CN105056504A - Device for measuring action force between foot sole and starting machine during sprinting - Google Patents

Abstract

The invention relates to a device for measuring action force between foot sole and a starting machine during sprinting. The device comprises a three-dimensional force measuring starting machine, a gait recognition unit and a sensing system signal processor, wherein a pedal spacing acquisition unit and a starting angle acquisition unit are respectively arranged on the front pedal and the rear pedal of the three-dimensional force measuring starting machine; three-dimensional force pressure sensors for receiving pressure information from foot sole are uniformly distributed on the stressed slopes of the front pedal and the rear pedal; the pressure sensors are used for transmitting acquired signals to the sensing system signal processor; and the gait recognition unit in wireless connection to the sensing system signal processor comprises a foot sole pressure sensor and a wireless communication unit in the interlayer of a shoe. The sprint auxiliary training device disclosed by the invention can be used for measuring the stress process of the starting machine at the moment that an athlete starts to run; and horizontal forward impelling force as well as time and balance force for reaching the maximum force is taken into comprehensive consideration, so as to achieve the best starting posture.

Description

Vola and block intermolecular forces measurement mechanism in dash

Technical field

The invention belongs to motion supplemental training technical field, relate to Dash sports, be specifically related to vola and block intermolecular forces measurement mechanism in a kind of dash.

Background technology

Short-distance run such as 100m, 200m and 400m run, and because fixture is shorter, concerning sportsman, signa all seems particularly important.Therefore, the effective start of a race obtains one of successful key factor of match.Crouching start is the off mode of short distance of advanced main flow in the world, and it is the initial technology of complete Dashing skills, affects psychological condition during performance and the match of subsequent technology.Crouching start posture can enable health get off quickly inactive state, obtains positive pedaling and stretches power and the maximum power of pedaling forward, thus creates conditions for the acceleration after the start of a race.In crouching start process, when sportsman's thrust at blocks, sole is almost vertical with block, therefore it is maximum to pedal power, and acceleration is also maximum, and sportsman just promptly can break away from inactive state naturally, reaches fair speed as soon as possible.

According to the principle of active force and reaction force, the motive force forward that sportsman obtains is larger, its off acceleration is also larger, can the horizontal acceleration forward whether being conducive to obtaining, as the foundation of off mode quality, horizontal forward acceleration is determined by the Horizontal Impulse leaving pedal moment, also the direction of the i.e. size of power, time and power, and the angle on pedal and ground is depended in the direction of power.Best starting position will consider horizontal impulse forward, reach maximum, force time used and equilibrant force.

Summary of the invention

In order to overcome the deficiencies in the prior art, the invention provides vola and block intermolecular forces measurement mechanism in a kind of dash, the stressed inclined-plane of off pedal is arranged the sensor gathering plantar pressure information, by the analysis to pressure data, according to the law of conservation of momentum, can finding and make trainee's horizontal impulse forward larger, keeping the tangential force of balance minimum, simultaneously for reaching the off mode of maximum, force shortest time.

Technical scheme of the present invention is: vola and block intermolecular forces measurement mechanism in dash of the present invention, comprise three-dimensional strength measurement block, Gait Recognition unit, sensor-based system signal processor, the front running board of three-dimensional strength measurement block, bumper step is respectively equipped with pedal spacing collecting unit, off angle acquisition unit, at front running board, the stressed inclined-plane of bumper step all arranges the three-dimensional force pressure sensor accepting plantar pressure information, the signal of collection is sent to sensor-based system signal processor by pressure sensor, the foot bottom pressure sensor and wireless communication unit that are arranged at footwear interlayer is comprised with the Gait Recognition unit of sensor-based system signal processor wireless connections.Described foot bottom pressure sensor every pin is provided with five groups, and the half sole of footwear interlayer arranges three groups for measuring the reaction force of pedal to pin, the toe portion of footwear interlayer arrange two groups for measure in the face of the reaction force of pin.Described sensor-based system signal processor comprises the signal conversion amplifying unit connected successively, data processing unit and controller, described controller calculates for the data analysis receiving data processing unit output the optimal data determining sprint training index, described data processing unit comprises data filtering units, data sorting unit, Data Fusion unit and Database Unit, described data filtering units is used for the wrong data that filtered sensor gathers, described data sorting unit is classified to the data after filtration, Data Fusion unit carries out fusion treatment according to the data of data sorting unit and exports two-dimensional data table, database detects data and normal data for storing.Described sensor-based system signal processor also comprises information input unit, and described information input unit comprises dash man's information, and information comprises height, body weight, leg index and step index.

Above-mentioned pressure sensor comprises annulus capacitor cell group and strip capacitor cell group, described strip capacitor cell group is arranged on the corner of the outer substrate of annulus capacitor cell group, annulus capacitor cell group comprises two to above annulus capacitor cell pair, described annulus capacitor cell is to comprising two annulus capacitor cells, described strip capacitor cell group comprises X-direction differential capacitor unit group and Y-direction differential capacitor unit group, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include two or more and mutually form differential capacitor cell module, the comb teeth-shaped structure that described capacitor cell module is made up of plural strip capacitor cell, each annulus capacitor cell and strip capacitor cell include the drive electrode of top crown and the induction electrode of bottom crown.

