CN105841721B - A kind of fiber grating force sensor, robot and its sensing measuring method - Google Patents
A kind of fiber grating force sensor, robot and its sensing measuring method Download PDFInfo
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- CN105841721B CN105841721B CN201610163669.1A CN201610163669A CN105841721B CN 105841721 B CN105841721 B CN 105841721B CN 201610163669 A CN201610163669 A CN 201610163669A CN 105841721 B CN105841721 B CN 105841721B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
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Abstract
The optical fiber that a kind of fiber grating force sensor, robot and its sensing measuring method, including ontology at least one cutting at body surfaces and are placed in cutting inscribes at least one fiber grating on optical fiber according to preset fiber grating parameter；When ontology deforms upon under the action of external force, the variation for obtaining the variable quantity of preset fiber grating parameter and the centre wavelength of fiber grating obtains the variable quantity of default measurement coefficient according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating.The grating force sensor of the present invention is based on Fibre Optical Sensor, overcomes traditional sensors easily by electrical Interference, easily by the defect of electromagnetic interference；Play heat-resisting, corrosion-resistant, the radiation-resistant advantage of fibre optical sensor, and it is small, precision is high, meets the static and dynamic performance of robot foot section and finger portion etc., bears sufficiently large shock loading, it is big range can be surveyed.
Description
Technical field
The present invention relates to sensor field, more specifically to a kind of fiber grating force sensor, robot and its
Sensing measuring method.
Background technology
Nuclear power generating equipment is complicated, and equipment itself or its running environment have radioactivity, at the same also have both underwater, high temperature,
The features such as high pressure, carries out overhaul of the equipments, spentnuclear fuel transhipment, radioactive-waste disposal and Nuclear Accident Emergency processing etc. using robot
Work can greatly improve the required level of service or accident treatment efficiency of nuclear power station, reduce staff's radioactive dose and labour is strong
Degree, is dedicated to developing adaptation nuclear radiation environment.Advanced in performance, reliable nuclear power station robot is always what nuclear industry circle was pursued
Target.
But by being found after the particular research of current situation and nuclear power environment to domestic outer sensor, nuclear power machine at present
The sensor of device people has the disadvantage that：Sensing element uses electric signal output, easily causes electrical and electromagnetic interference；Sensing unit
More, electrode, lead are complicated, cause sensor heavier；Sensing element, telegraph circuit, elastomeric material are in high temperature, height
Reliability and service life substantially reduce in pressure, high corrosion, the high nuclear power Special complex environment radiated, and nuclear power working environment is special
Property can not be replaced in time after resulting in sensor failure；And its structure cannot meet small nuclear power robot, light weight, resistance to punching
The requirement hit.
Invention content
The technical problem to be solved in the present invention is, provides a kind of fiber grating force sensor, robot and its sensing
Measurement method.
The technical solution adopted by the present invention to solve the technical problems is：A kind of fiber grating force sensor is constructed, is wrapped
Ontology, at least one cutting of body surface are included, fiber grating force sensor further includes the optical fiber being placed in cutting, optical fiber
On at least one fiber grating inscribed according to preset fiber grating parameter；When ontology deforms upon under the action of external force,
And when the optical fiber being placed in the cutting of ontology being caused to deform upon, the variable quantity and light of preset fiber grating parameter are obtained
The variation of the centre wavelength of fine grating；According to the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
Variation obtains the variable quantity of default measurement coefficient.
The present invention fiber grating force sensor in, ontology be ball (101), ball (101) have to
A few section；Ball (101) is integrally formed；Or ball (101) is that a part for sphere is cut off and formed
The aftershaping of section.
In the fiber grating force sensor of the present invention, the section in ball (101) includes the first section
(103), the second section, third section (106), the 4th section, the 5th section (107) and the 6th section；Wherein, the first section
(103) parallel with the second section, and the first section (103) and the second section are located at the opposite sides of ball (101)；
Third section (106) is parallel with the 4th section, and third section (106) perpendicular to the first section (103), and third section
(106) and the 4th section is located at the opposite sides of ball (101)；First section (103), the second section, third are cut
Four planes that face (106) and the 4th section extend surround a hollow cylinder, the 5th section (107) and the 6th section and open tubular column
Body it is axially vertical, and the 5th section (107) is parallel with the 6th section, and the 5th section (107) and the 6th section are located at
The opposite sides of ball (101).
