CN106802131A - A kind of robot range-measurement system and its method based on the bionical Whisker Sensors of FBG - Google Patents
A kind of robot range-measurement system and its method based on the bionical Whisker Sensors of FBG Download PDFInfo
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- CN106802131A CN106802131A CN201710100170.0A CN201710100170A CN106802131A CN 106802131 A CN106802131 A CN 106802131A CN 201710100170 A CN201710100170 A CN 201710100170A CN 106802131 A CN106802131 A CN 106802131A
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- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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Abstract
The present invention relates to a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG and its distance-finding method, this range-measurement system includes bionical Whisker Sensor, bottom base, motor and (FBG) demodulator, the system is affected by environment small, low cost, can repeatedly use, wiring is simple, easy to use, it is highly reliable, electromagnetism interference.This distance-finding method is rotated using the motor in robot traveling process and drives the bionical Whisker Sensor rotation to be scanned formula perception, when robot is after barrier is encountered during traveling, FBG wavelength signals before and after the bionical Whisker Sensor is bent are transmitted to (FBG) demodulator demodulation, and demodulated signal is transmitted to host computer obtain FBG wavelength variable quantities, the Mathematical Modeling of the amount of deflection set up according to cantilever beam structure model in host computer at FBG wavelength variable quantities and stop position, obtain the amount of deflection at stop position, obtained contacting distance according to deflection differential equation, so as to the positional information of acquired disturbance thing.
Description
Technical field
It is more particularly to a kind of based on the bionical Whisker Sensors of FBG the invention belongs to the technical field of distance measuring sensor
Robot range-measurement system and its method.
Background technology
At present, existing Robot Ultrasonic Range Finder mainly has contactless distance measuring sensor and contact range finding sensing
Device.Noncontacting proximity sensor mainly has infrared sensor, ultrasonic sensor, laser sensor and vision sensor etc., wherein,
Laser sensor and vision sensor price, and requirement to controller is higher, therefore adopted existing mobile robot more
Found range with ultrasonic sensor or infrared sensor.The insectival antenna of contact distance measuring sensor class, is opened by fine motion
Close and corresponding mechanical device realizes range finding.The sensor of this whisker type may be mounted at mobile robot surrounding and perceive the external world
Barrier.
Ultrasonic ranging is based on measurement to the transition time, that is, measure ultrasonic wave from transmitting transducer send after it is anti-by target
Penetrate, along the time needed for backtracking to receive transducer.Can range finding by the velocity of sound of transition time and medium.Tokyo is big
Sasaik and Takano have developed a kind of ultrasonic range finder sensor driven by stepper motor, can enter in the range of 90 degree
Row scanning, it can obtain the position of bidimensional, also detectable three dimensions.In ultrasonic ranging, ultrasonic echo treatment side
Method determines the precision and reaction speed of system, therefore scientific research personnel is mainly studied in this aspect.However, supersonic sensing
There is measurement blind area in device, the speed of sound is disturbed by temperature and wind direction, it is possible to by sound-absorbing face to absorption.
Infrared sensor is based on principle of triangulation.Infrared transmitter presses certain angular emission infrared beam, and light beam is met
Can be reflected after to object；One deviant of IR and acquisition that CCD-detector detection is reflected, is closed using triangle
System, after the focal length of launch angle, offset distance, central moment and filter is aware of, the distance of sensor to object can just lead to
Geometrical relationship is crossed to calculate.However, infrared distance sensor has that detection minimum range is too big, and to using ring
There is at a relatively high requirement in border, for Proximate blackbody object cannot detecting distance, and the light of surrounding etc. leads to measurement and misses
Difference.
