CN113819852A - Fiber grating monitoring device and method for flapping deformation of flapping-wing robot in flight - Google Patents
Fiber grating monitoring device and method for flapping deformation of flapping-wing robot in flight Download PDFInfo
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- CN113819852A CN113819852A CN202111295850.5A CN202111295850A CN113819852A CN 113819852 A CN113819852 A CN 113819852A CN 202111295850 A CN202111295850 A CN 202111295850A CN 113819852 A CN113819852 A CN 113819852A
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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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/165—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by means of a grating deformed by the object
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64C—AEROPLANES; HELICOPTERS
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The invention belongs to the technical field of robot sensing and measurement, and discloses a fiber grating monitoring device and method for flapping deformation of a flapping-wing robot in flight, which is provided with the following components: a torso portion; the left side and the right side of the trunk part are respectively provided with a first flapping wing and a second flapping wing; a first array polymer fiber grating, a second array polymer fiber grating, a third array polymer fiber grating and a fourth array polymer fiber grating are respectively implanted in the first flapping wing and the second flapping wing; the upper part of the trunk part is provided with an optical fiber connector which is connected with the multi-core quartz optical fiber; the other end of the multi-core quartz fiber is connected with one end of the fiber grating wavelength demodulator; the fiber grating wavelength demodulator is used for demodulating and outputting the transmitted grating signals. The invention adopts the mode of implanting the polymer fiber bragg grating, and can measure the flapping deformation in real time with high precision and without space constraint.
Description
Technical Field
The invention belongs to the technical field of robot sensing and measurement, and particularly relates to a fiber grating monitoring device and method for flapping deformation of a flapping-wing robot in flight.
Background
At present, the bionic flapping-wing robot is an aircraft simulating the flight characteristics of natural organisms such as birds, bats, insects and the like, has the advantages of small size, strong concealment and the like, and has wide application prospect in the fields of military investigation and the like. In recent years, great importance is attached to the research and development of bionic flapping-wing robots at home and abroad, and research and development investment is increased continuously. However, there is a significant gap in these areas between the current human development of ornithopters relative to the superior stability and maneuverability that insects or birds can achieve by virtue of rapid adjustment of the airfoil motion profile. One important reason is that the flapping deformation of the bionic flapping wing robot in the flying process cannot be measured, the characteristics of the flapping deformation cannot be known, and the parameter design and optimization of the flapping wing are difficult to optimize.
At present, the existing methods for monitoring flapping deformation of flapping wings comprise numerical simulation, stereoscopic vision camera shooting, structured light projection measurement and the like. There are the following problems: the numerical method is used for researching flapping deformation, the mechanism of flapping deformation is mostly analyzed under the set relatively ideal assumed condition, the flapping models are simplified, the deviation of the analysis result is large, and the fine deformation mechanism of flapping of the flapping wing is difficult to explore. Three-dimensional shape measurement based on stereoscopic vision is to utilize a plurality of high-speed cameras to carry out multi-angle shooting on a space object so as to carry out three-dimensional reconstruction, however, the wings which dynamically flap often have complex deformations such as bending and torsion, so that the problems of difficult identification of mark points, low resolution precision, line of sight shielding and the like are caused, and the fine deformation of the flapping wings is difficult to obtain. The three-dimensional shape measurement based on the structured light is realized by replacing one camera in the stereoscopic vision with a light source, the light source projects stripe light to the surface of an object, the stripe light is distorted when the shape of the surface of the object is changed, and the other cameras capture the stripe light and analyze and reconstruct the shape information of the object by combining calibration parameters. However, when the flapping deformation of the flapping wing is measured, when the included angle between the surface of the flapping wing and the camera is too large, the stripe mismatching phenomenon occurs, so that the error of the measurement result is larger, and the problem of vision occlusion existing in the measurement method is difficult to solve aiming at the complex deformation generated by the rapid flapping of the flapping wing. In addition, the measurement of the flapping-wing deformation of the flapping-wing aircraft is limited on an indoor test bed and cannot be carried out in real time no matter whether the measurement is carried out by stereo vision or structured light, and the real-time fine monitoring on the flapping-wing aircraft aerodynamic deformation of the flapping-wing aircraft which carries out simulated flight outdoors cannot be carried out.