In the fiber grating force sensor of the present invention, at least one quarter is correspondingly arranged on each section on ontology
Slot, and place optical fiber in each cutting on each section；The position that optical fiber is positioned in each cutting on section, which is inscribed, to be had
Fiber grating.
In the fiber grating force sensor of the present invention, ball (101) includes perpendicular to the center of the first section
Axis；Cutting includes the first cutting (102), and it is first flat that the first cutting (102) is formed by plane for (101) one weeks around ball
Face, central shaft are located in the first plane.
In the fiber grating force sensor of the present invention, cutting further includes the second cutting (104), the second cutting (104)
It is the second plane to be formed by within (101) one weeks plane around ball, the first plane perpendicular to the second plane, and the first plane with
Axis centered on the vertical line of second plane.
In the fiber grating force sensor of the present invention, cutting further includes third cutting (105), third cutting (105)
It is communicated with the first cutting (102) and the second cutting (104), and third cutting (105) is located on the section that central shaft passes through；The
Three cuttings (105) have radian, and optical fiber is by third cutting (105) from the first cutting (102) around to the second cutting (104).
Being inscribed in the fiber grating force sensor of the present invention, on optical fiber has multiple fiber gratings, optical fiber to be placed on company
In logical the first cutting (102), the second cutting (104) and third cutting (105), the equal position in position of fiber grating is inscribed on optical fiber
In in section.
Preferably, default measurement coefficient include external force size and torque, strain, temperature, voltage, vibration or/and add
Speed.
In addition, the present invention also constructs a kind of robot, including fiber grating force sensor above.
In addition, invention additionally discloses a kind of robot sensing's measurement method, robot includes that Fiber Bragg Grating Force above feels biography
Sensor, the optical detection device being connect with the optical fiber of fiber grating force sensor；
The sensing measuring method of robot includes the following steps：
Fiber grating force sensor is mounted on to the force part of robot；
When the ontology of fiber grating force sensor deforms upon under the action of external force, and cause to be placed on ontology
When optical fiber in cutting deforms upon, the variable quantity and optical fiber light of preset fiber grating parameter are obtained by optical detection device
The variation of the centre wavelength of grid；
Default survey is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of coefficient of discharge.
Preferably, the variable quantity of preset fiber grating parameter and the center of fiber grating are obtained by optical detection device
The variation of wavelength includes：
Using body central point as origin, the coordinate system for including fiber grating force sensor is established；
The variable quantity of preset fiber grating parameter is obtained by optical detection device, wherein preset fiber grating parameter
Variable quantity include fiber grating grid region fibre core effective refractive index and fiber grating period；
The variable quantity of the centre wavelength of fiber grating is obtained according to the variable quantity of the fiber grating parameter of acquisition.
Preferably, it is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of default measurement coefficient includes：
Show that it is corresponding between suffered external force in a coordinate system according to the variable quantity of the centre wavelength of fiber grating
Relationship obtains the size of the external force in coordinate system in each reference axis；
The default measurement for obtaining detecting needed for fiber grating force sensor according to the size of the external force in each reference axis
The variable quantity of coefficient.
Preferably, coordinate system is rectangular coordinate system in space；
Default survey is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of coefficient of discharge includes：
According to the variable quantity of the centre wavelength of fiber grating, show that the variable quantity of the centre wavelength of fiber grating is straight in space
The X-axis of angular coordinate system, Y-axis, the correspondence on Z axis between suffered external force obtain X-axis, Y-axis, external force on Z axis
Size；
The default survey detected needed for fiber grating force sensor is obtained according to the size of the external force on X-axis, Y-axis, Z axis
The variable quantity of coefficient of discharge.
Preferably, default measurement coefficient include external force size and torque, strain, temperature, voltage, vibration or/and add
Speed.