Whisker Sensor simple structure, measurement are accurate, and cost is also much lower, is with a wide range of applications.Day in 1992
This scholar Tsujimura and Yabuta use flexible stylet, using its deformation characteristic, are pushed away according to tips of probes power size or moment of torsion
Go out the position of contact point.2001, European IST started Artificial Mouse plans, successfully develops mobile robot
The acquisition that touch sensor is responsible for both sides information is installed in system AMouse, the robot both sides, mobile robot is smoothly existed
Safety movement in various circumstances not knowns.2002, Miriam Fend groups devised capacitance type sensor using flexible antenna,
When appearance profile is different, antenna root frequency-region signal will change, and different objects profile is distinguished with this；To be passed by three antennas
The array of sensor composition is separately mounted to the both sides of robot, attempts different form families and determines maximally effective avoidance mode；
Experiment shows, robot can effective avoiding obstacles.2004, Dae Eun Kim experiments group have developed electromagnetic type antenna biography
Sensor, antenna root signal is separated, and low frequency signal is used for carrying out outline identification, and high-frequency signal is used for carrying out texture knowledge
Not.2005, the doctor of one engineering department of California, USA university invented a kind of Whisker Sensor of similar cockroach antenna, should
Whisker Sensor can be swung, and be installed in robot, and signal can be sent during when whisker contact to the wall near it.2006
One computer MSR Information system of year Northwestern Univ USA finds that meeting forms the three-dimensional mould of object in its brain after mouse antenna touching object
Type, copies this principle to develop a kind of Whisker Sensor array, by the degree of crook and power size variation weight that calculate antenna
Structure body form, using this array reconfiguration face.2008, BIOTACT Task applications started, and target is to develop novel people
Work Whisker Sensor, and be installed in realizing search, identification, tracking and fast Acquisition target in paleocinetic robot
Thing.But, above-mentioned Whisker Sensor cannot accurately calculate distance of the sensor away from barrier, certainty of measurement and measuring speed
Need to further improve.
It is domestic later to the research of Whisker Sensor, it is concentrated mainly in colleges and universities, R＆D institution.Shanghai Communications University designs
The sectional telescopic Whisker Sensor of similar snail feeler, realizes that antenna stretches by DC motor positive and negative rotation.But, this point
Save telescopic Whisker Sensor and there are some problems, larger deformation can be caused when probe is contacted with object under test, so as to produce
The certain error of life.Thank Tsing-Hua University, paddy peace etc. of Nanjing Aero-Space University have carried out numerous studies to Whisker Sensor, make antenna
The measuring speed of sensor-based system is greatly promoted with precision, but, the Whisker Sensor be still in the experiment of avoiding barrier according to
By empirical equation, there is no clear and definite theory deduction, poor reliability.
Whisker Sensor based on optical fiber has very big good characteristic, including weight in the application of bionical antenna
Gently, small volume, multiplexing capacity, wiring is simple, and from electromagnetic interference.The Tan Dingzhong of Harbin Engineering University's College of Mechanical Engineering,
The computer MSR Information systems such as vertical merit are studied the Whisker Sensor of underwater robot, are bent under external force according to optical fiber
When transmission light in some be coupled into covering from fibre core and cause the principle of intensity loss, using optical fiber as sensing element, probe
It is rigidly connected with sensor contact, respectively has a sensor on probe transverse direction four direction, axially there is a sensor, can be real
The detection of existing two dimensional surface all directions.Experiment proves that the sensor can make underwater operation robot accurately judge the position of oneself.
But the range-measurement system and distance-finding method not to the Whisker Sensor based on optical fiber in the paper do excessive research.
In sum, environment shadow is received for how to solve existing robot range-measurement system and distance measuring sensor in the prior art
Big, high cost, it is impossible to repeatedly use is rung, is made, using complexity, reliability is not strong, the problem of electromagnetism interference, especially
The problem of the obstacle distance from arbitrary shape cannot be measured, still lacks effective solution.
The content of the invention
How the present invention solves existing robot range-measurement system and distance measuring sensor by ring in the prior art in order to what is overcome
Border influence is big, high cost, it is impossible to repeatedly use, and makes, using complexity, and reliability is not strong, the problem of electromagnetism interference, especially
It is the problem that cannot measure the obstacle distance from arbitrary shape, there is provided a kind of machine based on the bionical Whisker Sensors of FBG
People's range-measurement system.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of robot range-measurement system based on the bionical Whisker Sensors of FBG, the system includes bionical Whisker Sensor, bottom
Portion's pedestal, motor and (FBG) demodulator, the bottom base exterior lateral sides set some bionical Whisker Sensors, the bottom base
Seat is internal to install the motor, and the motor is connected with the bionical Whisker Sensor, controls the bionical Whisker Sensor to turn
Dynamic to be scanned formula perception, the bionical Whisker Sensor is connected with the (FBG) demodulator, and the (FBG) demodulator is upper with robot
Machine connect, the bionical Whisker Sensor by FBG wavelength changes transmit to the (FBG) demodulator demodulation, and by demodulated signal transmit to
Host computer, carries out signal analysis and obtains barrier that robot runs into motion process and obtain from barrier by host computer
Distance.