The method in the prior art is difficult to realize real-time monitoring of flapping deformation of the flapping-wing robot in real flight, and in the actual flight process, the flapping deformation characteristic of the flapping-wing robot has a key influence on the flight performance, and the control of the flapping deformation characteristic is very important for optimizing the aerodynamic characteristic and improving the flight performance, so that a technology is urgently needed to solve the problem.
Through the above analysis, the problems and defects of the prior art are as follows: the existing flapping deformation measurement technology has the disadvantages of large measurement error, low measurement precision, difficulty in handling visual occlusion of a flapping surface and difficulty in dynamic real-time monitoring.
Through the above analysis, the problems and defects of the prior art are as follows:
in the prior art, vision and optical non-contact indirect measurement are adopted, and the sight line is shielded in the dynamic flapping process of the flapping wing surface, so that comprehensive information measurement cannot be realized;
the flapping wings cannot be directly measured in a contact way;
devices such as a vision camera, an optical camera and the like are fixed indoors, the measurement range is very limited, and only flapping measurement during simulated flight can be carried out on the flapping-wing robot fixed indoors;
the flapping of the flapping wings in the real flying process cannot be dynamically monitored in real time.
The difficulty in solving the above problems and defects is:
the difficulty lies in that the prior art can not realize the contact direct measurement of flapping wing deformation.
The significance of solving the problems and the defects is as follows:
the method can carry out real-time fine detection without space constraint on the dynamic flapping of the flapping wings in the flying process, and is very important to master the fine flapping deformation of the wings of the flapping-wing aircraft in the flying process, so that the method has important significance for optimizing and improving the aerodynamic performance and the flying performance of the flapping-wing aircraft.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a fiber bragg grating monitoring device and method for flapping deformation of a flapping-wing robot in flight.
The invention is realized in this way, a fiber grating monitoring device for flapping deformation of flapping-wing robot in flight, which comprises:
the device comprises a body part, flapping wings, an optical fiber connector, a polymer fiber grating array, a multi-core quartz fiber, a fiber grating wavelength demodulator and an analysis processor;
the left side and the right side of the trunk are respectively provided with a first flapping wing and a second flapping wing; a first array polymer fiber grating and a second array polymer fiber grating for measuring the three-dimensional shape strain of the first flapping wing are implanted in the first flapping wing; a third array polymer fiber grating and a fourth array polymer fiber grating for measuring the three-dimensional shape strain of the second flapping wing are implanted in the second flapping wing;
the upper part of the trunk part is provided with an optical fiber connector, and the other end of the optical fiber connector is connected with one end of the multi-core quartz optical fiber; the multi-core quartz fiber is used for transmitting grating signals on the first flapping wing and the second flapping wing to the fiber grating wavelength demodulator;
the other end of the multi-core quartz fiber is connected with one end of the fiber grating wavelength demodulator; the fiber grating wavelength demodulator is used for demodulating and outputting the transmitted grating signals.
Further, the body portion utilizes lightweight carbon fibers as a skeleton.
Further, the first flapping wing and the second flapping wing are wing-shaped structures; the first flapping wing and the second flapping wing are both composed of a carbon fiber framework and a dimethyl siloxane wing membrane covering the carbon fiber framework.
Furthermore, the tail gratings of the first array polymer fiber bragg grating, the second array polymer fiber bragg grating, the third array polymer fiber bragg grating and the fourth array polymer fiber bragg grating are connected with one end of the optical fiber connector.
Further, the optical fiber connector is of a hollow cuboid structure.
Furthermore, a plurality of beams of quartz fibers are arranged in the multi-core quartz fiber.