Vola and block intermolecular forces measurement mechanism in dash of the present invention, the induction electrode of described each annulus capacitor cell and drive electrode just to and shape is identical, the drive electrode of described each strip capacitor cell is identical with induction electrode width, the drive electrode length of strip capacitor cell is greater than induction electrode length, the drive electrode length two ends reserved left poor position δ respectively of strip capacitor cell _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell.The left poor position δ of described strip capacitor cell _left=right poor position δ _right, and wherein d ₀for elastic fluid thickness, G is the modulus of rigidity of elastic fluid, τ _maxfor maximum stress value.Described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode are provided with the skew that initially misplaces in the width direction, and dislocation bias size is identical, direction is contrary.Described annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitor cells.X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _flatfor the length of parallel-plate, a _{δ bar}for the electrode spacing between adjacent two strip capacitor cells, a ₀the width of strip capacitor cell.The width r of described donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitor cell electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for elastic fluid thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.Described annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, the induction electrode of each annulus capacitor cell of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, and described X-direction differential capacitor unit group is connected with sensor-based system signal processor respectively by a lead-out wire with the capacitor cell module induction electrode of Y-direction differential capacitor unit group.Described annulus capacitor cell, be respectively equipped with intermediate translator between capacitor cell module and sensor-based system signal processor, intermediate translator is for arranging voltage to electric capacity or frequency to the transmission coefficient of electric capacity.

The present invention has following good effect: dash supplemental training device of the present invention, real-time measurement sportsman is at the loading process of block clearance time block, consider horizontal impulse forward, reach maximum, force time used and equilibrant force, to obtain best starting position.In addition, sensor of the present invention can simultaneous measurement method to power and tangential force, highly sensitive, pole plate utilization ratio is high, and whole annulus capacitor cell group is all made contributions to normal force, has good dynamic property.

Accompanying drawing explanation

Fig. 1 is the donut skew dislocation areal analysis figure of the specific embodiment of the present invention.

Fig. 2 be the specific embodiment of the present invention for the dislocation of outer donut is to external diameter circle analysis chart.

Fig. 3 is the plane design drawing of the parallel plate capacitor of the specific embodiment of the present invention.

Fig. 4 is the structure chart of the drive electrode of the specific embodiment of the present invention.

Fig. 5 is the rectangular coordinate system of the capacity plate antenna plate of the specific embodiment of the present invention.

Fig. 6 is two groups of annulus capacitance group structure charts of the specific embodiment of the present invention.

Fig. 7 is the initial dislocation figure of the differential strip capacitor cell of the specific embodiment of the present invention.

Fig. 8 is the stressed rear deflection graph of differential strip capacitor cell of the specific embodiment of the present invention.

Fig. 9 is the differential schematic diagram of signal that the cell capacitance of the specific embodiment of the present invention is right.

Figure 10 is the plane-parallel capacitor cross-section structure of the specific embodiment of the present invention.

Figure 11 is the block structure chart of the specific embodiment of the present invention.

Wherein, 1, upper PCB substrate, 2, lower PCB substrate, 3, drive electrode, 4, induction electrode, 5, elastic fluid.

Detailed description of the invention

Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and operation principle, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.

Main thought of the present invention is: in crouching start, the momentum of moment is obtained by the reaction force on block, momentum determines the size of off maximal rate, the maximum weighted of momentum also namely on block and reach time of maximum weighted, the product of power and time is exactly momentum, when reaching maximum time, clear the block in vola, also means the reaction time during this period of time.

Vola and block intermolecular forces measurement mechanism in a kind of dash, comprise three-dimensional strength measurement block, Gait Recognition unit, sensor-based system signal processor, the front running board of three-dimensional strength measurement block, bumper step is respectively equipped with pedal spacing collecting unit, off angle acquisition unit, at front running board, the stressed inclined-plane of bumper step all arranges the three-dimensional force pressure sensor accepting plantar pressure information, the signal of collection is sent to sensor-based system signal processor by pressure sensor, the foot bottom pressure sensor and wireless communication unit that are arranged at footwear interlayer is comprised with the Gait Recognition unit of sensor-based system signal processor wireless connections, foot bottom pressure sensor adopts three-dimensional force pressure sensor.

Described foot bottom pressure sensor every pin is provided with five groups, and the half sole of footwear interlayer arranges three groups for measuring the reaction force of pedal to pin, the toe portion of footwear interlayer arrange two groups for measure in the face of the reaction force of pin.

