CN106610273A - Shape detection device and method based on spiral FBG (fiber bragg grating) sensor array - Google Patents
Shape detection device and method based on spiral FBG (fiber bragg grating) sensor array Download PDFInfo
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- CN106610273A CN106610273A CN201611126916.7A CN201611126916A CN106610273A CN 106610273 A CN106610273 A CN 106610273A CN 201611126916 A CN201611126916 A CN 201611126916A CN 106610273 A CN106610273 A CN 106610273A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/18—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge using photoelastic elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention provides a shape detection device and method based on a spiral FBG (fiber bragg grating) sensor array, and the device comprises the spiral FBG sensor array, an FBG demodulator, data collection and shape reconstruction equipment, and display equipment. The device does not need other peripheral auxiliary equipment, is not affected by electromagnetic interference, is good in medical compatibility, does not emit rays, and can achieve the long-distance remote monitoring. Through the spiral configuration of the FBG sensor array, the device can achieve the multi-point deformation detection of a single optical fiber, and forms a quasi-distributed detection system. Through the packaging of the optical fiber on a nickel-titanium alloy filament, the device protects a grating point from being worn, is strong in anti-interference capability, and enlarges the detection range. The device can obtain the shape of a flexible robot in real time, and is high in real-time response. Meanwhile, the device detects the curvature and torsion, is simple in detection method, can be used for the shape sensing detection in a gastroscope, colonoscope and a flexible/soft robot, and plays an important role in the flexible robots in the fields of dibaster assistance, medical rehabilitation and national defense security.
Description
Technical field
The present invention relates to a kind of shape detecting apparatus and method based on Helical Fiber grating sensor array, especially relate to
And a kind of SHAPE DETECTION dress based on Helical Fiber grating sensor array that can detect curvature information and the information of torsion simultaneously
Put and method.
Background technology
In order to further embody the excellent results of Minimally Invasive Surgery, typical Minimally Invasive Surgery method is from traditional minimally invasive handss of porous
Art develops into single hole operation, then study hotspot up till now --- natural cavity operation (natural orifice
Transluminal endoscopic surgery, NOTES).Natural cavity Minimally Invasive Surgery refer to Jing human body natural's tracts (stomach,
Esophagus etc.) a kind of operation form of operation technique is completed into human body.Compared to other Minimally Invasive Surgerys (porous Minimally Invasive Surgery,
Single hole Minimally Invasive Surgery), Jing natural cavities Minimally Invasive Surgery does not leave otch in human body surface during patient's illness is solved,
Operation wound and postoperative pain are alleviated, cosmetic result is increased, the minimally invasive and psychological minimally invasive effect of more preferable physiology is realized.Operation
It is the inexorable trend of Future Development from " minimally invasive " to " noinvasive ".Therefore, natural cavity Minimally Invasive Surgery is most promising from now on
One of operation form.But flexible operating theater instruments shortcoming precision, internal natural cavity are complex-shaped, are imaged, greatly in two-dimentional art
Increased greatly operation technique difficulty.Thus, it is possible to improve the accuracy of operating theater instruments, provide 3-D image guided SHAPE DETECTION
Apparatus and method are arisen at the historic moment.During micro-wound surgical operation, doctor implements handss by elongated flexible Minimally Invasive Surgery apparatus
Art operation task, by doctor's hand-held, the other end is insinuated into enter in vivo by the natural cavity of human body for one end of operating theater instruments
Row operation technique.But, the high flexibility ratio of flexible operating theater instruments also brings some problems, such as in flexible instrument body, positioning is multiple
Miscellaneous, control is difficult.Therefore, shape detecting apparatus and method are the key factors for determining flexible instrument surgical quality.It is real in operation
Shi Zhong, due to the position shape of insertion end in flexible operating theater instruments body, natural cavity shape and outside actuation means have it is special
Mapping relations, manual manipulation flexibility operating theater instruments, reduce operation tool end perform surgical action accuracy, meanwhile,
Surgical action makes doctor easily tired to long-time on a large scale, virtually increased the difficulty of operation, therefore to flexible operation device
Shape detecting apparatus exploitation with study demand be also correspondingly improved.
The content of the invention
(1) technical problem to be solved
It is an object of the invention to overcome existing single based on the complex structure of sensor shape detection technique, multifiber
A kind of the shortcomings of linear configurations, shortage torsion information, there is provided the optical fiber grating sensing that composition is simple, novel, detection method is easy
Device structure, and curvature and torsion information can be detected simultaneously.Realize high measurement accuracy, can real-time detection based on Helical Fiber grating
The shape detecting apparatus and method of sensor array.
(2) technical scheme
The invention provides a kind of shape detecting apparatus based on Helical Fiber grating sensor array, for detecting flexibility
The spatial form of robot, including：Helical Fiber grating sensor array, fiber Bragg grating (FBG) demodulator, data acquisition and shape weight
Build standby and display device；The Helical Fiber grating sensor array includes the single light being wrapped on the flexible robot
Fiber grating sensor, the single fiber-optic grating sensor include multiple optical grating points；The fiber Bragg grating (FBG) demodulator, connection are described
Helical Fiber grating sensor array, to the Helical Fiber grating sensor array emitter laser, receives through the grating
The laser returned after point, and demodulate the wavelength of return laser light；The data acquisition and shape similarity metric equipment, connect the optical fiber
Grating demodulation instrument, receives the wavelength of the return laser light that the fiber Bragg grating (FBG) demodulator is demodulated, the wavelength to the return laser light
It is analyzed and rebuilds, obtains the spatial form of the flexible robot.