A kind of fiber grating force sensor, robot and its sensing measuring method for implementing the present invention have with following
Beneficial effect：The grating force sensor of the present invention is based on Fibre Optical Sensor, adapts to apply under nuclear power particular surroundings, overcomes traditional biography
Sensor is easily by electrical Interference, easily by the defect of electromagnetic interference；Heat-resisting, corrosion-resistant, the radiation-resistant advantage of fibre optical sensor is played, is made
With special encapsulating material and encapsulation technology, meet sensor in high temperature, high pressure, high corrosion, the high nuclear power Special complex radiated
In the environment of requirement；Fibre optical sensor is small, precision is high；It is made of special light material, light weight；Special knot
Structure designs, and meets the static and dynamic performance of robot foot section and finger portion etc., bears sufficiently large shock loading, it is big can to survey range.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the dimensional structure diagram of fiber grating force sensor of the present invention；
Fig. 2 is the section structural schematic diagram of fiber grating force sensor of the present invention；
Fig. 3 is fiber grating force sensor vertical view of the present invention；
Fig. 4 is the index distribution and spectral characteristic of fiber grating of the present invention；
Fig. 5 is fiber-optic grating sensor sensing principle figure of the present invention；
Fig. 6 is the flow diagram that the present invention feels sensor, method using Fiber Bragg Grating Force.
Specific implementation mode
As shown in Figure 1, being the preferred embodiment of the present invention.
The present embodiment discloses a kind of fiber grating force sensor, including ontology, at least one quarter of the body surface
Slot, fiber grating force sensor further include the optical fiber being placed in the cutting, are joined according to preset fiber grating on optical fiber
Number inscribes at least one fiber grating；The shape of the ontology carries out concrete scene design according to actual application scenarios, can adopt
With sphere, cylinder etc.；The size of the ontology according to actual application scenarios carry out concrete scene design, the present embodiment to this not
It limits.It is true according to the shapes and sizes of the ontology that the distance between quantity and fiber grating of fiber grating is inscribed in optical fiber
It is fixed.
When the ontology deforms upon under the action of external force, and cause to be placed in the cutting of the ontology
When optical fiber deforms upon, the variation of the variable quantity of preset fiber grating parameter and the centre wavelength of fiber grating is obtained；
Default survey is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of coefficient of discharge.Preferably, default measurement coefficient includes size and torque, strain, temperature, voltage, the vibration of external force
Or/and acceleration.It should be noted that the wavelength (centre wavelength for including fiber grating) demarcated in advance and default measurement coefficient
Between relationship to consider the wave band of material used in the ontology, shape, size and light wave used, that is to say, that according to
The sensor that the principle of the present invention makes, the relationship between the wavelength demarcated in advance and default measurement coefficient are different, and are needed
It to be determined and be marked according to test result on the basis of determining the wave band of the material of sensor, shape, size and light wave used
Correspondence between fixed wavelength and default measurement coefficient.
Force sensor as the awareness tool of robot, can be mounted in arm of robot etc. and end effector
Between, power/moment information (or other measurement coefficients) of perception is fed back into computer, to control end effector movement
Robot automatic adjusument is realized in direction and position, completes the precise operations such as automatic assembling.
The present invention fiber grating force sensor in, the ontology be ball 101, ball 101 have to
A few section；Ball 101 is integrally formed；Or ball 101 is to cut off a part for sphere and form section
Aftershaping.Ball 101 mentioned here includes not only positive sphere, also includes spheroid and globoid, for example, rule
Polyhedron then and irregular polyhedron.It should be noted that the sphere fiber grating force sensor in the present embodiment
Foot applied to nuclear power robot and finger portion, convenient for rotation, facilitate robot foot therefore it is required that sphere has smoothly excessive
The movement in portion and finger portion.Meanwhile the material of sphere should need to use light-high-strength alloy with elastomeric material, as titanium closes
Gold etc. meets sensor and grasps the impact strength requirement generated in the process, and elastomer in foot portion of advancing and refer in robot
Be processed and formed at one time as a whole using high-strength light alloy, elastomer structure meet sensing element survey strain it is sensitive
Under the premise of property, it is ensured that intensity and lighter quality.Fiber grating force sensor is connected with robot position, can basis
The installation requirements of the different parts of different type robot, design mounting hole position, are connected.
In the fiber grating force sensor of the present invention, section in ball 101 includes the first section 103, the
Two sections, third section 106, the 4th section, the 5th section 107 and the 6th section；Wherein, the first section 103 and the second section
It is parallel, and the first section 103 and the second section are located at the opposite sides of ball 101；It cuts third section 106 and the 4th
Face is parallel, and third section 106 is perpendicular to the first section 103, and third section 106 and the 4th section are located at ball
101 opposite sides；Four planes that first section 103, the second section, third section 106 and the 4th section extend surround one
Hollow cylinder, the 5th section 107 and the 6th section and hollow cylinder it is axially vertical, and the 5th section 107 and the 6th section are flat
Row, and the 5th section 107 and the 6th section are located at the opposite sides of ball 101.
