CN114136502A - Foot end measuring device, foot type robot and foot end contact force measuring method - Google Patents
Foot end measuring device, foot type robot and foot end contact force measuring method Download PDFInfo
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- CN114136502A CN114136502A CN202111414422.XA CN202111414422A CN114136502A CN 114136502 A CN114136502 A CN 114136502A CN 202111414422 A CN202111414422 A CN 202111414422A CN 114136502 A CN114136502 A CN 114136502A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The application relates to a foot end measuring device, a foot type robot and a foot end contact force measuring method. The foot end measuring device comprises: the detection part comprises an outer surface and an inner surface which are oppositely arranged, and the outer surface is used for generating deformation under the action of external force and driving the inner surface to generate deformation; a light source mechanism for emitting a light signal to the inner surface, receiving a reflected light beam reflected by the inner surface, and outputting a measurement light signal based on the reflected light beam; the measuring mechanism is used for performing cross-correlation processing on the measuring optical signal and a preset reference optical signal, calculating the time delay of the measuring optical signal relative to the reference optical signal, and determining the deformation quantity of the detection part according to the time delay; the reference light signal is a photoelectric signal output by a light beam generated by reflecting an optical signal on the inner surface according to the light signal emitted to the inner surface when the detection part is not acted by external force; the deformation quantity is used for representing the contact force magnitude of the foot end. The foot end measuring device can improve the measuring precision of the contact force of the foot end.
Description
Technical Field
The present disclosure relates to the field of foot robots, and particularly to a foot end measuring device, a foot robot, and a foot end contact force measuring method.
Background
The control of the foot robot is complex, and the motion trajectory needs to be planned and controlled according to the force feedback of each foot mechanism joint and foot end. At present, air bag type indirect feedback force detection is mostly adopted for force feedback measurement of foot ends, motion perception of joints can be guaranteed, but the contact condition of the foot ends cannot be accurately perceived.
Disclosure of Invention
In view of the above, it is desirable to provide a foot end measuring device, a foot robot, and a foot end contact force measuring method that can improve the accuracy of foot end contact force measurement.
A foot end measuring device comprising:
the detection part comprises an outer surface and an inner surface which are oppositely arranged, and the outer surface is used for generating deformation under the action of external force and driving the inner surface to generate deformation;
a light source mechanism for emitting a light signal to the inner surface and receiving a reflected light beam reflected by the inner surface, and outputting a measurement light signal based on the reflected light beam;
the measuring mechanism is used for performing cross-correlation processing on the measuring optical signal and a preset reference optical signal, calculating the time delay of the measuring optical signal relative to the reference optical signal, and determining the deformation quantity of the detecting part according to the time delay; wherein the reference light signal is a photoelectric signal output by the light source mechanism according to a light beam generated by reflecting the light signal to the inner surface when the detection part is not acted by an external force; the deformation quantity is used for representing the contact force of the foot end.
A legged robot comprising a foot end measuring device as described above.
A foot end contact force measuring method is applied to a foot end measuring device, the foot end measuring device comprises a detecting part, the detecting part comprises an outer surface and an inner surface which are oppositely arranged, the outer surface is used for generating deformation under the action of external force and driving the inner surface to generate deformation; the method comprises the following steps:
controlling a light source mechanism to emit a light signal towards the inner surface;
acquiring a measuring light signal output by the light source mechanism based on a reflected light beam; the reflected light beam is formed by reflecting the optical signal by the inner surface;
performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating the time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by the light source mechanism according to a light beam generated by reflecting the light signal to the inner surface when the detection part is not acted by an external force;
determining the deformation quantity of the detection part according to the time delay; the deformation quantity is used for representing the contact force of the foot end.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
controlling the light source mechanism to emit a light signal to the inner surface of the detection part; the detection part comprises an outer surface and an inner surface which are oppositely arranged, and the outer surface is used for generating deformation under the action of external force and driving the inner surface to generate deformation;
acquiring a measuring light signal output by the light source mechanism based on a reflected light beam; the reflected light beam is formed by reflecting the optical signal by the inner surface;
performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating the time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by the light source mechanism according to a light beam generated by reflecting the light signal to the inner surface when the detection part is not acted by an external force;
determining the deformation quantity of the detection part according to the time delay; the deformation quantity is used for representing the contact force of the foot end.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
controlling the light source mechanism to emit a light signal to the inner surface of the detection part; the detection part comprises an outer surface and an inner surface which are oppositely arranged, and the outer surface is used for generating deformation under the action of external force and driving the inner surface to generate deformation;
acquiring a measuring light signal output by the light source mechanism based on a reflected light beam; the reflected light beam is formed by reflecting the optical signal by the inner surface;
performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating the time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by the light source mechanism according to a light beam generated by reflecting the light signal to the inner surface when the detection part is not acted by an external force;
determining the deformation quantity of the detection part according to the time delay; the deformation quantity is used for representing the contact force of the foot end.