Further, the analysis processor is used for inverting the wavelength variation of each grating measuring point of the flapping wing according to the corresponding functional relation to obtain real-time accurate deformation information of each measuring point of the flapping wing, reconstructing the three-dimensional shape of the surface of the flapping wing by analyzing and processing the real-time accurate deformation information, and monitoring and storing the three-dimensional shape deformation information of the flapping wing in real time.
Another object of the present invention is to provide a fiber grating monitoring method for flapping deformation of a flapping-wing robot, which is applied to the fiber grating monitoring device for flapping deformation of the flapping-wing robot in flight, and the fiber grating monitoring method for flapping deformation of the flapping-wing robot in flight comprises:
placing the flapping wing robot under a high-precision three-dimensional profile scanner, and applying and maintaining bending, torsion and other deformations which may be generated in the flapping process by taking the natural state of the flapping wing as a reference zero point;
acquiring grating wavelength drift data of each measuring point in the flapping wing after different static deformations are applied through a fiber grating demodulator, and scanning through a high-precision three-dimensional profile scanner to obtain actual precise deformation information of each measuring point of the flapping wing under different static deformations;
thirdly, determining the corresponding functional relation between the wavelength variation and the actual accurate deformation information based on the acquired actual accurate deformation information of the flapping wings under different static deformations;
acquiring real-time wavelength variation data generated by the polymer fiber grating array due to flapping deformation of the flapping wing robot, and performing inversion on the real-time wavelength variation data by utilizing the corresponding function relationship between the determined wavelength variation and the actual accurate deformation information to obtain the real-time accurate deformation information of the flapping wing;
and step five, reconstructing real-time accurate deformation information of each fiber bragg grating measuring point in the flapping wing to obtain real-time three-dimensional flapping deformation information of the flapping wing, and monitoring and storing the three-dimensional flapping deformation information of the flapping wing in real time.
Further, in step three, the method for determining the corresponding functional relationship between the wavelength variation and the actual accurate deformation information includes:
the method comprises the steps of taking collected actual accurate deformation information of the flapping wings under different static deformations as input, taking grating wavelength drift amount as output, and utilizing a machine learning and deep learning method to train and analyze the corresponding relation between the wavelength variation of the fiber bragg grating and the actual accurate deformation information to obtain the corresponding function relation between the wavelength variation and the actual accurate deformation information.
Further, the acquiring, by the fiber grating demodulator, grating wavelength drift amount data of each measurement point in the flapping wing after applying different static deformations includes:
real-time grating signals generated by each grating measuring point due to flapping deformation of a flapping wing in flight are transmitted to a fiber grating wavelength demodulator on the ground by using the multi-core quartz fiber, and the fiber grating wavelength demodulator demodulates the real-time grating signals to obtain grating wavelength variation signals of each measuring point.
Another object of the present invention is to provide an information data processing terminal, which includes a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the fiber grating monitoring method for flapping deformation in flight of the flapping-wing robot.
Another object of the present invention is a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute a fiber grating monitoring method for flapping deformation of a flapping-wing robot in flight.
The invention also aims to provide a bionic flapping-wing robot, which carries a fiber grating monitoring device for flapping deformation of the flapping-wing robot in flight.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the invention adopts the mode of implanting the polymer fiber bragg grating, and can measure the flapping deformation in real time with high precision and without space constraint.
According to the invention, continuous and dense wavelength variation data based on fiber bragg grating sensing, flapping wing real-time accurate deformation information based on a high-precision three-dimensional profile scanner and a theoretical method of machine learning and deep learning are utilized to carry out a large amount of training analysis on the corresponding relation between the wavelength variation of the fiber bragg grating and the actual accurate deformation information, so that the corresponding function relation between the wavelength variation and the actual accurate deformation information is obtained, and real-time accurate measurement is realized.
The polymer fiber grating has small volume and light weight, can write a plurality of gratings in one optical fiber to form a sensing array, is combined with a wavelength division multiplexing and time division multiplexing system to realize distributed high-precision deformation measurement, and has small load on the flapping-wing robot.