Further, the bottom base uses hollow six prism, and six lateral surface centers of hollow six prism are equal
One bionical Whisker Sensor is set, and the side surface of bionical connected hollow six prism of Whisker Sensor hangs down
Directly.
Further, the bionical Whisker Sensor includes bionical antenna structure, and the bionical antenna inside configuration is set
Hollow space, the hollow space is embedded in optical fiber, and the stop position of the optical fiber is set near bionical antenna structure root.
Further, the bionical antenna structure uses cylindrical structural, and the material of the bionical antenna structure is using poly-
Diformazan siloxanes.
Further, the material of the bionical antenna structure is mixed using liquid dimethione and its supporting curing agent
Compound mixing composition；The mixed proportion of the liquid dimethione and its supporting curing agent mixture is mass ratio 10：
1。
How the present invention solves existing robot range-measurement system and distance measuring sensor by ring in the prior art in order to what is overcome
Border influence is big, high cost, it is impossible to repeatedly use, and makes, using complexity, and reliability is not strong, the problem of electromagnetism interference, especially
It is the problem that cannot measure the obstacle distance from arbitrary shape, there is provided a kind of machine based on the bionical Whisker Sensors of FBG
The distance-finding method of people's range-measurement system.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of distance-finding method of the robot range-measurement system based on the bionical Whisker Sensors of FBG, is applied to a kind of based on FBG
The robot range-measurement system of bionical Whisker Sensor, the described method comprises the following steps：
(1) being rotated using the motor in robot traveling process drives the bionical Whisker Sensor rotation to be swept
Retouch formula perception, when robot is after barrier is encountered during traveling, the motor stop motion, the bionical Whisker Sensor
Bend, the FBG wavelength being embedded in the bionical Whisker Sensor changes；
(2) the FBG wavelength signals before and after the bionical Whisker Sensor is bent are transmitted to (FBG) demodulator demodulation,
And demodulated signal is transmitted to host computer obtain FBG wavelength variable quantities, FBG is set up according to cantilever beam structure model in host computer
The Mathematical Modeling of the amount of deflection at wavelength variable quantity and stop position, obtains the amount of deflection at stop position；
(3) the bionical antenna structure of the bionical Whisker Sensor is analyzed as spring beam, the bionical antenna
During being touched with barrier, the bionical antenna structure understands flexural deformation to structure, by the grating position obtained in step (2)
The amount of deflection at place is put, is obtained contacting distance according to deflection differential equation, so that the positional information of acquired disturbance thing.
Further, in the step (2), at FBG wavelength variable quantities and stop position based on cantilever beam structure model
Amount of deflection Mathematical Modeling such as formula (1) shown in：
Wherein, Δ λBIt is F BG wavelength variable quantities, y is the amount of deflection at grating paste position, ρeIt is the photoelasticity system of optical fiber
Number, L is the length of bionical antenna structure, and x is grating paste position, and d is the radius of bionical antenna structure.
Further, in the step (3), deflection differential equation is：
Wherein, y is that E is elastic Young's modulus, and I is cross section apart from being the amount of deflection at x away from bionical antenna structure root
Rotary inertia, M (x) is bionical antenna structure root bending moment.
Further, in the step (3), bionical antenna structure after barrier is touched along former direction movement it is small away from
From, thus touching during deform it is sufficiently small, nowThe very little compared with 1, can ignore, then deflection differential equation (3) can be near
It is seemingly：
EIy "=M (x)=- F (l-x) (4)
Antenna deflection curve equation can obtain to above formula (4) integration：
Wherein, C1, C2 are constant.