The foot end measuring device, the foot type robot and the foot end contact force measuring method transmit light signals to the inner surface of the detecting part through the light source mechanism, receive reflected light beams reflected by the inner surface, and output measuring light signals based on the reflected light beams; the inner surface of the detection part is opposite to the outer surface, the outer surface can deform under the action of external force and drives the inner surface to deform, and further the optical path which the optical signal needs to experience can be changed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a foot end measuring device in one embodiment;
FIG. 2 is a schematic cross-sectional view of a probe unit according to an embodiment;
FIG. 3 is a schematic cross-sectional view of a probe unit according to another embodiment;
FIG. 4 is a schematic perspective view of a probe unit according to an embodiment;
FIG. 5 is a schematic diagram of a light source mechanism according to an embodiment;
FIG. 6 is a schematic flow chart of a method for measuring foot end contact force in one embodiment;
FIG. 7 is a block diagram of a foot end contact force measurement control arrangement in one embodiment;
fig. 8 is a schematic structural diagram of a legged robot in one embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth to provide a thorough understanding of the present application, and in the accompanying drawings, preferred embodiments of the present application are set forth. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
The foot end measuring device related to the embodiment of the application can be applied to a foot type robot with a contact force measuring requirement, can be applied to a foot mechanism of the foot type robot, senses the contact force of the foot type robot in the motion process and further realizes motion control of the foot type robot.
As shown in fig. 1, the present application provides a foot end measuring device comprising: a detector 100, a light source mechanism 200, and a measuring mechanism 300. Wherein, detection portion 100 is including relative surface A and the internal surface B who sets up, and detection portion 100 will direct action at external surface A when receiving the exogenic action, and external surface A can produce deformation under the effect of external force to can drive internal surface B and produce deformation. The light source mechanism 200 is configured to emit a light signal to the inner surface B, where the light signal is reflected, and the light source mechanism 200 is configured to receive a reflected light beam formed by the light signal reflected by the inner surface B and output a measurement light signal based on the reflected light beam, where the measurement light signal is a photoelectric signal for characterizing a waveform of the reflected light beam.
The measuring mechanism 300 is configured to receive the measuring optical signal, perform cross-correlation processing on the measuring optical signal and a preset reference optical signal, and calculate a time delay of the measuring optical signal relative to the reference optical signal, because the reference optical signal is an optical-electrical signal output by a reflected light beam generated by the optical signal emitted toward the inner surface being reflected by the inner surface when the detecting portion 100 is not subjected to an external force, the deformation amount generated by the inner surface B can be calculated by calculating the time delay of the measuring optical signal relative to the reference optical signal, and thus the deformation amount of the detecting portion 100 is determined to represent the contact force applied to the foot end of the robot.
In one embodiment, the light source mechanism 200 emits the laser beam, and in particular, the light signal is a pulsed laser beam. In one embodiment, the optical signal is a femtosecond pulsed laser.