Drawings
FIG. 1 is a schematic structural diagram of a fiber grating monitoring device for flapping deformation of a flapping-wing robot in flight according to an embodiment of the present invention;
in the figure: 1. a torso portion; 2. flapping wings; 2-1, a first flapping wing; 2-2, a second flapping wing; 3. an optical fiber connector; 4. a polymer fiber grating array; 5. a multi-core silica fiber; 6. a fiber grating wavelength demodulator; 7. an analysis processor.
FIG. 2 is a schematic diagram of a fiber grating monitoring method for flapping deformation of a flapping-wing robot in flight according to an embodiment of the present invention.
Fig. 3 is a flow chart of a fiber grating monitoring method for flapping deformation of a flapping-wing robot in flight according to an embodiment of the present invention.
Fig. 4 is a three-dimensional deformation diagram of a flapping wing test piece inverted according to an output signal of a fiber grating monitoring device, provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a fiber grating monitoring device and a fiber grating monitoring method for flapping deformation of a flapping-wing robot in flight, and the invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, a fiber grating monitoring device for flapping deformation of a flapping-wing robot in flight according to an embodiment of the present invention includes:
the device comprises a body part 1, a flapping wing 2, an optical fiber connector 3, a polymer fiber grating array 4, a multi-core quartz fiber 5, a fiber grating wavelength demodulator 6 and an analysis processor 7;
the torso portion 1 uses lightweight carbon fibers as a skeleton. The left side and the right side of the torso part 1 are respectively provided with a first flapping wing 2-1 and a second flapping wing 2-2; the first flapping wing 2-1 and the second flapping wing 2-2 are wing-shaped structures; the first flapping wing 2-1 and the second flapping wing 2-2 are both composed of a carbon fiber framework and a dimethyl siloxane wing membrane covered on the carbon fiber framework.
A first array polymer fiber grating and a second array polymer fiber grating for measuring the three-dimensional shape strain of the first flapping wing are implanted in the first flapping wing 2-1; a third array polymer fiber grating and a fourth array polymer fiber grating for measuring the three-dimensional shape strain of the second flapping wing are implanted in the second flapping wing 2-2;
the upper part of the trunk part 1 is provided with an optical fiber connector 3, and the optical fiber connector 3 is of a hollow cuboid structure;
the other end of the optical fiber connector 3 is connected with one end of a multi-core quartz optical fiber 5; the multi-core quartz fiber 5 part is provided with a plurality of beams of quartz fibers; the multi-core quartz fiber 5 is used for transmitting grating signals on the first flapping wing 2-1 and the second flapping wing 2-2 to the fiber grating wavelength demodulator 6;
the other end of the multi-core quartz fiber 5 is connected with one end of a fiber grating wavelength demodulator 6; and the fiber grating wavelength demodulator 6 is used for demodulating and outputting the transmitted grating signal.
The tail gratings of the first array polymer fiber bragg grating, the second array polymer fiber bragg grating, the third array polymer fiber bragg grating and the fourth array polymer fiber bragg grating are connected with one end of the optical fiber connector 3.
And the analysis processor 7 is used for inverting the wavelength variation of each grating measuring point of the flapping wing according to the corresponding functional relation to obtain real-time accurate deformation information of each measuring point of the flapping wing, reconstructing the three-dimensional shape of the surface of the flapping wing by analyzing and processing the real-time accurate deformation information, and monitoring and storing the three-dimensional shape deformation information of the flapping wing in real time.