Further, in the step (3), when bionical antenna structure touches object, calculate imitative according to equation below
Raw antenna structure root bending moment
M (x)=- F (l-x) (2)
Wherein, M (x) be bionical antenna structure root bending moment, F be bionical antenna structure in the power suffered by contact point, l is imitative
Give birth to antenna structure root to contact point distance.
Compared with prior art, beneficial effects of the present invention：
1st, a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG of the invention is sensed using bionical antenna
Device, bottom base, motor and (FBG) demodulator, bionical Whisker Sensor hollow space are embedded in optical fiber, and the stop position of optical fiber is set
To near bionical antenna structure root, making, using simple, affected by environment small, low cost is realized, can be repeated several times makes
With highly reliable, the effect of electromagnetism interference.
2nd, a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG of the invention and its distance-finding method, according to
The Mathematical Modeling of the amount of deflection that cantilever beam structure model is set up at FBG wavelength variable quantities and stop position, and by the bionical antenna
The bionical antenna structure of sensor is analyzed as spring beam, is obtained contacting distance according to deflection differential equation, so as to obtain
Barrier positional information, realize and perceive barrier that robot runs into motion process and obtain from barrier
Distance, and realize and can survey with a distance from arbitrary shape barrier.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrated for explaining the application, does not constitute the improper restriction to the application.
Fig. 1 is structural representation of the invention；
Fig. 2 is bionical Whisker Sensor mechanical model of the invention；
Fig. 3 is bionical Whisker Sensor motion schematic diagram of the invention；
Fig. 4 is a kind of bionical Whisker Sensor of the invention and bar contact view；
Fig. 5 is another bionical Whisker Sensor of the invention and bar contact view；
Fig. 6 is another bionical Whisker Sensor of the invention and bar contact view；
Fig. 7 is the motion schematic diagram of embodiments of the invention 1；
Wherein, the bionical Whisker Sensors of 1-, 2- bottom bases, 3- motors.
Specific embodiment：
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
In the case where not conflicting, the feature in embodiment and embodiment in the application can be mutually combined.Tie below
The invention will be further described with embodiment to close accompanying drawing.
Embodiment 1：
As background technology is introduced, of the prior art have existing robot range-measurement system and distance measuring sensor is received
Ambient influnence is big, high cost, it is impossible to repeatedly use, and makes, using complexity, and reliability is not strong, the problem of electromagnetism interference,
The problem of the obstacle distance from arbitrary shape cannot especially be measured.
In a kind of typical implementation method of the application, there is provided a kind of robot based on the bionical Whisker Sensors of FBG
Range-measurement system, as shown in figure 1, the system includes bionical Whisker Sensor 1, bottom base 2, motor 3 and (FBG) demodulator, in this implementation
In example, the bottom base 2 uses hollow six prism, and six lateral surface centers of hollow six prism are respectively provided with described in one
Bionical Whisker Sensor 1, the side surface of connected hollow six prism of bionical Whisker Sensor 1 is vertical.The bottom
The exterior lateral sides of pedestal 2 set six bionical Whisker Sensors 1 altogether.But the bottom base 2 in the present invention is not restricted to hollow six
Prism structure, while the quantity of bionical Whisker Sensor 1 is also not restricted to six, if bottom base 2 is prism structure, bottom
The side number of the prism structure of pedestal 2 is equal with the quantity of bionical Whisker Sensor 1；If bottom base 2 is not prism structure, it is
Central Symmetry and axisymmetric structure, and bionical Whisker Sensor 1 is uniformly distributed in the peripheral side of the bottom base 2.
As shown in figure 1, the motor 3 is installed in the inside of the bottom base 2, the motor 3 is sensed with the bionical antenna
Device 1 is connected, and is controlled the bionical Whisker Sensor 1 to rotate and is scanned formula perception, the bionical Whisker Sensor 1 and (FBG) demodulator
Connection, (FBG) demodulator is connected with the host computer of robot, and the bionical Whisker Sensor 1 transmits to the solution FBG wavelength changes
Instrument demodulation is adjusted, and demodulated signal is transmitted to host computer, carrying out signal analysis by host computer obtains robot in motion process
The barrier that runs into simultaneously is obtained with a distance from barrier.