The foot end measuring device applies the laser cross-correlation distance measuring principle to the foot end contact force measurement of the foot robot, can convert the deformation amount into the time difference by utilizing the light velocity invariant principle, can sense the contact force by adopting the detecting part 100 with the outer surface A and the inner surface B which are oppositely arranged, and can determine the contact force applied to the foot end by measuring the deformation of the detecting part 100, can accurately measure the small deformation generated by the detecting part 100 under the action of the contact force, thereby improving the measurement precision of the foot end measuring device on the contact force, and compared with the foot end mechanism which adopts an air bag structure to measure the contact force by utilizing the air pressure in the prior art, the foot end mechanism can be made by selecting the material with higher rigidity, the selection of the material is more, and the durability of the foot end mechanism can be improved when the material with higher rigidity is selected.
In one embodiment, as shown in fig. 2, the inner surface of the detecting portion 100 encloses to form a cavity structure, a plurality of optical waveguides 101 contacting with the inner surface are disposed in the cavity, the optical signal emitted by the light source mechanism is transmitted to the inner surface through the optical waveguides, and after the optical signal is reflected on the inner surface, the reflected light beam is transmitted back to the light source mechanism through the optical waveguides 101.
The plurality of optical waveguides 101 are arranged, each optical waveguide 101 corresponds to one area of the inner surface of the detection part 100, deformation quantity of each area is measured, multi-directional contact force measurement can be achieved, a contact force perception model of a foot end is established, and perception of a foot type robot to a motion state is facilitated.
In one embodiment, the foot end measuring device only needs to measure the external force applied to the foot end in one direction, and only one optical waveguide can be arranged.
In one embodiment, as shown in fig. 3 and 4, the outer surface is provided with a number of contact parts 102 equal to the number of the optical waveguides 101, the plane where each contact part 102 is located is tangent to the outer surface, and the contact parts are distributed on the same spherical surface; each optical waveguide 101 is disposed corresponding to one of the contact portions 102, and is disposed in a radial direction of the spherical surface.
It can be understood that the spherical surface in which the contact portions 102 are distributed in the same spherical surface is a virtual spatial spherical surface, the optical waveguides 101 are arranged along the radial direction of the virtual spherical surface, and the optical waveguides 101 are arranged in a manner of emitting around the spherical center of the spherical surface. In one embodiment, the outer surface may at least partially overlap the virtual sphere. In one embodiment, the outer surface may at least partially overlap a spherical surface concentric with the virtual spherical surface and having a smaller diameter. The plane of each contact part 102 is tangent to the outer surface, and each tangent point is not coincident, so that the optical waveguide 101 is arranged in the normal direction of the plane of the contact part 102, when any one contact part 102 is acted by an external force, the optical waveguide 101 in the normal direction of the plane can translate to the spherical center of the virtual spherical surface along the normal direction, because the incident end of the optical waveguide 101 is close to the spherical center, when the optical waveguide translates, the optical path of the light beam transmitted through the optical waveguide 101 can be shortened, and within the yield limit of the outer surface, the larger the external force applied to the contact part 102, the shorter the optical path of the light beam transmitted by the optical waveguide 101.
In one embodiment, the contact portions 102 are uniformly distributed, i.e., the distance between any two adjacent contact portions 102 is equal.
The contact part 102 is arranged, so that the contact force can act on the contact part 102, the stress decomposition can be realized more easily when the external force applied to the detection part is calculated, and the accuracy of contact force measurement is improved.
As shown in fig. 5, in one embodiment, the light source mechanism 200 includes a light source 201, a photodetector 202, a beam splitter 203, and a beam combiner 204. The light source 201 is configured to emit a pulsed laser light signal to the optical splitter 203 for splitting, and divide the light signal into multiple paths, where each path is incident to one of the optical waveguides, the optical waveguides transmit a reflected light beam to the optical combiner 204 for combining, and output the combined reflected light beam to the photodetector 202 after combining into one path, and the photodetector 202 outputs a measurement light signal to the measurement mechanism according to the detected reflected light beam. The optical splitter 203 may be disposed at the center of the virtual sphere to split the optical signal into beams and inject the beams into the optical waveguide.