Described sensor-based system signal processor comprises the signal conversion amplifying unit connected successively, data processing unit and controller, described controller calculates for the data analysis receiving data processing unit output the optimal data determining sprint training index, described data processing unit comprises data filtering units, data sorting unit, Data Fusion unit and Database Unit, described data filtering units is used for the wrong data that filtered sensor gathers, described data sorting unit is classified to the data after filtration, Data Fusion unit carries out fusion treatment according to the data of data sorting unit and exports two-dimensional data table, database detects data and normal data for storing.

Described sensor-based system signal processor also comprises information input unit, and described information input unit comprises dash man's information, and information comprises height, body weight, leg index and step index.

Carrying out practically flow process is as follows, pedal spacing collecting unit gathers the distance between front running board and bumper step, the off angle of front running board of off angle acquisition unit and the off angle of bumper step, the reaction force on the half sole pedal reaction force that foot bottom pressure sensor gathers and the ground that toe pressure sensor gathers, the data more than gathered are sent to data processing unit through signal conversion amplifying unit, data after data processing unit process are sent to controller, controller combining information input block input height, body weight, all kinds of detailed data analysis process such as leg index and step index, draw the data and curves figure of different parameters, derive optimum pedal spacing, the off angle of front running board and the off angle of bumper step.

Prior art image data only gathers the off angle of front running board and the off angle of bumper step, the present invention gathers the half sole pedal reaction force of foot bottom pressure sensor collection and the reaction force on ground simultaneously, and fusion treatment is carried out to data, further lifting beneficial aspects, the parameter information of different motion person draws different data and curves figure respectively simultaneously, and can according to its pedal spacing of recommending of the parameter prediction of different motion person, the off angle of front running board and the off angle of bumper step, so effective frequency of training and time reducing acquisition optimized parameter.

As shown in figure 11, for block structure chart of the present invention, on block inclined-plane, set up the stressed space coordinates of three-dimensional force sensor, it is in downward direction X-direction along inclined-plane, be Z-direction perpendicular to bevel direction, the direction parallel with slope level is Y direction, and getting stressed direction is positive direction.Based on the principle of active force and reaction force, making a concerted effort of Z and X-direction is the chief motivation forward that sportsman obtains by block.The motive force forward that sportsman obtains is larger, and its off acceleration is also larger, it can thus be appreciated that, F _xand F _zto make a concerted effort be the active force producing forward horizontal acceleration, so, can the horizontal acceleration whether being conducive to obtaining forward, as the reference frame of off mode quality, and Y direction power F _ybe the power of the maintenance balance that sportsman obtains by block, if the power of tangential loss is less, then sportsman more easily keeps balance.

In the off process of reality, although dash pursues is this variable of horizontal velocity, anyone is in the process of clearing the block, and health has a movement tendency obliquely or has an angle with horizontal plane.Because of the difference of individuality, angle can be different.Due to the existence with horizontal plane angle, the integration while of all will resolving in level and vertical both direction when therefore integration being carried out to power.According to the law of conservation of momentum, can finding and make trainee's horizontal impulse forward larger, keeping the tangential force of balance minimum, simultaneously for reaching the off mode of maximum, force shortest time.

Acting on three-dimensional force on pedal to record sportsman, pedal inclined design being become a force plate/platform, between pedal inclined-plane and pedal body, three-dimensional force sensor is set.The measuring principle of three-dimensional force transducer of the present invention is below described in detail in detail: described sensor comprises annulus capacitor cell group and strip capacitor cell group, described annulus capacitor cell group is for surveying the size of tangential force and normal force, institute's strip capacitor cell group is for measuring the direction of tangential force, and described strip capacitor cell group is arranged on the corner outside substrate annulus capacitor cell group.Annulus capacitor cell group comprises annulus capacitor cell pair more than two, described annulus capacitor cell is to comprising two annulus capacitor cells, described strip capacitor cell group comprises X-direction differential capacitor unit group and Y-direction differential capacitor unit group, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include two or more and mutually form differential capacitor cell module, described capacitor cell module adopts the comb teeth-shaped structure be made up of plural strip capacitor cell, each annulus capacitor cell and strip capacitor cell include the drive electrode of top crown and the induction electrode of bottom crown.The induction electrode of described each annulus capacitor cell and drive electrode just to and shape is identical, the drive electrode of described each strip capacitor cell is identical with induction electrode width, the drive electrode length of strip capacitor cell is greater than induction electrode length, the drive electrode length two ends reserved left poor position δ respectively of strip capacitor cell _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell.The left poor position δ of described strip capacitor cell _left=right poor position δ _right, and wherein d ₀for dielectric thickness, G is the modulus of rigidity of elastic fluid, τ _ymaxfor maximum stress value.Described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode are provided with the skew that initially misplaces in the width direction, and dislocation bias size is identical, direction is contrary.Described annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitance.Described capacitor cell module adopts comb teeth-shaped structure, and X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _flatfor the length of parallel-plate, a _{δ bar}for the electrode spacing between adjacent two strip capacitor cells, a ₀the width of strip capacitor cell.The width r of described donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitor cell electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for dielectric thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.Described annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, the induction electrode of each annulus capacitor cell of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, and described X-direction differential capacitor unit group is drawn each via a lead-out wire respectively with the capacitor cell module induction electrode of Y-direction differential capacitor unit group and is connected with sensor-based system signal processor.Described annulus capacitor cell, be respectively equipped with intermediate translator between capacitor cell module and sensor-based system signal processor, converter is for arranging voltage or frequency to the transmission coefficient of electric capacity.