As shown in fig. 2 to fig. 3, a fiber grating monitoring method for flapping deformation of a flapping-wing robot in flight according to an embodiment of the present invention includes:
s101, placing the flapping wing robot under a high-precision three-dimensional profile scanner, and applying and maintaining possible bending, torsion and other deformations in the flapping process by taking the natural state of the flapping wing as a reference zero point;
s102, acquiring grating wavelength drift data of each measuring point in the flapping wing after different static deformations are applied through a fiber grating demodulator, and scanning through a high-precision three-dimensional profile scanner to obtain actual precise deformation information of each measuring point of the flapping wing under different static deformations;
s103, determining a corresponding function relation between the wavelength variation and the actual accurate deformation information based on the acquired actual accurate deformation information of the flapping wings under different static deformations;
s104, acquiring real-time wavelength variation data generated by the polymer fiber bragg grating array due to flapping deformation of the flapping wing robot, and inverting the real-time wavelength variation data by utilizing the corresponding function relationship between the determined wavelength variation and the actual accurate deformation information to obtain the real-time accurate deformation information of the flapping wing;
s105, reconstructing real-time accurate deformation information of each fiber bragg grating measuring point in the flapping wing to obtain real-time three-dimensional flapping deformation information of the flapping wing, and monitoring and storing the three-dimensional flapping deformation information of the flapping wing in real time.
The method for acquiring the grating wavelength drift amount data of each measuring point in the flapping wing after different static deformations are applied through the fiber grating demodulator comprises the following steps:
real-time grating signals generated by each grating measuring point due to flapping deformation of a flapping wing in flight are transmitted to a fiber grating wavelength demodulator on the ground by using the multi-core quartz fiber, and the fiber grating wavelength demodulator demodulates the real-time grating signals to obtain grating wavelength variation signals of each measuring point.
The method for determining the corresponding function relationship between the wavelength variation and the actual accurate deformation information provided by the embodiment of the invention comprises the following steps:
the method comprises the steps of taking collected actual accurate deformation information of the flapping wings under different static deformations as input, taking grating wavelength drift amount as output, and utilizing a machine learning and deep learning method to train and analyze the corresponding relation between the wavelength variation of the fiber bragg grating and the actual accurate deformation information to obtain the corresponding function relation between the wavelength variation and the actual accurate deformation information.
The technical solution of the present invention is further described with reference to the following specific embodiments.
Example 1:
a fiber grating monitoring device for flapping deformation of a flapping-wing robot in flight comprises:
the flapping wing robot comprises a body 1, a flapping wing and an optical fiber connector, wherein the body is of an imitated bird body structure, light carbon fibers are used as a framework, the flying load of the flapping wing robot is reduced, and the flapping wing robot is used for assembling the flapping wing and the optical fiber connector.
The flapping wings are distributed on the left side and the right side of the trunk 1, the flapping wings on the left side are 2-1 first flapping wings, the flapping wings on the right side are 2-2 second flapping wings, the two sides are wing-shaped structures, the wings are supported by using carbon fibers as frameworks, wing membranes are covered on the carbon fiber frameworks to form the flapping wings, the wing membranes are made of dimethyl siloxane (PDMS), and polymer fiber gratings are implanted into the wing membranes to form densely distributed sensing arrays.
And the 3 optical fiber connector is adhered to the upper part of the trunk 1 and is of a hollow cuboid structure, the polymer optical fiber and the multi-core quartz optical fiber are butted, and the specific size can be flexibly adjusted according to actual test requirements.
And 4, four groups of polymer fiber grating arrays are arranged, the first array fiber grating and the second array fiber grating are implanted in the 2-1 first flapping wing, and the three-dimensional shape strain of the first flapping wing is measured. And the third and fourth arrays of polymer fiber grating arrays are implanted in the 2-2 second flapping wings, and the three-dimensional shape strain of the second flapping wings is measured.
And 5, the multi-core quartz optical fiber is internally provided with a plurality of beams of quartz optical fibers, one end of the multi-core quartz optical fiber is matched with the 3 optical fiber connector, the quartz optical fiber is connected with the polymer optical fiber by using the connector, and the multi-core quartz optical fiber is used as a lead to lead grating signals on the flapping wings to the optical fiber grating wavelength demodulator on the ground by virtue of the characteristic of extremely low signal transmission loss. The multi-core quartz optical fibers are coiled into a plurality of circles on the ground, and when the flapping-wing robot flies outdoors, the multi-core quartz optical fibers are continuously opened in a circle, so that the flying range of the flapping-wing robot in the air can be greatly increased.
