CN110553771A - Bionic cat whisker flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing - Google Patents
Bionic cat whisker flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing Download PDFInfo
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- 241000282326 Felis catus Species 0.000 claims description 8
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- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 239000004945 silicone rubber Substances 0.000 claims description 4
- HIHIPCDUFKZOSL-UHFFFAOYSA-N ethenyl(methyl)silicon Chemical compound C[Si]C=C HIHIPCDUFKZOSL-UHFFFAOYSA-N 0.000 claims description 3
- 238000002513 implantation Methods 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/243—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using means for applying force perpendicular to the fibre axis
- G01L1/245—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using means for applying force perpendicular to the fibre axis using microbending
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
Abstract
The invention discloses a bionic cat whisker flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing, which belongs to the technical field of photoelectric sensing and comprises a light source, a coupler, an FBG sensing array, an FBG sensing detector, an upper computer and a vehicle, wherein the light source irradiates the coupler, the FBG sensing array is controlled by the coupler, a shape reconstruction algorithm based on discrete point space curvature information is utilized based on an FBG stress sensor key technology sensing network, flexible silica gel is used as a sensing substrate, a sensing method capable of sensing the surface shape of an object is designed, the development of an optical fiber bionic whisker shape real-time sensing system is carried out, and effective auxiliary information is provided for a driver to touch obstacles or not in the driving process by adding a novel shape sensing accessory and an auxiliary system.
Description
Technical Field
the invention relates to the technical field of photoelectric sensing, in particular to a bionic cat beard flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing.
Background
In the modern traffic system, the development of motor vehicles is rapid, which greatly facilitates the life of people, but the problem of causing traffic accidents is increasingly prominent, and due to the inexperience or careless driving of drivers, traffic accidents such as people rolling, scraping, collision and the like occur in the process of backing a car, which causes serious potential safety hazards to pedestrians and surrounding vehicles, aiming at the problem, various backing auxiliary devices are produced in the market, such as backing rear view cameras, laser radar systems, infrared identification and the like, but the devices have the defects of blind zone identification, insensitive response, large calculation amount, high cost and the like, and the problem of difficulty in ensuring the safety of backing a car exists, taking the backing rear view cameras and radars as examples, because the image lens is generally designed in a wide angle, the picture can be distorted, and the safe reversing by using the reversing rearview camera is still difficult for people lacking in distance sense; the reversing radar on the market can only detect obstacles in a certain height range right behind the vehicle, dead zones on two sides are large, and the auxiliary reversing vehicle still has large potential safety hazards, so that the invention provides a set of efficient early warning system to help a driver to know surrounding vehicle condition information and is very necessary for safe reversing.
With the development of fiber grating manufacturing technology and the continuous reduction of demodulation cost, fiber gratings as sensing elements have been researched and applied abroad, domestic related colleges and universities, scientific research institutes and related companies have carried out a great deal of research work, fiber grating manufacturing, demodulation and sensing application research have been widely carried out, FBG is a diffraction grating formed by axially and periodically modulating the refractive index of a fiber core through a certain method, the FBG is a passive filter device, the sensing mechanism is narrow bandwidth reflection of a single-mode fiber core refractive index period changing area, the Bragg wavelength of a reflected signal and the length of a refractive index period changing area and the average refractive index have a determined functional relationship, the central wavelength is sensitive to the changes of external environments such as temperature, strain, refractive index, concentration and the like, and a measured medium acts on the fiber gratings, the Bragg wavelength is modulated by strain and temperature, then the effective measurement of corresponding physical quantity can be realized by demodulating the center wavelength of the fiber bragg grating, the FBG has the advantages of small volume, small welding loss, full compatibility with optical fibers and the like, the FBG has good networking capability, can measure the changes of temperature, stress and vibration, has good signal transmission characteristics, under the same environment, the central wavelength has high consistency, the system constructed by the FBG has the characteristics of quick response time, high sensitivity and high measurement precision, the FBG has certain application in structural deformation detection, such as bridge health monitoring in building engineering, endoscope shape tracking in biomedical engineering, shape estimation of a dragging array in geological detection engineering and the like, however, there are few reports on using fiber gratings in the research direction of vehicle obstacle shape perception of curvature deformation.
