireless blue tooth mode described trolley type carrier is controlled; Make the trolley type carrier can be according to propulsion, some seconds of pausing, reverse, some seconds mode iterative motion of pause; The time of wherein pausing, the speed of motion, round-robin time number average is adjustable; Whole experiment is made a video recording by described video camera, and can obtain the positional information of carrier small-animal in real time.
Control program flow process of the present invention sees also shown in Fig. 4-6, and this program comprises two parts, and the one, the control master routine (see figure 4) of main control computer, the 2nd, the control subprogram (Fig. 5-6) that the NXT self-actuated controller is built-in.Main control computer the control master routine be responsible for dispatching the built-in control subprogram of NXT self-actuated controller, the latter is responsible for judging the state of trolley type carrier, prevent the collision.After beginning to test, the control master routine that at first passes through main control computer starts the built-in propulsion subroutine of NXT self-actuated controller, controls trolley type carrier forward movement, passes through the distance of the ultrasonic probe judgement and the front track end in the forward movement; When if the forward movement of judgement trolley type carrier finishes, then control the pause of trolley type carrier and start the reverse of reverse subroutine control trolley type carrier after some seconds, otherwise the program wait finishes up to propulsion; In the reverse process, finish if judge reverse, judged after then pausing some seconds whether shuttling movement finishes, and is the iterative motion that then finishes the trolley type carrier, otherwise the program wait finishes up to reverse.
When forward direction moves; Detect the trolley type carrier apart from the sidewall of linear track distance during less than certain distance through the ultrasonic probe that is located at trolley type carrier front end, as 20 centimetres, the propulsion subroutine stops the trolley type carrier automatically; Finish forward movement, otherwise continue to move ahead; When reverse, when the touch-control probe that is located at trolley type carrier rear end triggers, stop reverse, otherwise continue reverse.In the said process, the state of main control computer inquiry subroutine is regulated and control whole process.
Described main control computer shows, monitors and follow the tracks of experimentation through video camera; The control flow of its monitoring and tracking is seen shown in Figure 7; After starting system of the present invention; Gather a frame video image by video camera 40 and be presented at the grabgraf window, the user chooses certain zone (generally being the profile of toy or the electrode of head) as the study template through the ROI control.When beginning to monitor, the Figure recognition module is mated each frame of video with the contrast of study template, and in the video window of main control computer, shows the match point position in real time.The coordinate of match point writes in the video file as additional data.
In order in the LabVIEW software environment, to use camera, Vision development module and NI-IMAQ for USB Cameras drive software are installed in main control computer.The Vision development module is the powerful software library that is used for machine vision.NI-IMAQ for USB Cameras drive software can make the user directly dispose the imaging device of DirectShow, with IMAQ in LabVIEW software.So long as support the equipment of DirectShow, for example USB camera, IP Camera, microscope, scanner etc. can use the Vision development module.Under the help of Vision development module, can realize functions such as collection, filtering, pattern-recognition, color identifying.The present invention chooses the wide-angle imaging head, has the acquisition frame rate of the highest 60fps, and is wider than general network USB camera visual angle.Camera is connected main control computer through USB interface, realize aforesaid video monitoring and tracking thereby programme through LabVIEW software+Vision development module.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (7)
1. the passive rectilinear motion research of a toy system is characterized in that, comprising:
One is used for fixing the trolley type carrier that loads toy, is equipped with the NXT self-actuated controller on its car body, the rear and front end is separately installed with the touch-proof sensor;
One rectangular closed linear track is used for said dolly carrier in its track to-and-fro movement;
Main control computer, the real-time information that is used to receive the trolley type carrier of said NXT self-actuated controller collection shows, and controls, adjusts said trolley type carrier according to described real-time information through said NXT self-actuated controller and move;
One nerve signal registering instrument is connected with described trolley type carrier, is used to gather the change information of toy nerve signal;
One video camera is used to gather the video data information of whole experiment and is transferred to described main control computer and shows, monitors and follow the tracks of.
2. the passive rectilinear motion of toy according to claim 1 research system is characterized in that, on described trolley type carrier, also is provided with the electrode clip that the motion that prevents the trolley type carrier is disturbed.
3. the passive rectilinear motion research of toy according to claim 1 system is characterized in that described linear track is made by acryl resin.
4. the passive rectilinear motion research of toy according to claim 1 system is characterized in that the real-time information of described trolley type carrier comprises the angle information of the driving wheel rotation of trolley type carrier.
5. the passive rectilinear motion research of toy according to claim 1 system is characterized in that, described touch-proof sensor is the touch-control probe that is installed in the ultrasonic probe of trolley type carrier front end and is installed in trolley type carrier rear end.
6. the passive rectilinear motion research of toy according to claim 1 system; It is characterized in that; A follower is established in the car body of described dolly carrier bottom, the two bottom sides end is established a driving wheel respectively, both sides also respectively be provided with two be used for the linear track flanked touch prevent the dolly sideslip the collimation wheel.
7. the passive rectilinear motion research of toy according to claim 1 system is characterized in that described main control computer and said NXT self-actuated controller carry out communication through bluetooth approach.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210079162XA CN102621981A (en) | 2012-03-23 | 2012-03-23 | Driven linear motion research system for small animal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210079162XA CN102621981A (en) | 2012-03-23 | 2012-03-23 | Driven linear motion research system for small animal |
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| CN102621981A true CN102621981A (en) | 2012-08-01 |
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| CN201210079162XA Pending CN102621981A (en) | 2012-03-23 | 2012-03-23 | Driven linear motion research system for small animal |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1464466A (en) * | 2002-06-03 | 2003-12-31 | 昆明利普机器视觉工程有限公司 | Animal behavior video analyzing system |
| US20060011390A1 (en) * | 2004-07-15 | 2006-01-19 | Korea Aerospace Research Institute | Mass measurement system and method using inertial force and standard mass in gravity-free environment |
-
2012
- 2012-03-23 CN CN201210079162XA patent/CN102621981A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1464466A (en) * | 2002-06-03 | 2003-12-31 | 昆明利普机器视觉工程有限公司 | Animal behavior video analyzing system |
| US20060011390A1 (en) * | 2004-07-15 | 2006-01-19 | Korea Aerospace Research Institute | Mass measurement system and method using inertial force and standard mass in gravity-free environment |
Non-Patent Citations (5)
| Title |
|---|
| ARATA HORII 等: "Motion Sickness Induced by Sinusiodal Linear Acceleration in Rats", 《ACTA OTOLARYNGOL (STOCKH)》 * |
| ROBERT W. STACKMAN 等: "passive Transport Disrupts Directional Path Integration by Rat Head Direction Cells", 《J NEUROPHYSIOL》 * |
| 付静宜 等: "四种诱发大鼠运动病刺激模式的比较", 《吉林大学学报（医学版）》 * |
| 徐先荣 等: "豚鼠运动病模型的建立及其客观评价指标", 《空军总医院学报》 * |
| 王金华: "航天运动病", 《大自然探索》 * |
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Application publication date: 20120801 |