And the 6 fiber grating wavelength demodulator is connected with the 5 multi-core quartz fiber, and outputs the demodulated grating signal.
And 7, the calculation analysis processor can invert the wavelength variation of each grating measuring point of the flapping wing 2 according to the corresponding function relation to obtain real-time accurate deformation information of each measuring point of the flapping wing, analyze and process the real-time accurate deformation information to reconstruct the three-dimensional shape of the surface of the flapping wing, and monitor and store the three-dimensional shape deformation information of the flapping wing in real time.
In another aspect, a fiber grating monitoring method for flapping deformation in flapping wing flight is provided, the measuring method comprises the following steps:
the flapping wing robot is placed under a high-precision three-dimensional profile scanner, various deformations such as bending and torsion which are possibly generated in the flapping process are applied and maintained by taking the natural state of the flapping wing as a reference zero point, a large amount of grating wavelength drift data of each measuring point in the flapping wing subjected to different static deformations are collected through a fiber grating demodulator, and meanwhile, the actual precise deformation information of each measuring point of the flapping wing under different static deformations is obtained through the scanning of the high-precision three-dimensional profile scanner.
And 2, using the collected actual accurate deformation information of the flapping wings under a large number of different static deformations as input, using the grating wavelength drift amount as output, and performing a large number of training analyses on the corresponding relation between the wavelength variation of the fiber bragg grating and the actual accurate deformation information by using a machine learning and deep learning theoretical method to obtain the corresponding function relation between the wavelength variation and the actual accurate deformation information.
3, the flapping wing robot carries out actual flapping flight, the polymer fiber grating array implanted in the flapping wing generates real-time wavelength variable quantity data due to the flapping deformation of the flapping wing, the real-time wavelength variable quantity data obtains real-time accurate deformation information of the flapping wing through inversion of a corresponding function relation, and the real-time three-dimensional flapping deformation information of the flapping wing can be reconstructed through a large amount of real-time accurate deformation information of the fiber grating measuring points at each position in the flapping wing, so that the flight performance of the artificial flapping wing robot is optimized.
Example 2:
as shown in figure 1, the fiber grating monitoring device and the monitoring method for flapping deformation of the flapping-wing robot in flight comprise a trunk 1, a flapping wing 2, a fiber connector 3, a polymer fiber grating array 4, a multi-core quartz fiber 5, a fiber grating wavelength demodulator 6 and a calculation analysis processor 7.
2-1 first flapping wing and 2-2 second flapping wing;
in this embodiment, as shown in fig. 1, the first flapping wing 2-1 and the second flapping wing 2-2 are symmetrically arranged along the trunk 1, the flapping wings on both sides use carbon fibers as a wing skeleton, a PDMS material is covered on the skeleton as a wing membrane, the wing membrane is divided into an upper part and a lower part along a neutral layer, the first array polymer fiber bragg grating is implanted in the upper part of the first flapping wing 2-1 on the left side, the second array polymer fiber bragg grating is implanted in the lower part, the third array polymer fiber bragg grating is implanted in the upper part of the second flapping wing 2-2 on the right side, and the fourth array polymer fiber bragg grating is implanted in the lower part. The tail fibers led out by four groups of polymer fiber bragg grating arrays are matched with a fiber connector 3, the fiber connector 3 connects the four tail fibers with a single multi-core quartz fiber 5 with multiple physical channels through internal connecting equipment, the multi-core quartz fiber 5 is used as a lead to lead real-time grating signals generated by each grating measuring point due to flapping deformation of flapping wings in flight to a fiber bragg grating wavelength demodulator 6 on the ground by virtue of the characteristic of extremely low signal transmission loss, the fiber bragg grating wavelength demodulator 6 demodulates the real-time grating signals and transmits the demodulated grating wavelength variation signals of each measuring point to a calculation analysis processor 7, the calculation analysis processor 7 inverts the wavelength variation of each grating measuring point of the flapping wings according to the corresponding function relation to obtain real-time accurate deformation information of each measuring point of the flapping wings, and analyzes the real-time accurate deformation information, reconstructing the three-dimensional shape of the surface of the flapping wing, and finally monitoring and storing the three-dimensional flapping deformation information of the flapping wing in real time.