Preferably, the fiber-optic grating sensor includes optical fiber, and an optical fiber is divided into clock wise spirals section and inverse time
Pin spiral section, the clock wise spirals section and counter-clockwise helical section have been respectively uniformly distributed N number of optical grating point, and the N is more than or waits
In 2.
The fiber-optic grating sensor also includes a nitinol alloy wire, and the axis along the nitinol alloy wire is provided with rectangle
Groove, the optical fiber are pasted onto in the rectangular channel；Or, the fiber-optic grating sensor also include two nitinol alloy wires, two
Root nitinol alloy wire is fixed together along its axis, and optical fiber is pasted onto the angle that two nitinol alloy wires are formed, corresponding to institute
State the clock wise spirals section and counter-clockwise helical section of fiber-optic grating sensor.
Preferably, along the first axle direction of flexible robot, the clock wise spirals section edge of the fiber-optic grating sensor
It is wrapped on the flexible robot clockwise, along the flexible robot and first axle second axis in opposite direction
Direction, the counter-clockwise helical section of the fiber-optic grating sensor are wrapped on flexible robot in the counterclockwise direction, form the inspection of N groups
Measuring point, every group of test point include the one of an optical grating point and counter-clockwise helical section of the fiber-optic grating sensor clock wise spirals section
Optical grating point, two optical grating points be located at the flexible robot same circumferential section on and shape in an angle.
Preferably, the fiber Bragg grating (FBG) demodulator is to the fibre optical transmission laser, laser wavelength after optical grating point
Can change, the fiber Bragg grating (FBG) demodulator receives the laser that the optical fiber is returned, and demodulates swashing for the optical fiber return
The wavelength of light.
Present invention also offers a kind of shape detecting method based on Helical Fiber grating sensor array, using above-mentioned shape
Shape detection means detects the spatial form of flexible robot, including：Obtain centre wavelength step：Obtain Helical Fiber grating sensing
The centre wavelength of device array；Obtain wavelength variable quantity step：The Detection wavelength of the Helical Fiber grating sensor array is obtained,
And the centre wavelength and Detection wavelength based on the Helical Fiber grating sensor array obtains the Helical Fiber grating sensing
The wavelength variable quantity of device array；Obtain curvature step：Based on the wavelength variable quantity of the Helical Fiber grating sensor array, profit
With the curvature and the relational expression of wavelength variable quantity of fiber-optic grating sensor, the song of the Helical Fiber grating sensor array is obtained
Rate；Obtain curvature direction step：Based on the wavelength variable quantity of the Helical Fiber grating sensor array, passed using fiber grating
The axial strain of sensor and the relational expression of wavelength variable quantity, obtain the axial strain of the Helical Fiber grating sensor array,
And the axial strain based on the Helical Fiber grating sensor array and curvature, obtain the Helical Fiber grating sensor battle array
The curvature direction of row；Obtain spatial form step：Curvature and curvature direction based on the Helical Fiber grating sensor array,
Obtain the spatial form of flexible robot.
Preferably, in the acquisition centre wavelength step, before flexible robot's insertion natural cavity, to the spiral shell
Rotation Fiber Bragg Grating Sensor Array is passed through laser, and using the optical maser wavelength returned through optical grating point as centre wavelength；Described
Obtain in wavelength variable quantity step, the flexible robot is inserted in natural cavity, to Helical Fiber grating sensor array
Laser is passed through, using the optical maser wavelength returned through optical grating point as Detection wavelength, the Detection wavelength deducts centre wavelength and obtains
The wavelength variable quantity of optical grating point.
Preferably, in the acquisition curvature direction step, by the optical grating point wavelength of Helical Fiber grating sensor array
Variable quantity substitutes into the relational expression of axial strain and wavelength variable quantity, obtains the axial direction of Helical Fiber grating sensor array grating point
Strain；The axial strain of the Helical Fiber grating sensor array grating point and curvature are substituted into into axial strain relational expression, is obtained
To the curvature direction of Helical Fiber grating sensor array grating point.
Preferably, in spatial form step is obtained, by the curvature and song of Helical Fiber grating sensor array grating point
Rate direction is converted to the 3 d space coordinate of optical grating point；Space three-dimensional based on Helical Fiber grating sensor array grating point is sat
Mark, by the way of interpolation or linear fit, reconstructs the spatial form of flexible robot.
Preferably, also include：Obtain and reverse information Step：The wavelength of Helical Fiber grating sensor array grating point is become
Change amount substitutes into the overall strain of fiber-optic grating sensor and the relational expression of wavelength variable quantity, obtains Helical Fiber grating sensor array
The overall strain of optical grating point；The overall strain of Helical Fiber grating sensor array grating point and axial strain are substituted into into strain stress relation
Formula, obtains the torsional strain of Helical Fiber grating sensor array grating point；According to the pass between torsional strain and torsion information
It is formula, obtains the torsion information of Helical Fiber grating sensor array grating point.
(3) beneficial effect
From above-mentioned technical proposal as can be seen that the SHAPE DETECTION based on Helical Fiber grating sensor array of the present invention is filled
Put and have the advantages that with method：
(1) shape detecting apparatus of the invention include Helical Fiber grating sensor array, fiber Bragg grating (FBG) demodulator and
Computer is constituted, and without other peripheral auxiliary equipments are needed, not by electromagnetic interference, medical treatment compatibility is good, without emitting radiation, energy
The long-range monitoring of long range is carried out enough；
(2) by the packaged fiber on nitinol alloy wire, optical grating point can be protected not frayed, has shape detecting apparatus
There is very strong capacity of resisting disturbance, and expand its detection range.