The beard of the cat has the functions of judging distance, sensing objects, detecting the movement condition of a hunting object and the like, is a special sensing organ of the cat, plays an important role in daily life and hunting, and according to the bionics principle, the invention combines the practical requirements of car backing safety, is inspired from the phenomenon that the cat utilizes the beard to realize obstacle avoidance and navigation assistance, and utilizes the FBG (Fiber Bragg Grating) shape sensing principle to design a flexible contact type vehicle obstacle-touching early warning device and method.
disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a bionic cat whisker flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing.
2. technical scheme
In order to solve the problems, the invention adopts the following technical scheme:
The bionic cat whisker flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing comprises a light source, a coupler, an FBG sensing array, an FBG sensing detector, an upper computer and a vehicle, wherein the light source irradiates the coupler, the FBG sensing array is controlled by the coupler, and the FBG sensing array is controlled by FBG-A, FBG-B, FBG-C, FBG-D, FBG-E, FBG-F, FBG-G, FBG-H, FBG-I, FBG-G, FBG-H, FBG-I, FBG-J, FBG-K, FBG-L, FBG-M, FBG-N, FBG-O, FBG-P, FBG-Q, FBG-R, FBG-S, FBG-T, FBG-U, FBG-V, FBG-W, FBG-X, FBG-Y, a light source and a light source, FBG-Z, FBG-1, FBG-2, FBG-3, FBG-4, FBG-5 and FBG-6 are totally 26 bionic sensing beards and constitute, and it has four fiber bragg gratings to distribute respectively on every bionic sensing beard, bionic sensing beard extends to the vehicle outside, FBG sensing array enough constitutes sensitive cat beard, FBG sensing detector electric connection is in the coupler, and FBG sensing detector electric connection is in the host computer, light source, coupler, FBG sensing array, FBG sensing detector and host computer all set up on the vehicle.
as a preferable scheme of the invention, the central wavelength of the light source is 1550nm, and the tuning range is 3 GHz.
As a preferable aspect of the present invention, the coupler is a2 × 2 coupler.
As a preferable aspect of the present invention, the FBG-6, FBG-A, FBG-B, FBG-C and FBG-D are located at the front side of the vehicle, the FBG-E, FBG-F and FBG-G are located at the front right side of the vehicle, the FBG-H, FBG-I, FBG-J and FBG-K are located at the right side of the vehicle, the FBG-L is located at the rear right side of the vehicle, the FBG-M, FBG-N, FBG-O, FBG-P, FBG-Q, FBG-R, FBG-S, FBG-T, FBG-U, FBG-V and FBG-W are located at the rear right side of the vehicle, the FBG-X is located at the rear left side of the vehicle, the FBG-Y, FBG-Z, FBG-1 and FBG-2 are located at the left side of the vehicle, and the FBG-3, FBG-4 and FBG-5 are located on the front left side of the vehicle.