The pulse laser optical signal is adopted for measurement, the laser has the characteristics of high monochromaticity, high directivity, high power and the like, so that the measurement precision can be improved, the period of the pulse signal is fixed, and the accuracy is higher when the time delay is calculated.
In one embodiment, the optical combiner and the optical splitter may be implemented by an optical coupler with beam splitting and combining capabilities, or may be separately provided with one optical combiner and one optical splitter.
In one embodiment, the light source mechanism further includes a plurality of optical switches, each optical switch is configured to selectively turn on or off the incident light beam transmitted by one of the optical waveguides of the optical splitter, and when the optical switch is turned on, the corresponding optical waveguide can normally receive the incident light beam and transmit the reflected light beam to the optical combiner. Each photoswitch is connected with the measuring mechanism electricity, switches on or closes by measuring mechanism's control, and measuring mechanism can switch on through controlling a photoswitch in turn, and then can measure the atress condition of single contact site in turn, avoids the light beam mutual interference of a plurality of optical waveguide transmissions, improves measurement accuracy.
In one embodiment, the measuring mechanism is further configured to obtain a spherical point cloud distribution of the contact force according to a deformation amount generated by an external force applied to each contact portion, and further construct a contact force model of the detecting portion.
The contact force data of each foot end at each contact part is a set of the contact force data of each foot end, and a three-dimensional contact force mechanical model can be constructed through the distribution of the spherical point cloud. When the legged robot is controlled, the motion state of the legged robot needs to be accurately sensed, so that the stress conditions of the foot end of the legged robot in multiple directions need to be measured, the stress of the foot end in each direction can be accurately sensed by establishing a contact force model, and the legged robot motion planning and motion feedback can be realized.
In one embodiment, in order to improve the measurement accuracy and reduce the delay calculation error caused by the length difference between the optical waveguides, each optical waveguide may be calibrated according to the reference optical signal, that is, in the case that the detection portion is not subjected to an external force, the delay error between the measurement optical signal obtained based on the reflected light beam transmitted by each optical waveguide and a preset reference optical signal is calibrated, and then in the measurement process, the delay error corresponding to the optical waveguide is subtracted from the delay obtained according to the cross-correlation relationship between the measurement optical signal and the reference optical signal, so that the measurement accuracy of the contact force can be improved.
In one embodiment, a reference optical signal is preset for each optical waveguide, and the corresponding reference optical signal is selected for measurement and calculation in the measurement process, so that high-precision measurement can be realized.
In one embodiment, the inner surface is provided with a plurality of reflective layers arranged in an array, and each reflective layer is used for reflecting the light beam transmitted by one optical waveguide. In one embodiment, the inner surface is a reflective layer capable of reflecting the light beam transmitted by each optical waveguide.
In one embodiment, the optical waveguide is an optical fiber. Because optic fibre is light material, chooses for use optic fibre to carry out the conduction of light signal can guarantee that the electrical system of detecting part is simple, avoids because the measuring error that detecting part contact complicacy and signal interference brought to realize the lightweight design of foot end. In one embodiment, the optical waveguide may also be a prism, a thin film waveguide, a strip waveguide, or the like.
As shown in fig. 6, a foot end contact force measuring method is provided, which is applied to the foot end measuring device in the above embodiments, and is described by taking a measuring mechanism applied to the foot end measuring device as an example, the method includes steps 601-604, wherein:
step 601, controlling the light source mechanism to emit a light signal to the inner surface of the detection part.
When the measurement is needed, the light source mechanism is controlled to emit a light signal to the inner surface of the detection part, and the light signal is reflected on the inner surface.
Step 602, a measurement light signal output by the light source mechanism based on the reflected light beam is obtained.
The reflected light beam is formed by reflecting the light signal by the inner surface, and the measuring light signal is the photoelectric signal for characterizing the waveform characteristics of the reflected light beam. The light source mechanism can convert the received reflected light beam into a measuring light signal and output the measuring light signal to the measuring mechanism. The outer surface of the detection part can drive the inner surface to deform when being acted by an external force, and further the optical path of the incident and reflection of the optical signal is changed.