Below in conjunction with accompanying drawing 1-10 to derivation of the present invention and principle, to effect and operation principle, manufacturing process and the operation using method etc. of the mutual alignment between each several part shape, structure, each several part and annexation, each several part, be described in further detail.

1.1 capacitance equation and input-output characteristic thereof

The initial capacitance of parallel-plate is:

$C_0=\frac{{\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\·A_0}{d_0}---\left(1\right)$

In formula, ε ₀vacuum medium electric constant is 8.85PF/m, ε _r=2.5 is dielectric relative dielectric constant, A ₀for the initial right opposite of upper bottom crown amasss.D ₀by σ _nexcitation produce relative deformation ε _n=δ _n/ d ₀=σ _n/ E, (1) formula of substitution obtains input-output characteristic

$C_n={\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\frac{A_0}{d_0(1-{\mathrm{\ϵ}}_n)}={\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\frac{A_0}{d_0(1-\frac{F_n}{AE})}---\left(2\right)$

The linearity under 1.2 normal stress effects and sensitivity

1.2.1 the normal direction linearity

(2) F in formula _nin the denominator, therefore C _n=f (F _n) relation be nonlinear.Because of the maximum σ in conversion range _nmaxcompared with dielectric resilient constant E, ε _na very little amount, i.e. ε in denominator _n<<1, omits the higher-order shear deformation of more than quadratic power by (2) formula by series expansion, can be reduced to:

$C_n=C_0(1+\mathrm{\&epsiv;})=C_0(1+\frac{F_n}{A\&CenterDot;E})---\left(3\right)$

Visible at C _nwith F _ntransfer characteristic in the maximum relative error of the normal direction linearity close to zero.

1.2.2 sensitivity

By the definition of normal direction sensitivity

By (2) formula then

$S_{n2}=\frac{{\mathrm{dC}}_n}{{\mathrm{dF}}_n}=C_0\&CenterDot;\frac{1}{1-2\mathrm{\&epsiv;}}=C_0\&CenterDot;\frac{1}{1-2\frac{F_n}{A\&CenterDot;E}}---\left(4\right)$

Can linear sensitivity be obtained by (3) formula,

S _n1＝C ₀/AE＝ε ₀ε _r/d ₀E(5)

S _n2with F _nand become, F _nlarger, S _n2larger, in mild nonlinear in whole transfer characteristic.

Relation between 1.3 tangential displacements and annulus capacitor effective area

For donut electric capacity to analyzing, as shown in Figure 1, R ₁for exradius, R ₂for inner circle radius, r=annular width=large exradius R ₁-inner circle radius R ₂.To the power F on drive electrode tangent plane _x, cause drive electrode corresponding up and down and induction electrode to produce one and shear dislocation, if d _xfor tangent plane displacement, dislocation area is S _inand S _outward, the initial right opposite of battery lead plate is long-pending should be π (R ₁ ²-R ₂ ²).Fig. 2 is that outer donut electric capacity justifies analysis chart to external diameter, and before and after mobile, two distance of center circle are from being d _x, before and after mobile, the intersection point of two centers of circle and two circles forms a rhombus, can calculate S _outwardarea:

In above formula, there is d _x<<R ₁, so get

By

Will taylor series expansion, and omit high-order term,

Above formula

In like manner, can know, S _in=2R ₂d _x, so the wrong area of donut electric capacity is S=2R ₁d _x+ 2R ₂d _x.

The capacitance variations of the annulus capacitor cell group under 1.4 tangential stress τ excitations

Tangential stress τ does not change the physical dimension parameter A of pole plate ₀, to dielectric thickness d ₀also do not have an impact.But τ _xand τ _ychange the space structure of plane-parallel capacitor, between the upper bottom crown faced by forward, there occurs dislocation skew.The dislocation offset d of pole plate under τ effect _x.When τ is zero, the upper/lower electrode of annulus capacitor cell is just right, effective cross-section between upper/lower electrode in fig. 2, at τ _xunder the effect of dextrad, top crown creates dislocation offset d to the right relative to bottom crown _x, thus make the effective area between bottom crown when calculating electric capacity consequent electric capacity is:

$C_{\mathrm{\&tau;}x}=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;({\mathrm{\&pi;R}}_1^2-{\mathrm{\&pi;R}}_2^2-2R_1{d}_x-2R_2{d}_x)}{d_0}---\left(6\right)$

According to shearing Hooke's law

τ _x＝γ _x·G＝G·δ _x/d ₀(7)