Bionical Whisker Sensor 1 includes bionical antenna structure and optical fiber, and the bionical antenna structure uses cylindrical structural,
The material of the bionical antenna structure uses dimethione.The bionical antenna inside configuration sets hollow space, described
Hollow space is embedded in optical fiber, and the stop position of the optical fiber is set near bionical antenna structure root.
In the present embodiment, the material of bionical antenna structure is mixed using liquid dimethione and its supporting curing agent
Compound mixing composition；The mixed proportion of the liquid dimethione and its supporting curing agent mixture is mass ratio 10：
1.Make the bubble floating in the mixed liquor of liquid dimethione and its supporting curing agent mixture using the mode for vacuumizing
To surface and rupture, place into and a hour is baked in 120 degree of baking box.
In the present embodiment, the model Sylgardl84 (roads that liquid dimethione (containing complete curing agent) is used
Corning Incorporated, provides host/curing agent double combination liquid packagings during purchase).
In the present embodiment, a kind of specific make step of the robot range-measurement system based on the bionical Whisker Sensors of FBG
It is as follows：
(1) mould of bionical antenna structure is made, the structure of mould is hollow cylinder；
(2) optical fiber is placed on mould axis line position；
(3) mixed liquor of liquid dimethione and its supporting curing agent mixture is poured into mould inside；
(4) bionical Whisker Sensor 1 in mould is taken out after to be formed；
(5) the hollow prism of hard six (bottom base 2) is made, is opened in the center of six sides of bottom base 2
Hole allows bionical Whisker Sensor 1 to pass through just, while opening an aperture in the upper surface of bottom base 2；
(6) bionical Whisker Sensor 1 is fixed with bottom base 2, bionical Whisker Sensor 1 is each perpendicular to six prisms
Six sides along surface outwards, motor will be placed in bottom base 2, motor is connected with bionical Whisker Sensor 1；
(7) aperture that the optical fiber unification of bionical Whisker Sensor 1 is opened from the upper surface of bottom base 2 is inserted out and is connected to
(FBG) demodulator.
Embodiment 2：
As background technology is introduced, existing robot range-measurement system of the prior art and distance measuring sensor receive environment
Influence is big, high cost, it is impossible to repeatedly use, and makes, using complexity, and reliability is not strong, the problem of electromagnetism interference, especially
It is the problem that cannot measure the obstacle distance from arbitrary shape.
In a kind of typical implementation method of the application, there is provided a kind of robot based on the bionical Whisker Sensors of FBG
The distance-finding method of range-measurement system, is applied to a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG, methods described bag
Include following steps：
(1) being rotated using the motor in robot traveling process drives the bionical Whisker Sensor rotation to be swept
Retouch formula perception, when robot is after barrier is encountered during traveling, the motor stop motion, the bionical Whisker Sensor
Bend, the FBG wavelength being embedded in the bionical Whisker Sensor changes；
(2) the FBG wavelength signals before and after the bionical Whisker Sensor is bent are transmitted to (FBG) demodulator demodulation,
And demodulated signal is transmitted to host computer obtain FBG wavelength variable quantities, FBG is set up according to cantilever beam structure model in host computer
The Mathematical Modeling of the amount of deflection at wavelength variable quantity and stop position, obtains the amount of deflection at stop position；
(3) the bionical antenna structure of the bionical Whisker Sensor is analyzed as spring beam, the bionical antenna
During being touched with barrier, the bionical antenna structure understands flexural deformation to structure, by the grating position obtained in step (2)
The amount of deflection at place is put, is obtained contacting distance according to deflection differential equation, so that the positional information of acquired disturbance thing.
In the step (2), the number of the amount of deflection at FBG wavelength variable quantities and stop position based on cantilever beam structure model
Learn shown in model such as formula (1)：
Wherein, Δ λBIt is F BG wavelength variable quantities, y is the amount of deflection at grating paste position, ρeIt is the photoelasticity system of optical fiber
Number, L is the length of bionical antenna structure, and x is grating paste position, and d is the radius of bionical antenna structure.