(3) multiple optical grating points are realized by parallel mode simple optical fiber coiled arrangement while detection, is consequently formed one
Quasi-distributed detecting system, shape detecting apparatus can obtain the shape of flexible robot in real time, both can be suitably used for Jing natures
SHAPE DETECTION in tract minim channel, also can be suitably used for the detection of random-space-curve, and can reach very high real-time
Response.
(4) Helical Fiber grating sensor array sizes are little, and dynamic big strain can be synchronized under microsize
Detection, reduce the quantity of fiber-optic grating sensor, and the port number of fiber Bragg grating (FBG) demodulator reduced, reduce shape
The cost of shape detection means.
(5) detection of shape can not only be realized, torsion information can also be detected, and detection method is simple, can be applicable to
The gastroscope of medical treatment, colonoscope, the shape of flexibility/soft robot are perceived in detection.
Description of the drawings
For a more complete understanding of the present invention and its advantage, referring now to and combine accompanying drawing and be described, wherein：
Fig. 1 shows for the overall structure of the shape detecting apparatus based on Helical Fiber grating sensing array of the embodiment of the present invention
It is intended to；
Fiber-optic grating sensor schematic layout patterns of Fig. 2 a for the embodiment of the present invention；
Encapsulating structure schematic diagrams of Fig. 2 b for the fiber-optic grating sensor of the embodiment of the present invention；
Profiles perpendicular to nitinol alloy wire axis of Fig. 2 c for the fiber-optic grating sensor of the embodiment of the present invention；
Another kind of encapsulating structure schematic diagrams of Fig. 2 d for the fiber-optic grating sensor of the embodiment of the present invention；
Structural representations of the Fig. 3 for the Helical Fiber grating sensor array of the embodiment of the present invention；
Shape detecting method flow charts based on Helical Fiber grating sensor array of the Fig. 4 for the embodiment of the present invention；
Graphs of a relation of the Fig. 5 for the curvature and wavelength of the optical grating point of the embodiment of the present invention；
Fig. 6 calculates schematic diagram for the curvature of space of the optical grating point of the embodiment of the present invention；
Mathematical model schematic diagrams of the Fig. 7 for the space curve reconstruction of the embodiment of the present invention；
Flexible robot spatial form reconstructed results schematic diagrams of the Fig. 8 for the embodiment of the present invention；
Optical grating point strain model schematic diagrams of the Fig. 9 for the embodiment of the present invention.
【Symbol description】
1- Helical Fiber grating sensor arrays；2- fiber Bragg grating (FBG) demodulators；3- data acquisitions and shape similarity metric equipment；4-
Display device；5- flexible robots；11- fiber-optic grating sensors；111- optical fiber；112- nitinol alloy wires；113- optical grating points；
114- test points.
Specific embodiment
According to combining accompanying drawing to the described in detail below of exemplary embodiment of the present, the other side of the present invention, advantage
With prominent features for those skilled in the art will become clear from.
In this manual, following various embodiments for describing the principle of the invention simply explanation, should not be with any
Mode is construed to the scope for limiting invention.The comprehensive understanding that is used to help described below referring to the drawings is by claim and its equivalent
The exemplary embodiment of the present invention that thing is limited.It is described below including various details helping understand, but these details should
Think what is be merely exemplary.Therefore, it will be appreciated by those of ordinary skill in the art that without departing substantially from scope and spirit of the present invention
In the case of, embodiment described herein can be made various changes and modifications.Additionally, for clarity and brevity,
Eliminate the description of known function and structure.Additionally, running through accompanying drawing, same reference numbers are used for identity function and operation.
Fig. 1 is a kind of entirety of shape detecting apparatus based on Helical Fiber grating sensor array of the embodiment of the present invention
Structural representation.In the Minimally Invasive Surgery based on natural cavity, flexible robot 5 is probeed into into the human body by human body natural's tract
It is operated, and the shape detecting apparatus of the present embodiment can detects shape of the flexible robot 5 in natural cavity.Ginseng
See Fig. 1, the shape detecting apparatus include：Helical Fiber grating sensor array 1, fiber Bragg grating (FBG) demodulator 2, data acquisition and shape
Shape reconstructing apparatus 3 and display device 4.
Helical Fiber grating sensor array 1 is wound and formed by fiber-optic grating sensor.Fiber-optic grating sensor includes
It is carved with the optical fiber and nitinol alloy wire of grating.Referring to Fig. 2 a, which is the schematic diagram of fiber grating distribution.111 points of the optical fiber of Fig. 2 a
For clock wise spirals section and counter-clockwise helical section, clock wise spirals section and counter-clockwise helical section have been respectively uniformly distributed four gratings
Point 113, i.e., whole optical fiber 111 include eight optical grating points 113, and clock wise spirals section includes optical grating point 1,2,3,4, counter-clockwise helical
Section includes optical grating point 5,6,7,8, distance s 1=45mm of two neighboring optical grating point, last optical grating point of clock wise spirals section
4 with distance s 2=60mm of first optical grating point 5 of counter-clockwise helical section.Referring to Fig. 2 b, it is a kind of fiber-optic grating sensor
Structure chart.Fiber-optic grating sensor 11 includes optical fiber 111 and nitinol alloy wire 112.Nitinol alloy wire 112 is used for as carrier
Place optical fiber 111.Nitinol alloy wire 112 is provided with rectangular channel along its axis, and optical fiber 111 is placed in rectangular channel, then uses asphalt mixtures modified by epoxy resin
Fat glue, optical fiber 111 is fixed in nitinol alloy wire 112, corresponding to the clock wise spirals section and spiral shell counterclockwise of optical fiber 111
Rotation section, fiber-optic grating sensor 11 are also accordingly divided into clock wise spirals section and counter-clockwise helical section.Using epoxide-resin glue
During stickup, to first keep optical fiber 111 to be subject to the action of pulling stress of pre-add, repaste and smear epoxide-resin glue, wait asphalt mixtures modified by epoxy resin
After fat gelling is solid, removes action of pulling stress, the range of fiber-optic grating sensor thus, not only can be expanded, light is also prevented from
There are many crest phenomenons in fiber grating sensor 11.