The present embodiment takes six cut surfaces in ball 101, can also take four sections, eight sections as needed
Deng, the selection rule of section is identical as the method for six sections is taken, guarantee took the ball 101 of section that can keep smoothed
Degree, is easily installed in the junction of robot.Six sections both can be symmetrically the same, can also cut according to demand.
In the fiber grating force sensor of the present invention, it is correspondingly arranged on each section on the ontology at least one
The cutting, and place optical fiber in each cutting on each section；Optical fiber is positioned in each cutting on section
Position inscribe and have fiber grating.
In the fiber grating force sensor of the present invention, ball 101 includes the central shaft perpendicular to the first section；
The cutting includes the first cutting 102, and it is the first plane that the first cutting 102 is formed by plane for 101 1 weeks around ball, in
Mandrel is located in the first plane；The cutting further includes the second cutting 104, and the second cutting 104 is around 101 1 weeks institute's shapes of ball
At plane be the second plane, the first plane is perpendicular to the second plane, and the first plane and axis centered on the vertical line of the second plane；
In the fiber grating force sensor of the present invention, the cutting further includes third cutting 105, third cutting 105 and the first quarter
Slot 102 and the second cutting 104 communicate, and third cutting 105 is located on the section that central shaft passes through；Third cutting 105 has
Radian, optical fiber is by third cutting 105 from the first cutting 102 around to the second cutting 104.It, cannot be random because of the characteristic of optical fiber
Bending, needs to control certain bending angle, otherwise can cause the propagation distortion of light, so third cutting 105 has certain arc
Degree, the size of radian is according to the size of sensor and intersects the angle-determining of the cutting, facilitate optical fiber from the first cutting 102 around
To the second cutting 104, the transmission of light wave in a fiber is not influenced.In the present embodiment, the number of the cutting on the ontology
Amount is not limited to the first cutting 102, the second cutting 104 and third geosyncline 105, and the cutting quantity can be according to the ontology
Shape and the distribution situation of external force that measures of needs determine.
Being inscribed in the fiber grating force sensor of the present invention, on optical fiber has multiple fiber gratings, optical fiber to be placed on company
In logical the first cutting 102, the second cutting 104 and third cutting 105, the position that fiber grating is inscribed on optical fiber is respectively positioned on section
It is interior.Preferably, six fiber gratings are inscribed on optical fiber, optical fiber is in the first cutting 102, the second cutting 104 and third cutting 105
Around 101 liang of weeks of ball, and six fiber gratings are respectively fallen in six sections.In fiber grating force sensor by outer
Before power, it is distributed using the light wave of each fiber grating in optical detection device detection fiber, is recorded as original optical signal；In light
After fine grating force sensor is deformed upon by external force, optical fiber deforms upon therewith, such as stretches or compress, and causes in optical fiber
Optical wavelength change, optical detection device detects the light wave variable quantity of each fiber grating, according to the wave demarcated in advance
Correspondence and variable quantity between long and stress determine the size and Orientation by external force, that is, suffered by six sections
The size and Orientation of external force.
The force sensor of the present embodiment is mounted among arm of robot etc. and end effector, by perception
Power/moment information feeds back to computer, to control the direction and position of end effector movement, realizes that robot adaptively adjusts
Section completes the precise operations such as automatic assembling.
Preferably, in conjunction with Fig. 2 and Fig. 3, the present embodiment provides a kind of fiber grating force sensor, and design parameter is：Light
The radius of the sphere of fine grating force sensor is 15mm, and the radius of section is 7.5mm, and the distance between two parallel cut surfaces are
The groove depth of 25.98mm, the cutting are 0.6mm, and the groove width of the cutting is 0.6mm, according to the optical fiber light of the above parameter designing
Grid force sensor after tested, can reach the performance parameter of following table：
The performance parameter table of 1 fiber grating force sensor of table
| Performance indicator | Index value | Unit |
| Range | ±3000 | N |
| Wave-length coverage | 1510~1590 | nm |
| Minimum profile size | 10*10*10 | mm |
| Precision | 1‰ | F.S. |
| Waterproofing grade | IP67 |
Fiber grating is a kind of novel optical passive component, is built on the fibre core of optical fiber using the light sensitive characteristic of fiber optic materials
A kind of vertical space periodicity index distribution, thus it is possible to vary or control light is in the dissemination mode in the region.It is measured (temperature
Degree, stress/strain) cause the variation of fiber grating pitch to pass through Wavelength demodulation so that the centre wavelength of reflection peak moves
System obtains reflection peak amount of movement, you can obtains measured size.