In the step (3), when bionical antenna structure touches object (barrier), calculate bionical according to equation below
Antenna structure root bending moment
M (x)=- F (l-x) (2)
Wherein, M (x) be bionical antenna structure root bending moment, F be bionical antenna structure in the power suffered by contact point, l is imitative
Give birth to antenna structure root to contact point distance.
From mechanics of materials formula, in the step (3), deflection differential equation is：
Wherein, y is that E is elastic Young's modulus, and I is cross section apart from being the amount of deflection at x away from bionical antenna structure root
Rotary inertia, M (x) is bionical antenna structure root bending moment.
In the step (3), bionical antenna structure moves slight distance after barrier is touched along former direction, therefore touches
During deform it is sufficiently small, nowThe very little compared with 1, can ignore, then deflection differential equation (3) can be approximately：
EIy "=M (x)=- F (l-x) (4)
Antenna deflection curve equation can obtain to above formula (4) integration：
Wherein, C1, C2 are constant.
In this example, it is assumed that bionical Whisker Sensor 1 just with bar contact when, bionical Whisker Sensor 1 is parallel
In x-axis, and the motion of Robot y-axis situation, as shown in Figure 3；
By yX=0=0 and yx′=0=0 substitutes into (5), obtains C1=0, C2=0.Then antenna deflection curve equation can be write as：
But during actual motion, bionical Whisker Sensor 1 has three kinds of situations, three kinds of feelings with bar contact process
Condition is respectively：Bionical Whisker Sensor 1 just with bar contact when, bionical Whisker Sensor 1 is with the angle with horizontal direction
Just, as shown in Figure 4；Bionical Whisker Sensor 1 just with bar contact when, bionical Whisker Sensor 1 and folder with horizontal direction
Angle be it is negative, as shown in Figure 5；Bionical Whisker Sensor 1 just with bar contact when, bionical Whisker Sensor 1 with and horizontal direction
Angle be zero, as shown in Figure 6.
Three kinds of situation analysis thinkings are consistent.The explanation by taking Fig. 4 as an example below.
If robotic contact to state during object be bionical Whisker Sensor 1 and be just such as Fig. 4 with the angle of horizontal direction
Shown, its motion process is as shown in fig. 7, Robot y-axis is moved.It is to be appreciated that robot actual motion is apart from ylVery little, be
Illustrate convenient, Fig. 7 is the motion schematic diagram after amplifying.
Set up cartesian coordinate system as shown in Figure 7.Because length is unrelated with coordinate system selection, therefore by formula (1)Obtain amount of deflection y at the grating place of bionical Whisker Sensor 1aValue.ylFor robot motion away from
From its value is known quantity.α is robot motion direction and cartesian coordinate system y-axis angle, and its value is known quantity, then by yl's
Cosine is that can obtain yl′。
By yaAnd yl' formula (5) being substituted into, can obtain
The distance of very little is moved forward after barrier is touched because of robot, can have been ignored compared with distance is contacted,
Then contact distance
Wherein,It is antenna and horizontal direction angle.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, the application is the foregoing is only
Preferred embodiment, not limiting the scope of the invention, for a person skilled in the art, the application can
To there is various modifications and variations.One of ordinary skill in the art should be understood that on the basis of technical scheme, this area
Various modifications, equivalent or the deformation that technical staff makes by need not paying creative work are still in protection of the invention
Within scope.
Claims (10)
1. a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG, it is characterized in that：
The system includes bionical Whisker Sensor, bottom base, motor and (FBG) demodulator, if the bottom base exterior lateral sides are set
The bionical Whisker Sensor is done, the motor is installed in the bottom base inside, and the motor is sensed with the bionical antenna
Device is connected, and is controlled the bionical Whisker Sensor to rotate and is scanned formula perception, the bionical Whisker Sensor and the demodulation
Instrument is connected, and the (FBG) demodulator is connected with the host computer of robot, and the bionical Whisker Sensor transmits to institute FBG wavelength changes
(FBG) demodulator demodulation is stated, and demodulated signal is transmitted to host computer, signal analysis is carried out by host computer obtain robot to be moved through
The barrier that is run into journey is simultaneously obtained with a distance from barrier.