As a preferred scheme of the present invention, the specific specifications of the biomimetic sensing beard are as follows:
(1) the cylinder shape is 440mm in length and 5mm in radius;
(2) The material is methyl vinyl silicone rubber, the material has good elasticity and can be stretched for many times and then be restored to an initial state, and meanwhile, the silica gel can isolate the influence of ambient temperature on the FBG to a certain extent;
(3) Evenly distributed 4 FBGs on every optic fibre evenly implants 1 optic fibre in bionical sensing beard, and the implantation depth is 4.5mm, for reducing the error measurement, uses flexible sensor to implant 4.5 mm's a side and presses close to the testee.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
according to the scheme, based on a FBG stress sensor key technology sensing network, a shape reconstruction algorithm based on discrete point space curvature information is utilized, flexible silica gel is used as a sensing substrate, a sensing method capable of sensing the surface shape of an object is designed, a bionic optical fiber beard shape real-time sensing system is developed, and effective auxiliary information is provided for a driver whether to touch obstacles or not in the driving process by adding a novel shape sensing accessory and an auxiliary system.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic diagram of FBG sensing of the present invention;
FIG. 3 is a schematic diagram of the deformation of structural microelements during bending according to the present invention;
FIG. 4 is a first view of a flexible sensor and fiber optic bend;
FIG. 5 is a diagram of a second condition of bending of the flexible sensor and the optical fiber;
FIG. 6 is a top view of the present invention;
FIG. 7 is a manufacturing diagram of an FBG sensor in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
example (b):
referring to fig. 1, 6 and 7, the bionic cat whisker flexible contact type vehicle obstacle-touching early warning device based on FBG shape sensing comprises a light source with a center wavelength of 1550nm and a tuning range of 3GHz, a2 × 2 coupler, an FBG sensing array, an FBG sensing detector, an upper computer and a vehicle, wherein the light source irradiates the coupler, the FBG sensing array is controlled by the coupler, and the FBG sensing array is controlled by FBG-A, FBG-B, FBG-C, FBG-D, FBG-E, FBG-F, FBG-G, FBG-H, FBG-I, FBG-G, FBG-H, FBG-I, FBG-J, FBG-K, FBG-L, FBG-M, FBG-N, FBG-O, FBG-P, FBG-Q, FBG-R, FBG-S, FBG-T, FBG-U, FBG-V, FBG-W, FBG-X, FBG-Y, FBG-Z, FBG-1, FBG-2, FBG-3, FBG-4, FBG-5 and FBG-6 are composed of 26 bionic sensing whiskers in total, and each bionic sensing whisker is respectively provided with four fiber gratings, for example, the FBG-A bionic sensing whisker is provided with FBG-A1, FBG-A2, FBG-A3 and FBG-A4, and the FBG-1 bionic sensing whisker is provided with FBG-11, FBG-12, FBG-13 and FBG-14;
FBG-6, FBG-A, FBG-B, FBG-C and FBG-D are located at the front side of the vehicle, FBG-E, FBG-F and FBG-G are located at the right front side of the vehicle, FBG-H, FBG-I, FBG-J and FBG-K are located at the right rear side of the vehicle, FBG-M, FBG-N, FBG-O, FBG-P, FBGs-Q, FBG-R, FBG-S, FBG-T, FBG-U, FBG-V and FBG-W are located on the rear side of the vehicle, FBG-X is located on the left rear side of the vehicle, FBGs-Y, FBG-Z, FBG-1 and FBG-2 are located on the left side of the vehicle, and FBGs-3, FBG-4 and FBG-5 are located on the left front side of the vehicle;
The bionic sensing beard extends to the outer side of the vehicle, and the specific specification of the bionic sensing beard is as follows: the cylinder shape is 440mm in length and 5mm in radius; the material is methyl vinyl silicone rubber which has good elasticity and can be stretched for many times and then restored to an initial state, and meanwhile, the silicone rubber can isolate the influence of ambient temperature on the FBG to a certain extent; 4 FBGs are uniformly distributed on each optical fiber, 1 optical fiber is uniformly implanted into the bionic sensing beard, the implantation depth is 4.5mm, and in order to reduce error measurement, a flexible sensor is implanted into one side of 4.5mm and is close to a measured object;
the FBG sensing arrays can form sensitive cat beards, and bionic sensing beard deformation conditions of 8 positions in total are measured on the left front side, the right back side, the left back side and the left side of the car respectively, so that road condition information in a safety range of the reversing car is detected in an all-round mode. Simultaneously, the bionical beard that the vehicle stretches out can give other vehicles and pedestrian in order to back a car and remind, and dual guarantee reduces the accident of backing a car, and FBG sensing detector electric connection is in the coupler, and FBG sensing detector electric connection is in the host computer, and light source, coupler, FBG sensing array, FBG sensing detector and host computer all set up on the vehicle.