Fig. 2 c are the profiles perpendicular to nitinol alloy wire axis of fiber-optic grating sensor, wherein, nitinol alloy wire 112
A diameter of D=1mm, the width b=0.4mm of rectangular channel, height h=0.4mm, the size of optical fiber 111 and the size of rectangular channel
Matching, its diameter d can be equal to or slightly less than the width b of rectangular channel.
Referring to Fig. 2 d, it is the structural representation of another kind of fiber-optic grating sensor.Fiber-optic grating sensor 11 includes optical fiber
111 and two nitinol alloy wires 112.Nitinol alloy wire 112 is used for as carrier, a diameter of 0.5mm of described nitinol alloy wire
Fixed optical fiber 111.Two nitinol alloy wires 112 are fixed together along its axis, and optical fiber 111 is placed on two nitinol alloy wire shapes
Into angle in, then use epoxy resin glue, optical fiber 111 be fixed on two nitinol alloy wires, corresponding to fiber grating
The clock wise spirals section and counter-clockwise helical section of sensor 11.
The present embodiment is using nitinol alloy wire 112 as carrier, but the present invention is not limited to this, can also be flexible using other
Material is used as carrier, and above-mentioned size is only exemplary, is not limited thereto, and length L of optical fiber and nitinol alloy wire can
It is configured with the length according to flexible robot, the quantity and spacing of the optical grating point of optical fiber can also be carried out according to the actual requirements
Arrange, optical grating point is more much closeer, then the precision of SHAPE DETECTION is higher.
Referring to Fig. 3, which is the structural representation of Helical Fiber grating sensor array 1.First, along flexible robot 5
One axis direction, the clock wise spirals section of fiber-optic grating sensor is wrapped on flexible robot 5, so along clockwise direction
Afterwards, along 5 second axis direction of flexible robot, the counter-clockwise helical section of fiber-optic grating sensor is wrapped in the counterclockwise direction
On flexible robot 5, second axis direction is in opposite direction with first axle, makes the clock wise spirals section of fiber-optic grating sensor
Optical grating point is corresponding with the optical grating point position of counter-clockwise helical section, forms four groups of test points, and every group of test point includes clock wise spirals
One optical grating point of one optical grating point and counter-clockwise helical section of section, two optical grating points of every group of test point are located at flexible robot
On 5 same circumferential section, and the angle of two optical grating points is 90 degree.In figure 3, the optical grating point 1 of clock wise spirals section with
The optical grating point 8 of counter-clockwise helical section forms one group of test point 114, similar, optical grating point 2 and optical grating point 7, optical grating point 3 and grating
Point 6, optical grating point 4 form one group of test point respectively with optical grating point 5, to form Helical Fiber grating sensor array 1, Helical Fiber
Pitch P=the 30mm of grating sensor array 1.Similarly, the value of the angle and pitch of above-mentioned two optical grating point is also example
Property, the present invention is not limited thereto.
When Minimally Invasive Surgery is carried out, the flexible robot 5 for being wound with above-mentioned Helical Fiber grating sensor array 1 is inserted
To in detected tract or pipeline, flexible robot 5 can be bent with the shape of detected tract or pipeline, wound thereon
Helical Fiber grating sensor array 1 also can bend therewith, the degree of crook of Helical Fiber grating sensor array 1 just reflects
The degree of crook of detected tract or pipeline, is passed through laser to the optical fiber of Helical Fiber grating sensor array 1, and laser is passed through
After each optical grating point, its wavelength can change, and wavelength change has determination relation, base with the degree of crook of optical grating point position
The spatial form of flexible robot 5 be can be obtained by the degree of crook of each optical grating point.
Fiber Bragg grating (FBG) demodulator 2 can adopt the SM130 fiber Bragg grating (FBG) demodulators of MOI companies of the U.S., by optical patchcord
It is connected with Helical Fiber grating sensor array 1, for launching laser to Helical Fiber grating sensor array 1, receives spiral
Fiber Bragg Grating Sensor Array 1 returns the laser of specific wavelength, laser signal is converted to digital electric signal, and demodulates each
Wavelength corresponding to optical grating point.
Data acquisition can adopt computer with shape similarity metric equipment 3, and which is passed through LAN and is connected with fiber Bragg grating (FBG) demodulator 2
Connect, its pass through ICP/IP protocol to fiber Bragg grating (FBG) demodulator 2 send sense command, and reception optical fiber grating demodulation instrument 2 send
The corresponding wavelength of each optical grating point, is analyzed to this and rebuilds, and obtains the spatial form of flexible robot 5 in real time.Show dress
Put and data acquisition and shape similarity metric equipment 3 are connected by connecting line, for the spatial form for showing flexible robot 5 in real time.It is aobvious
Show that equipment 4 using computer monitor, can show the spatial form and other parameter informations of flexible robot 5, be easy to observation soft
The real-time geometric of property robot 5, facilitates the operation technique of doctor.