When in specific use:
1. the flapping wing robot is placed under a high-precision three-dimensional profile scanner, various deformations such as bending and torsion which are possibly generated in the flapping process are applied and maintained by taking the natural state of the flapping wing as a reference zero point, a large amount of grating wavelength drift data of the flapping wing subjected to different static deformations are collected through a fiber grating demodulator, and meanwhile, the actual precise deformation information of the flapping wing under different static deformations is obtained through scanning of the high-precision three-dimensional profile scanner.
2. The method comprises the steps of taking collected actual accurate deformation information of flapping wings under a large number of different static deformations as input, taking grating wavelength drift amount as output, and carrying out a large number of training analyses on the corresponding relation between the wavelength variation of the fiber bragg grating and the actual accurate deformation information by utilizing a machine learning and deep learning theoretical method to obtain the corresponding function relation between the wavelength variation and the actual accurate deformation information.
3. When the flapping wing carries out actual flapping flight, the polymer fiber bragg grating array implanted in the flapping wing generates real-time wavelength variable quantity data due to dynamic deformation of the flapping wing, the real-time wavelength variable quantity data obtains real-time accurate deformation information of the flapping wing through inversion of a corresponding function relation, and the real-time three-dimensional shape of the flapping wing can be reconstructed through a large amount of real-time accurate deformation information.
4. The method comprises the steps of selecting a flapping wing test piece, manually applying static load to the flapping wing to enable the flapping wing to generate bending deformation with a certain radian, generating wavelength variation data by an optical fiber grating implanted in the flapping wing, transmitting the wavelength variation data to a calculation analysis processor after demodulation by a demodulator, reconstructing the flapping wing deformation data of each measuring point by the calculation analysis processor after inverting the wavelength variation data, and comprehensively analyzing the deformation data to obtain a three-dimensional deformation graph of the flapping wing test piece. As shown in fig. 4.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a fiber grating monitoring devices that flapping deformation in flapping wing robot flight which characterized in that, the fiber grating monitoring devices that flapping deformation in flapping wing robot flight includes:
the device comprises a body part, flapping wings, an optical fiber connector, a polymer fiber grating array, a multi-core quartz fiber, a fiber grating wavelength demodulator and an analysis processor;
the left side and the right side of the trunk are respectively provided with a first flapping wing and a second flapping wing; a first array polymer fiber grating and a second array polymer fiber grating for measuring the three-dimensional shape strain of the first flapping wing are implanted in the first flapping wing; a third array polymer fiber grating and a fourth array polymer fiber grating for measuring the three-dimensional shape strain of the second flapping wing are implanted in the second flapping wing;
the upper part of the trunk part is provided with an optical fiber connector, and the other end of the optical fiber connector is connected with one end of the multi-core quartz optical fiber; the multi-core quartz fiber is used for transmitting grating signals on the first flapping wing and the second flapping wing to the fiber grating wavelength demodulator;
the other end of the multi-core quartz fiber is connected with one end of the fiber grating wavelength demodulator; the fiber grating wavelength demodulator is used for demodulating and outputting the transmitted grating signals.
2. The fiber grating monitoring device for flapping deformation of the flapping-wing robot of claim 1, wherein the torso portion utilizes lightweight carbon fiber as a skeleton;
the first flapping wing and the second flapping wing are wing-shaped structures; the first flapping wing and the second flapping wing are both composed of a carbon fiber framework and a dimethyl siloxane wing membrane covering the carbon fiber framework.