Step 603, performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating a time delay of the measurement optical signal relative to the reference optical signal.
When the detection part is not acted by external force, the reference optical signal is an optical-electrical signal output by a light beam generated by reflecting the optical signal to the inner surface according to the light emitted to the inner surface by the light source mechanism, namely the reference optical signal is a waveform characteristic signal under no load, so that the time delay of the measurement optical signal relative to the reference optical signal can be reversely calculated by performing cross-correlation processing on the measurement optical signal and the reference optical signal.
Step 604, determining the deformation amount of the detection part according to the time delay; the deformation quantity is used for representing the contact force magnitude of the foot end.
The time delay of the optical signal relative to the reference optical signal is measured because the detection part is deformed under the action of external force, and the optical path of the incident light signal and the reflected light signal is changed, so that the deformation quantity of the inner surface in the direction of reflected light can be reversely calculated according to the time delay, and the deformation quantity is the deformation quantity of the detection part under the action of external force and can be used for representing the contact force of the foot end.
It should be understood that, although the steps in the flowchart of fig. 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, as shown in FIG. 7, there is provided a foot end contact force measurement control apparatus 700 comprising:
a light source control unit 701 for controlling the light source mechanism to emit a light signal to the inner surface;
a measurement light signal acquisition unit 702 that acquires a measurement light signal output by the light source mechanism based on the reflected light beam; the reflected light beam is formed by reflecting the light signal by the inner surface;
a time delay calculating unit 703, configured to perform cross-correlation processing on the measurement optical signal and a preset reference optical signal, and calculate a time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by a light beam generated by reflecting the light signal emitted to the inner surface by the light source mechanism according to the light signal emitted to the inner surface when the detection part is not acted by external force;
a deformation amount determining unit 704 for determining the deformation amount of the probe based on the time delay; the deformation quantity is used for representing the contact force magnitude of the foot end.
For specific definition of the foot end contact force measurement control device, reference may be made to the definition of the foot end contact force measurement method above, which is not described herein again. The various units in the foot end contact force measurement and control apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The units can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
controlling the light source mechanism to emit a light signal toward the inner surface;
acquiring a measuring light signal output by the light source mechanism based on the reflected light beam; the reflected light beam is formed by reflecting the light signal by the inner surface;
performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating the time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by a light beam generated by reflecting the light signal emitted to the inner surface by the light source mechanism according to the light signal emitted to the inner surface when the detection part is not acted by external force;
determining the deformation quantity of the detection part according to the time delay; the deformation quantity is used for representing the contact force magnitude of the foot end.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor performs the steps of:
controlling the light source mechanism to emit a light signal toward the inner surface;
acquiring a measuring light signal output by the light source mechanism based on the reflected light beam; the reflected light beam is formed by reflecting the light signal by the inner surface;
performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating the time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by a light beam generated by reflecting the light signal emitted to the inner surface by the light source mechanism according to the light signal emitted to the inner surface when the detection part is not acted by external force;
determining the deformation quantity of the detection part according to the time delay; the deformation quantity is used for representing the contact force magnitude of the foot end.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
As shown in fig. 8, an embodiment of the present application further provides a foot robot, including the foot end measuring device according to any of the embodiments, and the detecting portion is used as a foot end member of the foot robot for directly contacting with the ground. The light source mechanism can be arranged in the leg mechanism and can also be arranged at the knee joint mechanism, and an optical waveguide can be arranged between the light source mechanism and the detection part for conducting optical signals. The measuring mechanism can be arranged in a leg mechanism, a knee joint mechanism or a main body mechanism of the foot robot and is electrically connected with the light source mechanism so as to acquire a measuring light signal output by the light source mechanism.