The invention is mainly divided into two parts: the FBG curvature sensing unit and the bionic sensing beard shape reconstruction unit are characterized in that the FBG curvature sensing unit has the main function of obtaining the curvature information of discrete points on the elongated flexible sensing rod by utilizing a fiber bragg grating sensing network packaged on the surface of the elongated flexible silica gel and according to a functional relation determined by the bending curvature and the variation of the reflection center wavelength of each fiber bragg grating, and the principle of obtaining the curvature information by FBG sensing is described below;
FBG curvature sensing unit: the FBG sensing technology uses light waves as carriers, optical fibers are used as transmission media, the photosensitive characteristic of doped optical fibers is utilized, the change condition of external parameters to be measured is sensed through the deviation amount of central wavelengths caused by the change of the FBG period and the refractive index, so that sensing is realized, the sensing principle of the FBG is shown in figure 2, the FBG is similar to a high-reflection narrow-band light reflector, one wavelength is reflected and all other wavelengths are transmitted, and according to the optical fiber coupling theory, the central reflection wavelength of the FBG can be expressed as:
λB＝2neffΛ (1)
In the formula, neffin order to obtain the effective refractive index, Λ is the period of the grating, and the period and the effective refractive index of the grating are affected by the external temperature and strain, and can be expressed as follows:
ΔλB＝2neffΔΛ+2Δneffλ＝[(1-ρe)ε+(α+ξ)ΔT]λB (2)
in the formula: delta lambdaBShift amount of FBG center wavelength, rhoeis the effective elasto-optic coefficient of the FBG,. epsilon.is the strain generated by the FBG,. alpha.is the thermal expansion coefficient of the optical fiber, xi is the thermo-optic coefficient of the optical fiber,
When the bionical sensing beard palpus touches the obstacle around the car, the bionical sensing beard palpus receives the effect of power, and the shape changes, and FBG on the bionical sensing beard receives tensile or compression, and FBG's reflection center wavelength can change, under laboratory and the operational environment of backing a car, assumes ambient temperature invariant, under the exogenic action, so FBG's wavelength drift can express as:
ΔλB＝(1-pe)ελB (3)
For a section of optical fiber element with length L and thickness h, under the condition of pure bending deformation, the inner side of the bending of the structural element is compressed and shortened, the outer side of the bending is pulled and extended, the length of a layer is constant between the compression and the extension, which is generally called as a strain neutral layer, as shown in figure 3, the length of the strain neutral layer is kept constant, therefore, the curvature of the neutral layer can be used for representing the shape change of the element,
As can be seen from fig. 3:
L＝rθ (4)
From the above formula, one can obtain:
from (9), p is known for a certain FBGeh and lambdaBThe curvature K and the wavelength drift amount are constant values, so that a linear relation is formed, the corresponding bending curvature can be obtained as long as the wavelength drift amount of an FBG measuring point is measured, and in practice, the multiplexing technology can be adopted or the number of couplers can be increased for the FBG sensing array, namely the condition of a plurality of sensing optical fibers;
A bionic sensing beard shape reconstruction unit: the bionic sensing beard shape reconstruction unit consists of a data interface, a computer with shape reconstruction software and a graph display device, the shape reconstruction unit has the main function of performing data processing on space curvature data of each point and corresponding intervention length information through the computer to complete real-time reconstruction of the shape, a reconstruction algorithm is briefly described below, when a sensor is clung to the surface of an object, three FBG sensing points are assumed to be arranged on each optical fiber, the bending condition of each optical fiber can be summarized into two conditions of a graph 4 and a graph 5, curvature information can be known according to FBG wavelength drift amount of a measuring point, then shape reconstruction is performed, three FBGs are uniformly distributed on each optical fiber, and when the optical fibers are bent, the three FBGs can be respectively regarded as three arcs and expressed as:by means of the curvature information of the three arc lengths, the contour of the object can be reconstructed, as shown in fig. 2 below, with the tangents at the junctions of adjacent arcs being identical, i.e.: l1Is thatandCommon tangent line, /)2is thatAndThe common tangent line is used, so that the coordinate information of all the sensing points can be calculated in the coordinate system, and the center o of the three-segment arc is assumed1Has the coordinates of (x)1、y1)，o2Has the coordinates of (0, 0), o3Has the coordinates of (x)3、y3) (ii) a The corresponding bending radii are respectively: r is1、r2、r3then o in the coordinate system1And o3Can be expressed as:
The coordinates of arc end point A, B, C, D may be expressed as:
Then arccan be expressed as:
x2+y2＝r2 2 (17)
The arcs can be connected through matlab by equations (16), (17), (18)The bending shape of the whole optical fiber is obtained, the bending shapes of the other two optical fibers can be obtained in the same way, and then the shape of the measured object is obtained, similarly, the situation in the figure 3 can also be expressed by a similar equation, the scheme adopted by the invention is that 4 fiber gratings are arranged on each optical fiber, and any 3 FBG sensing points can be selected for shape reconstruction in a shape reconstruction algorithm.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the equivalent replacement or change according to the technical solution and the improvement concept of the present invention should be covered by the scope of the present invention.