3. The fiber grating monitoring device for flapping deformation in flight of flapping wing robot of claim 1, wherein the tail gratings of the first array polymer fiber grating, the second array polymer fiber grating, the third array polymer fiber grating and the fourth array polymer fiber grating are connected with one end of the fiber connector;
the optical fiber connector is of a hollow cuboid structure;
and a plurality of beams of quartz fibers are arranged in the multi-core quartz fiber.
4. The fiber grating monitoring device for flapping deformation of the flapping wing robot in flight according to claim 1, wherein the analysis processor is configured to perform inversion on the wavelength variation of each grating measurement point of the flapping wing according to the corresponding function relationship to obtain real-time accurate deformation information of each measurement point of the flapping wing, reconstruct the three-dimensional shape of the surface of the flapping wing by analyzing and processing the real-time accurate deformation information, and perform real-time monitoring and storage on the three-dimensional shape deformation information of the flapping wing.
5. A fiber grating monitoring method of flapping deformation of flapping wing robot in flight applied to the fiber grating monitoring device of flapping deformation of flapping wing robot in flight according to any one of claims 1-4, the fiber grating monitoring method of flapping deformation of flapping wing robot in flight comprises:
placing the flapping wing robot under a high-precision three-dimensional profile scanner, and applying and maintaining bending, torsion and other deformations which may be generated in the flapping process by taking the natural state of the flapping wing as a reference zero point;
acquiring grating wavelength drift data of each measuring point in the flapping wing after different static deformations are applied through a fiber grating demodulator, and scanning through a high-precision three-dimensional profile scanner to obtain actual precise deformation information of each measuring point of the flapping wing under different static deformations;
thirdly, determining the corresponding functional relation between the wavelength variation and the actual accurate deformation information based on the acquired actual accurate deformation information of the flapping wings under different static deformations;
acquiring real-time wavelength variation data generated by the polymer fiber grating array due to flapping deformation of the flapping wing robot, and performing inversion on the real-time wavelength variation data by utilizing the corresponding function relationship between the determined wavelength variation and the actual accurate deformation information to obtain the real-time accurate deformation information of the flapping wing;
and step five, reconstructing real-time accurate deformation information of each fiber bragg grating measuring point in the flapping wing to obtain real-time three-dimensional flapping deformation information of the flapping wing, and monitoring and storing the three-dimensional flapping deformation information of the flapping wing in real time.
6. The fiber grating monitoring method for flapping deformation of a flapping wing robot according to claim 5, wherein the collecting the grating wavelength drift amount data of each measurement point in the flapping wing after different static deformations are applied by the fiber grating demodulator comprises:
real-time grating signals generated by each grating measuring point due to flapping deformation of a flapping wing in flight are transmitted to a fiber grating wavelength demodulator on the ground by using the multi-core quartz fiber, and the fiber grating wavelength demodulator demodulates the real-time grating signals to obtain grating wavelength variation signals of each measuring point.
7. The fiber grating monitoring method for flapping deformation of the flapping-wing robot in flight according to claim 5, wherein in the third step, the method for determining the corresponding functional relationship between the wavelength variation and the actual precise deformation information comprises:
the method comprises the steps of taking collected actual accurate deformation information of the flapping wings under different static deformations as input, taking grating wavelength drift amount as output, and utilizing a machine learning and deep learning method to train and analyze the corresponding relation between the wavelength variation of the fiber bragg grating and the actual accurate deformation information to obtain the corresponding function relation between the wavelength variation and the actual accurate deformation information.
8. An information data processing terminal, characterized in that the information data processing terminal comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor, so that the processor executes the fiber grating monitoring method for flapping deformation of the flapping wing robot in flight according to any one of claims 5 to 7.
9. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform a fiber grating monitoring method of flapping deformations of a flapping-wing robot according to any one of claims 5 to 7.
10. A bionic flapping-wing robot, characterized in that, the bionic flapping-wing robot carries the fiber grating monitoring device of the flapping-wing robot in any one of the claims 1-4 during flying.
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