(7) are substituted into (6) can obtain

$C_{\mathrm{\&tau;}x}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;2(R_1+R_2)d_x}{d_0}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;2(R_1+R_2)F_x}{A_{\mathrm{\&tau;}}G}=C_0-\frac{2{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r{F}_x}{G\mathrm{\&pi;}(R_1-R_2)}---\left(8\right)$

(8) formula is the input-output characteristics under shearing stress, C _τwith τ _xlinear, its sensitivity

$s_{\mathrm{\&tau;}x}=\frac{{\mathrm{dC}}_{\mathrm{\&tau;}}}{{\mathrm{dF}}_x}=\frac{2{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{G\mathrm{\&pi;}(R_1-R_2)}---\left(9\right)$

Tangential sensitivity and R can be found out by formula (9) ₁-R ₂relevant, namely the width of tangential sensitivity and annulus is inversely proportional to, and width more sluggishness is higher.

The design of 2 plate condensers

The design of 2.1 plate condensers

Arrange and the structure chart of Fig. 4 drive electrode, at a 10 × 10mm see the electrode plane in Fig. 3 ²substrate on a kind of circular ring type contact parallel-plate three-dimensional pressure sensor, sensor comprises annulus capacitor cell group and strip capacitor cell group, annulus capacitor cell group is for surveying the size of tangential force and normal force, strip capacitor cell group is for measuring the direction of tangential force, and strip capacitor cell group is arranged on the corner outside substrate annulus capacitor cell group.Effectively can use the area of parallel-plate like this, annulus capacitor cell group is paved with whole parallel-plate, when measuring three-dimensional force, all work, and strip capacitor cell group effectively make use of annulus capacitor cell group lay after, the space of parallel-plate corner, for measuring the direction of three-dimensional force tangential force.The drive electrode of annulus capacitor cell group and induction electrode are all made up of n donut, and n is even number, then form n/2 annulus capacitor cell pair.Hachure part represents the outer mode cross section of wax-loss casting process, and its geometry and size also should keep accurate when mechanical-moulded.

With reference to the rectangular coordinate system of the capacity plate antenna of Fig. 5, coordinate system origin is at the concentric circles initial point of annulus capacitor cell group, x-axis and y-axis are respectively along the diagonal of capacity plate antenna, X-direction differential capacitor unit group comprises X-direction differential capacitor unit group I and X-direction differential capacitor unit group III, X-direction differential capacitor unit group I and X-direction differential capacitor unit group III lay respectively at the positive and negative semiaxis of x-axis and symmetrical along y-axis, Y-direction differential capacitor unit group comprises Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV, Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV lay respectively at the positive and negative semiaxis of y-axis and symmetrical along x-axis, X-direction differential capacitor unit group I and X-direction differential capacitor unit group III are formed τ _xmake the differential capacitor unit combination of response, Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV are formed τ _ymake the differential capacitor unit combination of response.

Annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitance.Capacitor cell module adopts comb teeth-shaped structure, and X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _{δ bar}for being provided with electrode spacing, a between adjacent two strip capacitor cells ₀the width of strip capacitor cell.The width r of donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitance electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for dielectric thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.

2.2 pumping signals and coordinate system

Annulus capacitor cell is placed in the rectangular coordinate system shown in Fig. 5, three-dimensional simulation puts on the outer surface of capacitor plate, the contact active force produced has Fx, Fy and Fz tri-durection components, and the action direction of Fx and Fy is along X-axis and Y-axis, and the action direction of Fz along OZ axle namely direction, normal direction and tangential stress are a kind of stress tensor, from can the response of output capacitance between the lead-in wire of electrode; Normal stress σ _n=Fn/A, wherein for pole plate normal direction stress surface, Fn=Fz is normal component; Both side surface produces paired tangential stress τ _cut=F _cut/ A.

According to the Hooke's law in Elasticity, σ _nand τ _x, τ _yelastomer all will be made to produce corresponding distortion.Wherein,

${\mathrm{\&sigma;}}_n=E\&CenterDot;{\mathrm{\&epsiv;}}_n=E\&CenterDot;{\mathrm{\&delta;}}_n/d_0=\frac{F_n}{A}$

In formula, E is the Young's modulus GN/m of elastic fluid ², G is the modulus of rigidity GN/m of elastic fluid ², δ n is the Normal Displacement (unit: μm) of elastic fluid, and δ x and δ y is the relative dislocation (unit: μm) of the upper and lower two-plate of annulus capacitor cell, and its sign is pointed to by reference axis and determined.

The calculating of 2.3 normal force and tangential force size

Choosing the n-th annulus capacitor cell and the n-th/2 annulus capacitor cell, by setting up annulus capacitor cell, composition equation group being calculated, as shown in Figure 6.If after battery lead plate is subject to normal direction and tangential incentive action, if the output capacitance of the n-th annulus capacitor cell is C ₁, n/2 annulus capacitor cell output capacitance is C ₂, tangential displacement is d _x, the capacitance pole distance of normal direction is d _n, S ₁₀the right opposite initial for outer shroud amasss, S ₂₀the right opposite initial for inner ring amasss.