Claims (5)
1. bionic cat beard flexible contact type vehicle touch barrier early warning device based on FBG shape sensing, including light source, coupler, FBG sensing array, FBG sensing detector, host computer and vehicle, its characterized in that: the light source irradiates the coupler, the FBG sensing array is controlled by the coupler and consists of 26 bionic sensing whiskers including FBG-A, FBG-B, FBG-C, FBG-D, FBG-E, FBG-F, FBG-G, FBG-H, FBG-I, FBG-G, FBG-H, FBG-I, FBG-J, FBG-K, FBG-L, FBG-M, FBG-N, FBG-O, FBG-P, FBG-Q, FBG-R, FBG-S, FBG-T, FBG-U, FBG-V, FBG-W, FBG-X, FBG-Y, FBG-Z, FBG-1, FBG-2, FBG-3, FBG-4, FBG-5 and FBG-6, and four fiber gratings are distributed on each bionic whisker respectively, bionic sensing beard extends to the vehicle outside, FBG sensing array constitutes sensitive cat beard enough, FBG sensing detector electric connection is in the coupler, FBG sensing detector electric connection is in the host computer, light source, coupler, FBG sensing array, FBG sensing detector and host computer all set up on the vehicle.
2. the FBG shape sensing-based bionic cat whisker flexible contact type vehicle obstacle-touching early warning device is characterized in that: the center wavelength of the light source is 1550nm, and the tuning range is 3 GHz.
3. The FBG shape sensing-based bionic cat whisker flexible contact type vehicle obstacle-touching early warning device is characterized in that: the coupler is a2 x 2 coupler.
4. the FBG shape sensing-based bionic cat whisker flexible contact type vehicle obstacle-touching early warning device is characterized in that: the FBG-6, FBG-A, FBG-B, FBG-C and FBG-D are located at the front side of the vehicle, the FBGs-E, FBG-F and FBG-G are located on the front right side of the vehicle, the FBGs-H, FBG-I, FBG-J and FBG-K are located on the right side of the vehicle, the FBG-L is positioned at the right rear side of the vehicle, the FBGs-M, FBG-N, FBG-O, FBG-P, FBG-Q, FBG-R, FBG-S, FBG-T, FBG-U, FBG-V and FBG-W are positioned at the rear side of the vehicle, the FBG-X is located at the left rear side of the vehicle, the FBGs-Y, FBG-Z, FBG-1 and FBG-2 are located at the left side of the vehicle, the FBG-3, FBG-4 and FBG-5 are located on the left front side of the vehicle.
5. The FBG shape sensing-based bionic cat whisker flexible contact type vehicle obstacle-touching early warning device is characterized in that: the specific specification of the bionic sensing beard is as follows:
(1) the cylinder shape is 440mm in length and 5mm in radius;
(2) the material is methyl vinyl silicone rubber;
(3) 4 FBGs are uniformly distributed on each optical fiber, 1 optical fiber is uniformly implanted into the bionic sensing beard, and the implantation depth is 4.5 mm.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114179729A (en) * | 2021-12-21 | 2022-03-15 | 泰安九洲金城机械有限公司 | Underground automatic induction monitoring system |
| WO2022052724A1 (en) * | 2020-09-09 | 2022-03-17 | 山东科技大学 | Intelligent skin based on small-size distributed optical fiber sensing array |
| WO2022166183A1 (en) * | 2021-02-07 | 2022-08-11 | 上海交通大学 | Force or force shape sensing integrated driving wire for flexible robot and application method of integrated driving wire |
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