In the description herein, reference to the description of "one of the embodiments," "exemplary," "specific," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A foot end measuring device, comprising:
the detection part comprises an outer surface and an inner surface which are oppositely arranged, and the outer surface is used for generating deformation under the action of an external force and driving the inner surface to generate deformation;
a light source mechanism for emitting a light signal to the inner surface and receiving a reflected light beam reflected by the inner surface, and outputting a measurement light signal based on the reflected light beam;
the measuring mechanism is used for performing cross-correlation processing on the measuring optical signal and a preset reference optical signal, calculating the time delay of the measuring optical signal relative to the reference optical signal, and determining the deformation quantity of the detecting part according to the time delay; wherein the reference light signal is a photoelectric signal output by the light source mechanism according to a light beam generated by reflecting the light signal to the inner surface when the detection part is not acted by an external force; the deformation quantity is used for representing the contact force of the foot end.
2. The foot end measuring device according to claim 1, wherein the inner surface of the probe portion encloses a cavity, and a plurality of optical waveguides are disposed in the cavity and contact with the inner surface;
the optical waveguide is used for transmitting the optical signal emitted by the light source mechanism to the inner surface for reflection and transmitting the reflected light beam back to the light source mechanism.
3. The foot end measuring device according to claim 2, wherein the outer surface is provided with a number of contact parts equal to the number of the optical waveguides, each contact part is positioned on a plane tangent to the outer surface, and the contact parts are distributed on the same spherical surface;
each optical waveguide is arranged corresponding to one contact part and arranged along the radial direction of the spherical surface, so that the optical path of the optical waveguide conducting light beams is shortened along with the increase of the external force applied to the contact parts.
4. The foot end measuring device according to claim 2 or 3, wherein said light source mechanism comprises:
a light source for emitting a pulsed laser light signal;
a photodetector for outputting the measuring light signal to the measuring mechanism according to the reflected light beam;
the optical beam splitter is used for dividing optical signals emitted by the light source into multiple paths, and the multiple paths of optical signals are distributed and correspondingly incident to the optical waveguides one by one;
and the optical beam combiner is used for combining the reflected beams output by the optical waveguides and outputting the combined beams to the photoelectric detector.
5. The apparatus according to claim 4, wherein said light source mechanism further comprises a plurality of optical switches, each of said optical switches being configured to selectively switch on or off an incident light beam transmitted from said optical splitter to one of said optical waveguides;
the measuring mechanism is also electrically connected with each photoswitch and is used for controlling the photoswitch to be switched on or off.
6. The apparatus according to claim 5, wherein the measuring mechanism is further configured to obtain a point cloud distribution of the contact force according to the deformation amount generated by the external force applied to each contact portion, so as to construct a contact force model of the contact force.
7. The foot end measuring device according to claim 2, wherein a plurality of reflective layers are disposed on said inner surface in an array, each of said reflective layers being configured to reflect a light beam transmitted by one of said optical waveguides.
8. The foot end measurement device of claim 2 wherein the optical waveguide is an optical fiber.
9. A legged robot comprising a foot end measuring device according to any one of claims 1 to 8.
10. The foot end contact force measuring method is characterized by being applied to a foot end measuring device, wherein the foot end measuring device comprises a detecting part, the detecting part comprises an outer surface and an inner surface which are oppositely arranged, and the outer surface is used for generating deformation under the action of an external force and driving the inner surface to generate deformation; the method comprises the following steps:
controlling a light source mechanism to emit a light signal towards the inner surface;
acquiring a measuring light signal output by the light source mechanism based on a reflected light beam; the reflected light beam is formed by reflecting the optical signal by the inner surface;
performing cross-correlation processing according to the measurement optical signal and a preset reference optical signal, and calculating the time delay of the measurement optical signal relative to the reference optical signal; the reference light signal is a photoelectric signal output by the light source mechanism according to a light beam generated by reflecting the light signal to the inner surface when the detection part is not acted by an external force;
determining the deformation quantity of the detection part according to the time delay; the deformation quantity is used for representing the contact force of the foot end.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of claim 10 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as claimed in claim 10.
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| CN115096201A (en) * | 2022-08-24 | 2022-09-23 | 中科航迈数控软件(深圳)有限公司 | Non-contact deformation detection method and related equipment |
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