As can be seen here, the shape detecting apparatus based on Helical Fiber grating sensor array of the invention, including spiral light
Fiber grating sensor array, fiber Bragg grating (FBG) demodulator and computer composition, it is without the need for other peripheral auxiliary equipments, not dry by electromagnetism
Disturb, medical treatment compatibility is good, without emitting radiation, can carry out the long-range monitoring of long range.
By the packaged fiber on nitinol alloy wire, optical grating point can be protected not frayed, have shape detecting apparatus
Very strong capacity of resisting disturbance, and expand its detection range.Multiple optical grating points are detected simultaneously by parallel mode, shape inspection
The shape that device can show flexible robot in real time is surveyed, the SHAPE DETECTION in Jing natural cavity minim channels had both been can be suitably used for,
Also the detection of random-space-curve is can be suitably used for, and very high real-time responsiveness can be reached.
Helical Fiber grating sensor array sizes are little, and the inspection of dynamic big strain can be synchronized under microsize
Survey, reduce the quantity of optical fiber so that the port number of fiber Bragg grating (FBG) demodulator is reduced, and reduces the cost of shape detecting apparatus.
Another embodiment of the present invention provides a kind of shape detecting method based on Helical Fiber grating sensor array, ginseng
See Fig. 4, the spatial form of flexible robot is detected using above-mentioned shape detecting apparatus.
First, to the relation between the curvature and wavelength variable quantity of fiber-optic grating sensor, the axle of fiber-optic grating sensor
Enter rower with the relation of wavelength variable quantity to the relation and the overall strain of fiber-optic grating sensor of strain and wavelength variable quantity
It is fixed.
The curvature of the optical grating point in fiber-optic grating sensor with through optical grating point laser wavelength variable quantity (hereinafter referred to as
The wavelength variable quantity of optical grating point) between relational expression be：
In formula, peRepresent the elasto-optical coefficient of optical fiber, λBFor the centre wavelength of optical grating point, d is fiber-optic grating sensor to bending
The distance of neutral surface, Δ λBFor the wavelength variable quantity of optical grating point, curvature of the k for optical grating point.
The present invention obtains above-mentioned relation formula by the way of demarcating, and can specifically include：
Determine multiple circular arcs of known curvature, the curvature of circular arc is kn, wherein n represents n-th circular arc；
Fiber-optic grating sensor is bent to into the shape of circular arc, laser is passed through to fiber-optic grating sensor and is detected through light
The wavelength of the laser after grid point, measures wavelength variable quantity Δ λ of the optical grating point in maximumnAnd the variable quantity of neutral surface wavelength, most
General goal is referred in the plane parallel with plane of bending, apart from the axial line distance maximum of flexible robot.
Using curvature k of circular arcnWith optical grating point maximum wavelength variable quantity Δ λn, using interpolation or linear fit
Method obtains the relational expression between the curvature of optical grating point and wavelength variable quantity：
kn=p Δ λn+q (2)
In formula, knRepresent the curvature of circular arc, Δ λnRepresent wavelength variable quantity of the optical grating point under different curvature in maximum, p
The proportionality coefficient between the curvature and wavelength variable quantity of optical grating point is represented, q is the error amount that obtains in calibration process.Fig. 5 shows
Go out four optical grating points (FBG1, FBG2, FBG3, FBG4) of fiber-optic grating sensor (λ at different wavelengths1=1543nm, λ2=
1547nm, λ3=1551nm, λ4=1555nm), the relation between curvature and wavelength, it can be seen that its relation character zygonema
Sexual intercourse, it is consistent with theoretical result of calculation.
Relation is met between the axial strain of the optical grating point in fiber-optic grating sensor and the wavelength variable quantity of optical grating point：
Δ λ=λB(1-pe)εa (3)
Above-mentioned relation formula is obtained using demarcation mode, can specifically be included：
Fiber-optic grating sensor is placed in into multiple pure bending states, detects that the axial direction of optical grating point under each pure bending state should
Variate εA, x, wherein x represents x-th pure bending state；Laser is passed through to fiber-optic grating sensor and is detected after optical grating point
Optical maser wavelength, measures wavelength variable quantity Δ λ of the optical grating point in maximumx；Using axial strain value ε of optical grating pointA, xWith optical grating point
In the wavelength variable quantity Δ λ of maximumx, the axial strain value and wavelength of optical grating point are obtained using the method for interpolation or linear fit
Relational expression between variable quantity：
εA, x=a Δ λx+b (4)
Also linear closing is met between the overall strain of the optical grating point in fiber-optic grating sensor and the wavelength variable quantity of optical grating point
System, the same relation that overall strain and wavelength variable quantity are obtained using demarcation mode, can specifically include：
Fiber-optic grating sensor is placed in into multiple flexion torsion states, the total of optical grating point under each flexion torsion state is detected
Strain value εL, y, wherein y represents y-th flexion torsion state；Laser is passed through to fiber-optic grating sensor and is detected through optical grating point
The wavelength of laser afterwards, measures wavelength variable quantity Δ λ of the optical grating point in maximumy；Using overall strain value ε of optical grating pointL, yWith light
Wavelength variable quantity Δ λ of the grid point in maximumy, overall strain and the wavelength of optical grating point are obtained using the method for interpolation or linear fit
Relational expression between variable quantity：
εL, y=m Δ λy+n (5)
Then, obtain the centre wavelength of Helical Fiber grating sensor array.Can specifically include：
Before the flexible robot for being wound with Helical Fiber grating sensor array inserts natural cavity, data acquisition and shape
Shape reconstructing apparatus send sense command to fiber Bragg grating (FBG) demodulator, and fiber Bragg grating (FBG) demodulator is to Helical Fiber grating sensor array
It is passed through laser, and detects the wavelength of the laser through each optical grating point, as central wavelength lambdaBiAnd send to data acquisition
With shape similarity metric equipment, i.e. central wavelength lambdaBiBefore not bending for flexible robot and Helical Fiber grating sensor array
Optical maser wavelength, wherein i represent i-th optical grating point.