$C_1=\frac{\mathrm{\&epsiv;}(S_{10}-S1)}{d_n}=\frac{\mathrm{\&epsiv;}({\mathrm{\&pi;R}}_1^2-{\mathrm{\&pi;R}}_2^2)}{d_n}-\frac{\mathrm{\&epsiv;}(2R_1{d}_x+2R_2{d}_x)}{d_n}$ ①

$C_2=\frac{\mathrm{\&epsiv;}(S_{20}-S2)}{d_n}=\frac{\mathrm{\&epsiv;}({\mathrm{\&pi;r}}_1^2-{\mathrm{\&pi;r}}_2^2)}{d_n}-\frac{\mathrm{\&epsiv;}(2r_1{d}_x+2r_2{d}_x)}{d_n}$ ②

Will obtain:

$C_1-C_2*\frac{R_1+R_2}{r_1+r_2}=\frac{\mathrm{\&epsiv;}\mathrm{\&pi;}(R_1^2-R_2^2)}{d_n}-\frac{R_1+R_2}{r_1+r_2}*\frac{\mathrm{\&epsiv;}\mathrm{\&pi;}(r_1^2-r_2^2)}{d_n}$

If in above formula $\frac{R_1+R_2}{r_1+r_2}=K,$ Then $d_n=\frac{\mathrm{\&epsiv;}(S_{10}-{\mathrm{KS}}_{20})}{C_1-{\mathrm{KC}}_2}$

According to $d_n=d_0-\mathrm{\&Delta;}d=d_0(1-\frac{F_n}{E\&CenterDot;S_0})$

Known: $F_n=\frac{(d_n-d_0)E\&CenterDot;S_0}{d_0}$

Above-mentioned is incited somebody to action 1. * C ₂-2. * C ₁obtain:

$d_x=\frac{C_2{S}_{10}-C_1{S}_{20}}{2C_2(R_1+R_2)-2C_1(r_1+r_2)};$

By $\mathrm{\&gamma;}=\frac{\mathrm{\&tau;}}{G}=\frac{F_{\mathrm{\&tau;}}}{G\&CenterDot;S_0}=\frac{d_x}{d_0}=\frac{C_2{S}_{10}-C_1{S}_{20}}{d_{0}2C_2(R_1+R_2)-d_{0}2C_1(r_1+r_2)},$ So F _τfor

$F_{\mathrm{\&tau;}}=\frac{(C_2{S}_{10}-C_1{S}_{20})\&CenterDot;G\&CenterDot;S_0}{d_{0}2C_2(R_1+R_2)-d_{0}2C_1(r_1+r_2)}$

The direction determining of 2.4 tangential forces

2.4.1 strip capacitor cell group shape structure and parameter design

In order to realize τ _xand τ _ymutually do not have an impact between tangential response, drive electrode length two ends reserved difference position δ ₀, therefore b _{0 drives}=b _{0 end}+ 2 δ ₀, wherein at b _{0 drives}two ends length is reserved should be ensured in theory its calculated value is ${10}^{-5}\&times;\frac{70\&times;{10}^3}{2.4\&times;{10}^6}=2.9\&times;{10}^{-8}m={10}^{-2}um<<1um,$ Therefore should b be ensured in technique _{0 drives}-b _{0 end}>=0.01mm.In order to realize τ _xand τ _ydo not have an impact to the response of normal direction electric capacity, the drive electrode of each strip capacitor cell and induction electrode arrange certain dislocation in horizontal layout and offset, on by differential elimination impact each other.

As shown in Figure 4, in figure, four dashed rectangle are the benchmark of induction electrode on bottom crown, get the position of induction electrode in lower floor's PCB substrate as reference, then the layout of drive electrode in the PCB substrate of upper strata should with PCB substrate edge line for benchmark.Each strip capacitor cell comprises the drive electrode of top crown and the induction electrode of bottom crown, if often root strip capacitor cell is wide is a ₀, the groove width between two strip capacitor cells is a _δ, then the pitch of every root strip capacitor cell is a ₀+ a _δ.τ can be ensured like this when computing method exports response to electric capacity _xand τ _ythe response of normal direction electric capacity is not had an impact.And put they and geometry datum line differential apart from being δ ₀(0.1mm), to ensure that X-direction differential capacitor unit group I and X-direction differential capacitor unit group III produce τ _xdifferential capacitor export response, Y-direction differential capacitor unit group II and Y-direction differential capacitor unit group IV then only produce τ _ydifferential capacitor response, an initially dislocation skew δ is set _xo, its value should ensure its calculated value and δ ₀similar, its skew that initially misplaces all arranges δ _xo=δ _yo=0.01mm, to ensure that four capacitor cells are at τ _xand τ _ytwo groups of differential capacitors pair can be produced under tangential excitation.