Fiber grating is entered in a bit of enterprising row write on optical fiber axial direction direction, after write-in just in the fibre core of optical fiber
Form the fiber grating of refractive index cycle variation, the reflectivity of fiber grating is 90% or more, reflection bandwidth into for 0.25nm,
So fiber grating is equivalent to narrow band filter.The one end of the light of light source through fiber grating enters, and meets the light of Bragg condition,
I.e. wavelength is λBLight can occur after to coupling, can be formed with λ in reflectance spectrumBCentered on peak value, as shown in figure 4, i.e. fiber grating
It can only reflect with λBCentered on narrow bandwidth light, the light transmission of commplementary wave length.Bragg condition is：
λB=2neffΛ (2-1)
Wherein λBFor centre wavelength, that is, bragg wavelength of fiber grating, neffFor the effective refractive index of the fibre core in grid region, Λ
For the period of fiber grating.
By formula (2-1) it is found that the centre wavelength of fiber grating is and Λ and λBIt is related, ambient temperature strain etc. variations when
It can cause the variation of Δ neff and Δ Λ, to which centre wavelength changes, then center wavelength variation is represented by：
ΔλB=2 Δ neffΛ+2neffΔΛ (2-2)
In formula (2-2) it is found that when effective refractive index neff or pitch Λ are changed, the central wavelength lambda of fiber gratingB
It can change correspondingly, pass through the λ of detection optical fiber gratingBVariation, the variation of parameter to be measured can be mapped out, as shown in Figure 5：As long as
The wavelength variable quantity Δ λ of surveyB, can map out stress, strain, temperature, voltage, vibration, acceleration, etc. variable quantity, to
Complete optical fiber grating sensing process.
Now illustrate the pressure characteristic of fiber grating used in the present invention.
If ambient pressure changes, the variation of optic fiber grating wavelength is represented by：
Wherein：
Formula 2-4 and formula 2-5 is brought into formula 2-3 to obtain：
The pressure-sensitivity of bare optical fibers and bare optical gratings is generally 3.13pm/MPa；Fiber grating pair pressure is not very sensitive, is needed
Want some enhanced sensitivity measures.
In the fiber grating used in the present invention：
It is mechanical when fiber grating can be stretched or compress when uniform axial stress is applied on fiber grating
The grating constant of fiber grating can be changed by stretching, and be expressed as：
Wherein εχFor the axial strain at measured point, at the same time elasto-optical effect can be such that the refractive index of fiber grating becomes
Change：
μ is the Poisson's ratio of core material, and P11 and P12 are elasto-optical coefficient, defines valid elastic-optic constants Pe and is：
Germanium-doped silica fiber, P11=0.121, P12=0.27, μ 0.17 bring above formula into and obtain Pe ≈ 0.22.
So optic fiber grating wavelength variable quantity is caused by axial strain：
From the above equation, we can see that after the material of fiber grating determines, influence of external world's strain to itIt is and material coefficient phase
The constant of pass illustrates that the emergent property of fiber grating is linear.In practical application, it is more than 5% not allow deformation generally, otherwise
Will produce fracture and commonly use wavelength change caused by one microstrain of bare optical fibers and bare optical gratings is 1.205pm.
In addition, the present invention also constructs a kind of robot, including fiber grating force sensor above.
The fiber grating force sensor is mounted on the positions such as finger, toe, the arm of robot, utilizes fiber grating pair
Strain replaces common pressure and temperature sensor with the sensitive reflection of temperature, is provided to be equipped with sensor needed for robot
New selection.Particularly, for applying the robot in nuclear power environment, fiber grating force sensing provided by the invention is used
Device is suitable for the high temperature of nuclear power station, high pressure, high corrosion, the particular surroundings of high radiation, and small, the service life up to 8-10, no
It is easily interfered by electromagnetic environment, there is good characteristic.