Then, the Detection wavelength of Helical Fiber grating sensor array is obtained, and is based on Helical Fiber grating sensor battle array
The centre wavelength and Detection wavelength of row obtain the wavelength variable quantity of Helical Fiber grating sensor array.
The flexible robot for being wound with Helical Fiber grating sensor array is inserted in natural cavity, data acquisition with
Shape similarity metric equipment sends sense command to fiber Bragg grating (FBG) demodulator, and fiber Bragg grating (FBG) demodulator is to Helical Fiber grating sensor battle array
Row are passed through laser, and detect the wavelength X of the laser through each optical grating pointi, as Detection wavelength and send to data and adopt
Collection and shape similarity metric equipment.
Data acquisition is calculated the wavelength of each optical grating point with shape similarity metric equipment utilization centre wavelength and Detection wavelength
Variable quantity.
Δλi=λi-λBi (6)
In formula, Δ λiRepresent the wavelength variable quantity of Helical Fiber grating sensor i-th optical grating point of array, λiRepresent spiral
The Detection wavelength of i-th optical grating point of Fiber Bragg Grating Sensor Array, λBiRepresent Helical Fiber grating sensor i-th grating of array
The centre wavelength of point.
Afterwards, the wavelength variable quantity based on Helical Fiber grating sensor array, using the optical fiber grating sensing for calibrating
The curvature of device and the relational expression of wavelength variable quantity, obtain the curvature of each optical grating point of Helical Fiber grating sensor array.Specifically
Including：
The wavelength variable quantity of Helical Fiber grating sensor array is substituted into shape similarity metric equipment and is calibrated by data acquisition
Fiber-optic grating sensor curvature and wavelength variable quantity relational expression (formula (2)), obtain Helical Fiber grating sensor battle array
Arrange the curvature value of each optical grating point.
Then, the wavelength variable quantity based on Helical Fiber grating sensor array, using the optical fiber grating sensing for calibrating
The axial strain of device and the relational expression of wavelength variable quantity, the axial direction for obtaining Helical Fiber grating sensor array each optical grating point should
Become, and the axial strain based on Helical Fiber grating sensor array each optical grating point and curvature, obtain Helical Fiber grating biography
The curvature direction of sensor array each optical grating point.Specifically include：
First, the wavelength variable quantity of Helical Fiber grating sensor array is substituted into mark with shape similarity metric equipment by data acquisition
The axial strain of the fiber-optic grating sensor made and the relational expression (formula (4)) of wavelength variable quantity, obtain Helical Fiber grating
The axial strain value of sensor array each optical grating point.
Secondly, using following axial strain relational expressions, obtain the song of each optical grating point of Helical Fiber grating sensor array
Rate direction：
In formula,The axial strain value of two optical grating points of one group of test point is represented respectively, and k represents the song of optical grating point
Rate value, kmRepresent model curvature, rsThe position vector of optical grating point is represented, r represents optical grating point to the distance of neutral surface, and α represents grating
The curvature direction of point, γ represent the angle between two optical grating points of one group of test point, and Fig. 6 shows the curvature of space of optical grating point
Calculate schematic diagram.
The axial strain value of one optical grating point of one group of test point, curvature value, the distance to neutral surface are substituted into into formula
(7), you can obtain the curvature direction of the optical grating point；By the axial strain value of another optical grating point of one group of test point, curvature value,
Distance to neutral surface substitutes into formula (8), you can obtains the curvature direction of another optical grating point, is obtained by the way
The curvature direction of each optical grating point.
Finally, the curvature value and curvature direction based on each optical grating point of Helical Fiber grating sensor array, obtains flexible machine
The spatial form of device people.Specifically：Data acquisition and shape similarity metric equipment are by Helical Fiber grating sensor array each grating
The curvature value and curvature direction of point, is converted to the 3 d space coordinate of optical grating point.
Curvature value is introduced first and curvature direction is converted to the mathematical model of 3 d space coordinate.Referring to Fig. 7, for space
Curve R (s), is mapped in two dimensional surface koZ, wherein the curvature direction of k representation spaces curve, so, space curve R
S () can be expressed as：
R (s)=[z (s) k (s)]T (9)
The length of R (s) be L, the Z axis coordinate figure of the point on z (s) representation space curves, on k (s) representation space curves
The curvature value of point, N (s) represent the normal vector of curve.According to Differential Geometry, curvature vector can be differentiated by small arc length
Obtain, i.e.,
K (s)=d θ (s)/ds (10)
The angle between point and Z axis in formula, on θ (s) representation space curves.
According to Frenet-Serret models, the tangential vector T (s) of space curve R (s) can be solved：
T (s)=dR (s)/ds=[dz (s)/ds dk (s)/ds]T (11)
Therefore, by can be obtained by θ (s) to curvature integration, the computing formula of θ (s) is as follows：
In formula, θ0The initial slope value of representation space curve.