In Fig. 7, a pair electric capacity C _land C _relectrode size a ₀, b ₀, d ₀all identical, initial dislocation skew δ ₀also identical, difference is left side capacitor C _lupper strata δ ₀wedge angle be oriented to+OX, and the right capacitor C _rupper strata δ ₀wedge angle sensing-OX.Work as τ _xwhen=0, namely the electric capacity in figure corresponding to dash area.On this basis, as at-F _xlower generation ± the δ of excitation _xdislocation skew, formed as shown in Figure 8 electric capacity increase and decrease effect,

$C_L=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;b_0\&CenterDot;(a_0-{\mathrm{\&delta;}}_0\&PlusMinus;{\mathrm{\&delta;}}_x)}{d_0}---\left(10\right)$

In Fig. 8, C _land C _rdifferential capacitor is to same τ _xby generation ± δ _xwith ± △ C _τresponse, δ ₀size should meet desirable δ ₀=10 μm, thus, formula (8) can be revised as

$C_{\mathrm{\&tau;}x}=c_{\mathrm{\&tau;}0}\&PlusMinus;\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{{\mathrm{Ga}}_0}{F}_x---\left(11\right)$

In formula, for initial capacitance when shearing stress is zero, (11) formula is shearing stress input-output characteristic, C _{τ x}with F _xlinear relationship, and its sensitivity

By formula (11) known a ₀less, the sensitivity of tangential stress response is larger, therefore capacitor cell of the present invention adopts the strip capacitor cell group be made up of multiple strip electric capacity.

2.4.2 tangential stress direction calculating

C _ito C _iIand C _iIIto C _iVtwo can be realized to differential combination, the differential schematic diagram of the signal that the cell capacitance as Fig. 9 is right, through differential technique process, the overall response of differential output

$O_{\mathrm{\&tau;}x}=\frac{2{\mathrm{mK\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{a_{0}G}{F}_x$

In formula, no matter be normal direction excitation F _nor tangentially encourage F _yall not to O _τhave an impact, namely automatically eliminate σ _nand τ _yto τ _xthe coupling of total output or interference.Comprise at signal because every in the computing of subtracting each other, equivalent and the same capacitance variations met are eliminated all automatically.And F _yand F _xto σ _ninterference by upper electrode at b ₀direction increases geometrical length 2 δ ₀eliminate.

In like manner, $O_{\mathrm{\&tau;}y}=\frac{2{\mathrm{mK\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{a_{0}G}{F}_y;$

According to O _{τ x}and O _{τ y}value calculate the direction of tangential force.

2.4 main material selection and characterisitic parameter thereof

The section of structure of plane-parallel capacitor is similar to sandwich structure as shown in Figure 10.As shown in Figure 10,1 is upper PCB substrate, and 2 is lower PCB substrate, and 3 is drive electrode, and 4 is induction electrode, and 5 is elastic fluid.Pole plate is apart from d ₀=0.1mm, upper and lower base plate inner space, except copper foil electrode, is PDMS (dimethyl silicone polymer) the superlastic dielectric with lost wax process filling.Its machinery and physical characteristic parameter are Young's modulus E=6.2MPa, and its shear modulus is G=4.1MPa, relative permittivity ε during dielectric polorization _γ=2.5.Because E and G of medium is much smaller than the elastic modulus E of copper _copper=103GPa, therefore the distortion of capacitor internal medium under stress state is much larger than the distortion of pole plate.

2.5 contact conductor designs

Be that drive electrode or induction electrode all need to have lead-out wire, consider that each drive electrode is all ground connection in signal level, therefore drive electrode only need share same lead-out wire.Annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, each annulus of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, sensor-based system signal processor calculates according to the output valve independent assortment of each annulus, carry out being averaging the size and normal force size that draw tangential force afterwards, when required precision is not high, annulus capacitor cell group can only select two optimum annulus to draw 2 lead-in wires, obtains d by these two annulus _xand d _n, thus draw size and the normal force size of tangential force; X-direction differential capacitor unit group and Y-direction differential capacitor unit group are drawn each via a lead-out wire respectively and are connected with sensor-based system signal processor, for calculating the direction of tangential force.Be provided with intermediate translator between described sensor-based system signal processor and capacitor cell, converter is for arranging voltage or frequency to the transmission coefficient of electric capacity.Whole capacitance component has at least 7 pins and draws from the side of planar package, so that whole assembly top and bottom outer surface can contact with measuring object easily.

The present invention, under the support of new material and new technology, completes the design of a kind of novel three-dimensional power sensitization capacitance combination.At 10 × 10mm ²stress surface on, be no matter normal direction or tangential, all can transmit stress more uniformly to medium.In the contact of non-coplanar force and sensor surface, external force only has 1, can obtain normal direction F to electric capacity summation _ninformation, namely whole battery lead plate is all to asking F _ncontribute, can F be obtained again simultaneously _xand F _yinformation, thus complete description three-dimensional force, can improve the normal direction sensitivity and tangential sensitivity and maximum linear error once changed by design parameter.

Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.The protection domain that protection scope of the present invention should limit with claims is as the criterion.

Claims (10)

1. vola and block intermolecular forces measurement mechanism in a dash, it is characterized in that, comprise three-dimensional strength measurement block, Gait Recognition unit, sensor-based system signal processor, the front running board of three-dimensional strength measurement block, bumper step is respectively equipped with pedal spacing collecting unit, off angle acquisition unit, at front running board, the stressed inclined-plane of bumper step all arranges the three-dimensional force pressure sensor accepting plantar pressure information, the signal of collection is sent to sensor-based system signal processor by pressure sensor, the foot bottom pressure sensor and wireless communication unit that are arranged at footwear interlayer is comprised with the Gait Recognition unit of sensor-based system signal processor wireless connections, described three-dimensional force pressure sensor comprises annulus capacitor cell group and strip capacitor cell group, described strip capacitor cell group is arranged on the corner of the outer substrate of annulus capacitor cell group, annulus capacitor cell group comprises two to above annulus capacitor cell pair, described annulus capacitor cell is to comprising two annulus capacitor cells, described strip capacitor cell group comprises X-direction differential capacitor unit group and Y-direction differential capacitor unit group, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include two or more and mutually form differential capacitor cell module, the comb teeth-shaped structure that described capacitor cell module is made up of plural strip capacitor cell, each annulus capacitor cell and strip capacitor cell include the drive electrode of top crown and the induction electrode of bottom crown.

2. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, described foot bottom pressure sensor every pin is provided with five groups, the half sole of footwear interlayer arranges three groups for measuring the reaction force of pedal to pin, the toe portion of footwear interlayer arrange two groups for measure in the face of the reaction force of pin.

3. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, described sensor-based system signal processor comprises the signal conversion amplifying unit connected successively, data processing unit and controller, described controller calculates for the data analysis receiving data processing unit output the optimal data determining sprint training index, described data processing unit comprises data filtering units, data sorting unit, Data Fusion unit and Database Unit, described data filtering units is used for the wrong data that filtered sensor gathers, described data sorting unit is classified to the data after filtration, Data Fusion unit carries out fusion treatment according to the data of data sorting unit and exports two-dimensional data table, database detects data and normal data for storing.

4. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, described sensor-based system signal processor also comprises information input unit, described information input unit comprises dash man's information, and information comprises height, body weight, leg index and step index.

5. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, the induction electrode of described each annulus capacitor cell and drive electrode just to and shape is identical, the drive electrode of described each strip capacitor cell is identical with induction electrode width, the drive electrode length of strip capacitor cell is greater than induction electrode length, the drive electrode length two ends reserved left poor position δ respectively of strip capacitor cell _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell.

6. vola and block intermolecular forces measurement mechanism in dash according to claim 5, is characterized in that, the left poor position δ of described strip capacitor cell _left=right poor position δ _right, and wherein d ₀for elastic fluid thickness, G is the modulus of rigidity of elastic fluid, τ _maxfor maximum stress value.

7. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode are provided with the skew that initially misplaces in the width direction, and dislocation bias size is identical, direction is contrary.

8. vola and block intermolecular forces measurement mechanism in dash according to claim 1, is characterized in that, described annulus capacitor cell group comprises n donut capacitor cell, wherein wherein, a _flatfor the length of parallel-plate, r _circlefor the width of annulus capacitor cell annulus, a _{δ circle}electrode spacing between adjacent two annulus capacitor cells, X-direction differential capacitor unit group and Y-direction differential capacitor unit group include m strip capacitor cell, wherein, a _flatfor the length of parallel-plate, a _{δ bar}for the electrode spacing between adjacent two strip capacitor cells, a ₀the width of strip capacitor cell, the width r of described donut capacitor cell _circlewith the width a of strip capacitor cell ₀equal; Strip capacitor cell electrode spacing a _{δ bar}with annulus capacitor cell electrode spacing a _{δ circle}equal, the width of described strip capacitor cell wherein, d ₀for elastic fluid thickness, E is the Young's modulus of elastic fluid, and G is the modulus of rigidity of elastic fluid.

9. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, described annulus capacitor cell group is connected with sensor-based system signal processor by a lead-out wire with the drive electrode of strip capacitor cell group, the induction electrode of each annulus capacitor cell of described annulus capacitor cell group goes between separately and to be connected with sensor-based system signal processor, and described X-direction differential capacitor unit group is connected with sensor-based system signal processor respectively by a lead-out wire with the capacitor cell module induction electrode of Y-direction differential capacitor unit group.

10. vola and block intermolecular forces measurement mechanism in dash according to claim 1, it is characterized in that, described annulus capacitor cell, be respectively equipped with intermediate translator between capacitor cell module and sensor-based system signal processor, intermediate translator is for arranging voltage to electric capacity or frequency to the transmission coefficient of electric capacity.