2. a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 1, it is characterized in that：Institute
Bottom base is stated using hollow six prism, six lateral surface centers of hollow six prism are respectively provided with a bionical antenna
Sensor, the side surface of bionical connected hollow six prism of Whisker Sensor is vertical.
3. a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 1, it is characterized in that：Institute
Bionical Whisker Sensor is stated including bionical antenna structure, the bionical antenna inside configuration sets hollow space, it is described in it is absolutely empty
Between be embedded in optical fiber, the stop position of the optical fiber is set near bionical antenna structure root.
4. a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 3, it is characterized in that：Institute
Stating bionical antenna structure uses the material of cylindrical structural, the bionical antenna structure to use dimethione.
5. a kind of robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 4, it is characterized in that：Institute
The material of bionical antenna structure is stated using liquid dimethione and its supporting curing agent mixture mixing composition；The liquid
The mixed proportion of state dimethione and its supporting curing agent mixture is mass ratio 10：1.
6. a kind of distance-finding method of the robot range-measurement system based on the bionical Whisker Sensors of FBG, is applied to claim 1-5 and appoints
A kind of robot range-measurement system based on the bionical Whisker Sensors of FBG described in one, it is characterized in that：Methods described includes following step
Suddenly：
(1) being rotated using the motor in robot traveling process drives the bionical Whisker Sensor rotation to be scanned formula
Perceive, when robot is after barrier is encountered during traveling, the motor stop motion, the bionical Whisker Sensor occurs
Bending, the FBG wavelength being embedded in the bionical Whisker Sensor changes；
(2) the FBG wavelength signals before and after the bionical Whisker Sensor is bent are transmitted to (FBG) demodulator demodulation, and will
Demodulated signal is transmitted to host computer and obtains FBG wavelength variable quantities, and FBG wavelength is set up according to cantilever beam structure model in host computer
The Mathematical Modeling of the amount of deflection at variable quantity and stop position, obtains the amount of deflection at stop position；
(3) the bionical antenna structure of the bionical Whisker Sensor is analyzed as spring beam, the bionical antenna structure
During being touched with barrier, the bionical antenna structure can flexural deformation, by the stop position that is obtained in step (2)
Amount of deflection, according to deflection differential equation obtain contact distance so that the positional information of acquired disturbance thing.
7. a kind of distance-finding method of the robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 6, its
It is characterized in：In the step (2), the number of the amount of deflection at FBG wavelength variable quantities and stop position based on cantilever beam structure model
Learn shown in model such as formula (1)：
Wherein, Δ λBIt is F BG wavelength variable quantities, y is the amount of deflection at grating paste position, ρeIt is the photoelastic coefficient of optical fiber, L is
The length of bionical antenna structure, x is grating paste position, and d is the radius of bionical antenna structure.
8. a kind of distance-finding method of the robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 6, its
It is characterized in：In the step (3), deflection differential equation is：
Wherein, y is that E is elastic Young's modulus, and I is the rotation of cross section apart from being the amount of deflection at x away from bionical antenna structure root
Inertia, M (x) is bionical antenna structure root bending moment.
9. a kind of distance-finding method of the robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 8, its
It is characterized in：In the step (3), bionical antenna structure moves slight distance after barrier is touched along former direction, therefore touches
During deform it is sufficiently small, nowThe very little compared with 1, can ignore, then deflection differential equation (3) can be approximately：
EIy "=M (x)=- F (l-x) (4)
Antenna deflection curve equation can obtain to above formula (4) integration：
Wherein, C1, C2 are constant.
10. a kind of distance-finding method of the robot range-measurement system based on the bionical Whisker Sensors of FBG as claimed in claim 6,
It is characterized in that：In the step (3), when bionical antenna structure touches object, bionical antenna knot is calculated according to equation below
Structure root bending moment
M (x)=- F (l-x) (2)
Wherein, M (x) is bionical antenna structure root bending moment, and F is bionical antenna structure in the power suffered by contact point, and l is touched for bionical
Must structure root to contact point distance.
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