As shown in fig. 6, invention additionally discloses a kind of robot sensing's measurement method, the robot includes optical fiber above
Grating force sensor, the optical detection device being connect with the optical fiber of fiber grating force sensor；
The sensing measuring method of robot includes the following steps：
S1：Fiber grating force sensor is mounted on to the force part of robot；
S2：When the ontology of fiber grating force sensor deforms upon under the action of external force, and cause to be placed on this
When optical fiber in the cutting of body deforms upon, by optical detection device obtain the variable quantity of preset fiber grating parameter with
And the variation of the centre wavelength of fiber grating；
S3：It is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating default
The variable quantity of measurement coefficient.
Preferably, the variable quantity of preset fiber grating parameter and the center of fiber grating are obtained by optical detection device
The variation of wavelength includes：
Using body central point as origin, the coordinate system for including fiber grating force sensor is established；
The variable quantity of preset fiber grating parameter is obtained by optical detection device, wherein preset fiber grating parameter
Variable quantity include fiber grating grid region fibre core effective refractive index and fiber grating period；
The variable quantity of the centre wavelength of fiber grating is obtained according to the variable quantity of the fiber grating parameter of acquisition.
Preferably, it is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of default measurement coefficient includes：
Show that it is corresponding between suffered external force in a coordinate system according to the variable quantity of the centre wavelength of fiber grating
Relationship obtains the size of the external force in coordinate system in each reference axis；
The default measurement for obtaining detecting needed for fiber grating force sensor according to the size of the external force in each reference axis
The variable quantity of coefficient.
Preferably, coordinate system is rectangular coordinate system in space；
Default survey is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of coefficient of discharge includes：
According to the variable quantity of the centre wavelength of fiber grating, show that the variable quantity of the centre wavelength of fiber grating is straight in space
The X-axis of angular coordinate system, Y-axis, the correspondence on Z axis between suffered external force obtain X-axis, Y-axis, external force on Z axis
Size；
The default survey detected needed for fiber grating force sensor is obtained according to the size of the external force on X-axis, Y-axis, Z axis
The variable quantity of coefficient of discharge.
Preferably, default measurement coefficient include external force size and torque, strain, temperature, voltage, vibration or/and add
Speed.
Above example only technical concepts and features to illustrate the invention, its object is to allow person skilled in the art
Scholar can understand present disclosure and implement accordingly, can not limit the scope of the invention.It is all to be wanted with right of the present invention
The equivalent changes and modifications that range is done are sought, the covering scope of the claims in the present invention should all be belonged to.
Claims (14)
1. a kind of fiber grating force sensor, which is characterized in that including ontology, at least one cutting of the body surface,
The fiber grating force sensor further includes the optical fiber being placed in the cutting, according to preset optical fiber light on the optical fiber
Grid parameter inscribes at least one fiber grating；
When the ontology deforms upon under the action of external force, and cause the optical fiber being placed in the cutting of the ontology
When deforming upon, the variation of the variable quantity of the preset fiber grating parameter and the centre wavelength of fiber grating is obtained；
Default survey is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of coefficient of discharge；
The ontology is ball (101), and the ball (101) has at least one section；It is each on the ontology
It is correspondingly arranged at least one cutting on the section, and optical fiber is placed in each cutting on each section；
The position that the optical fiber is positioned in each cutting on the section, which is inscribed, the fiber grating.
2. fiber grating force sensor according to claim 1, which is characterized in that the ball (101) is one
It is body formed；Or the ball (101) is to cut off a part for sphere and form the aftershaping of the section.
3. fiber grating force sensor according to claim 2, which is characterized in that on the ball (101)
The section includes the first section (103), the second section, third section (106), the 4th section, the 5th section (107) and the 6th
Section；
Wherein, first section (103) is parallel with second section, and first section (103) and described second is cut
Face is located at the opposite sides of the ball (101)；
The third section (106) is parallel with the 4th section, and the third section (106) is perpendicular to first section
(103), and the third section (106) and the 4th section are located at the opposite sides of the ball (101)；
Extend four of first section (103), second section, the third section (106) and the 4th section
Plane surrounds the axially vertical of a hollow cylinder, the 5th section (107) and the 6th section and the hollow cylinder, and
5th section (107) is parallel with the 6th section, and the 5th section (107) and the 6th section are located at
The opposite sides of the ball (101).