Finally, space curve R (s) can be by obtaining to tangential vector T (s) integration：
In formula, z0And k0The Z axis coordinate initial value and curvature initial value of difference representation space curve.
So far, the three-dimensional coordinate of the point on space curve can be come with solving：
In formula, the curvature direction of the point on α representation space curves, the amount of curvature of the point on k (s) representation space curves, x
The three-dimensional coordinate of the point on (s), y (s) and z (s) representation space curves.
Based on above-mentioned model, the curvature value of Helical Fiber grating sensor array each optical grating point and curvature direction are substituted into public
Formula (14), you can obtain the 3 d space coordinate x of each optical grating pointj、yj、zj.Based on each grating of Helical Fiber grating sensor array
The 3 d space coordinate of point, by the way of interpolation or linear fit, reconstructs the spatial form of flexible robot, and by showing
Equipment shows.Fig. 8 shows the flexible robot's spatial form curve chart for reconstructing.
The shape detecting method of the present embodiment, in addition to the spatial form that can detect flexible robot, can also examine
Survey the torsion information of flexible robot.Referring to Fig. 9, it is possible to use two optical grating points of every group of test point are measured at test point simultaneously
Strain, calculate torsion information, every group of test point includes two optical grating points, and a triangle is regarded in the strain of each optical grating point as
Shape pattern.In an initial condition, the fiber spiral segment length that optical grating point is located is l, under strain regime, the light that optical grating point is located
Fine spiral segment length is lε, the pitch of fiber spiral section is h, εlRepresent overall strain, εaRepresent axial strain, εtRepresent to reverse and answer
Become.
First, the fiber-optic grating sensor for the wavelength variable quantity substitution of Helical Fiber grating sensor array being calibrated
The relational expression (formula (5)) of overall strain and wavelength variable quantity, obtains the total of Helical Fiber grating sensor array each optical grating point
Strain value.
Secondly, using following strain stress relation formulas, the torsion for obtaining Helical Fiber grating sensor array each optical grating point should
Variate：
εl=a1εa+a2εt (15)
In formula, a1、a2The sensitivity coefficient of axial strain and torsional strain is represented respectively, is calculated according to geometrical relationship, εlTable
Show the overall strain value that optical grating point is subject to, εaRepresent the axial strain value of optical grating point, εtThe torsional strain value of optical grating point is represented, by spiral shell
The overall strain value of rotation Fiber Bragg Grating Sensor Array each optical grating point and the aforementioned axial strain value for obtaining substitute into formula (15), obtain
To torsional strain value ε of each optical grating point of Helical Fiber grating sensor arrayt。
Then, according to the relational expression between following torsional strains and torsion information, obtain Helical Fiber grating sensor battle array
Arrange the torsion information of each optical grating point：
εt=kz·r (16)
εtRepresent the torsional strain value of Helical Fiber grating sensor array grating point, kzRepresent Helical Fiber grating sensing
The torsion information that device array grating point is detected.
As can be seen here, Helical Fiber grating sensor array of the invention not only can realize the detection of shape, can be with
Detection torsion information, and detection method is simple, can apply to medical gastroscope, colonoscope, the shape of flexibility/soft robot
Shape is perceived in detection.
Wherein, to fiber-optic grating sensor curvature, axial strain, overall strain and the demarcation of wavelength variable quantity relational expression,
Only can carry out before fiber-optic grating sensor is made into Helical Fiber grating sensor array, need not when carrying out SHAPE DETECTION
Demarcate every time.
So far, the present embodiment has been described in detail already in connection with accompanying drawing.According to above description, those skilled in the art
The shape detecting apparatus based on Helical Fiber grating sensor array of the present invention and method should be had and clearly be recognized.
It should be noted that in accompanying drawing or description text, the implementation for not illustrating or describing is affiliated technology
In field, form known to a person of ordinary skill in the art, is not described in detail.Additionally, above-mentioned definition to each element not only limiting
Various concrete structures, shape or the mode mentioned in embodiment, those of ordinary skill in the art can be carried out simply more to which
Change or replace, the direction term mentioned in embodiment, for example " on ", D score, "front", "rear", "left", "right" etc., be only reference
The direction of accompanying drawing, not for limiting the scope of the invention；Above-described embodiment can be based on design and the consideration of reliability, that
This mix and match is used or is used with other embodiment mix and match, i.e., the technical characteristic in different embodiments can be with independent assortment
Form more embodiments.
Particular embodiments described above, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further in detail
Describe bright, the be should be understood that specific embodiment that the foregoing is only the present invention in detail, be not limited to the present invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of shape detecting apparatus based on Helical Fiber grating sensor array, it is characterised in that for detecting flexible machine
The spatial form of device people, including：Helical Fiber grating sensor array, fiber Bragg grating (FBG) demodulator, data acquisition and shape similarity metric
Equipment and display device；Wherein：
The Helical Fiber grating sensor array includes that the single fiber grating being spirally wound on the flexible robot is passed
Sensor, the single fiber-optic grating sensor include multiple optical grating points；
The fiber Bragg grating (FBG) demodulator, connects the Helical Fiber grating sensor array, to the Helical Fiber grating sensing
Device array emitter laser, receives the laser returned after the optical grating point, and demodulates the wavelength of return laser light；
The data acquisition and shape similarity metric equipment, connect the fiber Bragg grating (FBG) demodulator, receive the fiber Bragg grating (FBG) demodulator
The wavelength of the return laser light for demodulating, is analyzed and rebuilds to the wavelength of the return laser light, obtains the flexible robot
Spatial form.