4. fiber grating force sensor according to claim 3, which is characterized in that the ball (101) includes
Central shaft perpendicular to first section；The cutting includes the first cutting (102), and first cutting (102) is around described
It is the first plane that ball, which is formed by plane for (101) one weeks, and the central shaft is located in first plane.
5. fiber grating force sensor according to claim 4, which is characterized in that the cutting further includes the second cutting
(104), second cutting (104) around the ball be formed by within (101) one weeks plane be the second plane, described first
Plane is perpendicular to second plane, and the vertical line of first plane and second plane is the central shaft.
6. fiber grating force sensor according to claim 5, which is characterized in that the cutting further includes third cutting
(105), the third cutting (105) communicates with first cutting (102) and second cutting (104), and described
Three cuttings (105) are located on the section that the central shaft passes through；The third cutting (105) has radian, the optical fiber
By the third cutting (105) from first cutting (102) around to second cutting (104).
7. fiber grating force sensor according to claim 6, which is characterized in that being inscribed on the optical fiber has multiple institutes
Fiber grating is stated, the optical fiber is placed on first cutting (102), second cutting (104) and the third of connection
In cutting (105), the position that the fiber grating is inscribed on the optical fiber is respectively positioned in the section.
8. fiber grating force sensor according to claim 1, which is characterized in that the default measurement coefficient includes institute
State the size and torque, strain, temperature, voltage, vibration or/and acceleration of external force.
9. a kind of robot, which is characterized in that including any fiber grating force sensors of claim 1-8.
10. a kind of robot sensing's measurement method, which is characterized in that the robot includes claim 1-8 any described
Fiber grating force sensor, the optical detection device being connect with the optical fiber of the fiber grating force sensor；
The sensing measuring method of the robot includes the following steps：
The fiber grating force sensor is mounted on to the force part of the robot；
When the ontology of the fiber grating force sensor deforms upon under the action of external force, and cause to be placed on institute
When stating the optical fiber in the cutting of ontology and deforming upon, passes through the optical detection device and obtain the preset fiber grating ginseng
The variation of the centre wavelength of several variable quantities and fiber grating；
Default survey is obtained according to the variation of the centre wavelength of the variable quantity of the fiber grating parameter of acquisition and fiber grating
The variable quantity of coefficient of discharge.
11. robot sensing's measurement method according to claim 10, which is characterized in that described to be filled by the light detection
The variation for setting the centre wavelength of the variable quantity and fiber grating that obtain the preset fiber grating parameter includes：
Using the body central point as origin, the coordinate system for including the fiber grating force sensor is established；
The variable quantity of the preset fiber grating parameter is obtained by the optical detection device, wherein the preset optical fiber
The variable quantity of grating parameter includes the effective refractive index of the fibre core in the grid region of fiber grating and the period of fiber grating；
The variable quantity of the centre wavelength of fiber grating is obtained according to the variable quantity of the fiber grating parameter of acquisition.
12. robot sensing's measurement method according to claim 11, which is characterized in that the light according to acquisition
The variation of the variable quantity of fine grating parameter and the centre wavelength of fiber grating show that the variable quantity of default measurement coefficient includes：
According to the variable quantity of the centre wavelength of fiber grating obtain its in the coordinate system it is corresponding between suffered external force
Relationship obtains the size of the external force in the coordinate system in each reference axis；
It obtains detecting needed for the fiber grating force sensor according to the size of the external force in each reference axis
The variable quantity of default measurement coefficient.
13. robot sensing's measurement method according to claim 11, which is characterized in that the coordinate system is space right-angle
Coordinate system；
The variation of the variable quantity of the fiber grating parameter according to acquisition and the centre wavelength of fiber grating obtains pre-
If the variable quantity of measurement coefficient includes：
According to the variable quantity of the centre wavelength of fiber grating, show that the variable quantity of the centre wavelength of fiber grating is straight in the space
The X-axis of angular coordinate system, Y-axis, the correspondence on Z axis between suffered external force obtain X-axis, Y-axis, the outside on Z axis
The size of power；
Obtained according to the size of the external force on X-axis, Y-axis, Z axis detected needed for the fiber grating force sensor it is pre-
If the variable quantity of measurement coefficient.
14. robot sensing's measurement method according to claim 12 or 13, which is characterized in that the default measurement coefficient
Size and torque, strain, temperature, voltage, vibration including the external force or/and acceleration.
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