2. shape detecting apparatus as claimed in claim 1, it is characterised in that
The fiber-optic grating sensor includes simple optical fiber, and the simple optical fiber is divided into clock wise spirals section and counter-clockwise helical
Section, the clock wise spirals section and counter-clockwise helical section have been respectively uniformly distributed N number of optical grating point, and the N is more than or equal to 2.
3. shape detecting apparatus as claimed in claim 2, it is characterised in that the fiber-optic grating sensor also includes a nickel
Titanium alloy wire, is provided with rectangular channel along the axis of the nitinol alloy wire, and the optical fiber is pasted onto in the rectangular channel；Or, institute
Stating fiber-optic grating sensor also includes two nitinol alloy wires, and two nitinol alloy wires are fixed together along its axis, and optical fiber glues
The angle that two nitinol alloy wires are formed is attached to, clock wise spirals section corresponding to the fiber-optic grating sensor and counterclockwise
Spiral section.
4. shape detecting apparatus as claimed in claim 3, it is characterised in that along the first axle direction of flexible robot, institute
The clock wise spirals section for stating fiber-optic grating sensor is wrapped on the flexible robot along clockwise direction, along the flexible machine
Device people and first axle second axis direction in opposite direction, the counter-clockwise helical section of the fiber-optic grating sensor is along counterclockwise
Direction is wrapped on flexible robot, forms N group test points, and every group of test point includes fiber-optic grating sensor spiral shell clockwise
One optical grating point of one optical grating point and counter-clockwise helical section of rotation section, two optical grating points are located at the same of the flexible robot
On one circumferential section and shape in an angle.
5. shape detecting apparatus as claimed in claim 4, it is characterised in that the fiber Bragg grating (FBG) demodulator is sent out to the optical fiber
Laser is penetrated, laser wavelength after optical grating point can change, the fiber Bragg grating (FBG) demodulator receives the optical fiber and returns
Laser, and demodulate the wavelength of the laser that the optical fiber is returned.
6. the shape detecting method based on Helical Fiber grating sensor array, it is characterised in that using described in claim 1
Shape detecting apparatus detect the spatial form of flexible robot, including：
Obtain centre wavelength step：Obtain the centre wavelength of Helical Fiber grating sensor array；
Obtain wavelength variable quantity step：The Detection wavelength of the Helical Fiber grating sensor array is obtained, and is based on the spiral shell
The centre wavelength and Detection wavelength of rotation Fiber Bragg Grating Sensor Array obtain the wavelength of the Helical Fiber grating sensor array
Variable quantity；
Obtain curvature step：Based on the wavelength variable quantity of the Helical Fiber grating sensor array, using optical fiber grating sensing
The curvature of device and the relational expression of wavelength variable quantity, obtain the curvature of the Helical Fiber grating sensor array；
Obtain curvature direction step：Based on the wavelength variable quantity of the Helical Fiber grating sensor array, using fiber grating
The axial strain of sensor and the relational expression of wavelength variable quantity, the axial direction for obtaining the Helical Fiber grating sensor array should
Become, and the axial strain based on the Helical Fiber grating sensor array and curvature, obtain the Helical Fiber grating sensing
The curvature direction of device array；
Obtain spatial form step：Curvature and curvature direction based on the Helical Fiber grating sensor array, obtains flexibility
The spatial form of robot.
7. shape detecting method as claimed in claim 6, it is characterised in that
In the acquisition centre wavelength step, before flexible robot's insertion natural cavity, to the Helical Fiber grating
Sensor array is passed through laser, and using the optical maser wavelength returned through optical grating point as centre wavelength；
In the acquisition wavelength variable quantity step, the flexible robot is inserted in natural cavity, to Helical Fiber grating
Sensor array is passed through laser, using the optical maser wavelength returned through optical grating point as Detection wavelength, during the Detection wavelength is deducted
Cardiac wave length obtains the wavelength variable quantity of optical grating point.
8. shape detecting method as claimed in claim 6, it is characterised in that in the acquisition curvature direction step,
The optical grating point wavelength variable quantity of Helical Fiber grating sensor array is substituted into into the relation of axial strain and wavelength variable quantity
Formula, obtains the axial strain of Helical Fiber grating sensor array grating point；By the Helical Fiber grating sensor array light
The axial strain of grid point and curvature substitute into axial strain relational expression, obtain the curvature of Helical Fiber grating sensor array grating point
Direction.
9. shape detecting method as claimed in claim 6, it is characterised in that in spatial form step is obtained,
The curvature and curvature direction of Helical Fiber grating sensor array grating point are converted to into the 3 d space coordinate of optical grating point；
Based on the 3 d space coordinate of Helical Fiber grating sensor array grating point, by the way of interpolation or linear fit, rebuild
Go out the spatial form of flexible robot.
10. shape detecting method as claimed in claim 6, it is characterised in that also include：Obtain and reverse information Step：
The wavelength variable quantity of Helical Fiber grating sensor array grating point is substituted into into overall strain and the ripple of fiber-optic grating sensor
The relational expression of long variable quantity, obtains the overall strain of Helical Fiber grating sensor array grating point；By Helical Fiber grating sensing
The overall strain of device array grating point and axial strain substitute into strain stress relation formula, obtain Helical Fiber grating sensor array grating point
Torsional strain；According to the relational expression between torsional strain and torsion information, Helical Fiber grating sensor array grating is obtained
The torsion information of point.
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