CN106959077A - A kind of universal bend sensor of multi-core fiber grating - Google Patents
A kind of universal bend sensor of multi-core fiber grating Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/165—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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Abstract
The invention belongs to technical field of optical fiber sensing, it is specifically related to a kind of to can be used for intellectual material and structure on-line checking and analysis, it can also be used to the spatial three-dimensional position of space structure thing and the universal bend sensor of multi-core fiber grating constituted using multi-core fiber grating as basic sensing unit of the monitoring and control of attitude.The present invention includes multi-core fiber, with a central core, remaining fibre core orthogonal formula is distributed or symmetrical expression is centrally located fiber core, using same phase mask plate while the centre wavelength for exposing multiple Bragg gratings on fiber grating, the multi-core fiber is different on each fibre core at the horizontal identical position of the multi-core fiber.The amplitude to bending and the measurement of deflection can be achieved in change of the present invention by monitoring multiple reflection wavelengths of the multi-core fiber grating.
Description
Technical field
The invention belongs to technical field of optical fiber sensing, and in particular to one kind can be used for intellectual material and structure on-line checking with
Analysis, it can also be used to which the monitoring of the spatial three-dimensional position of space structure thing and attitude is used as base with control using multi-core fiber grating
The universal bend sensor of multi-core fiber grating that this sensing unit is constituted.
Background technology
Fiber Bragg Grating technology is used for angle and crooked sensory, the subject matter that presently, there are has：1. a fiber grating
Sensor is typically only capable to detect the angle change on one or two direction, must be corresponding if the dimension of increase heat transfer agent
Increase the number of sensor.2. it can not still be fully solved temperature cross-talk problem.The method for reducing temperature cross (talk) at present is mainly profit
Detected simultaneously with two sensors closer to the distance, with wherein the signal of sensor carries out temperature to another road sensor signal all the way
Degree compensation.But such a method can not be fully compensated the influence of temperature, and make it that the quantity of sensor is doubled, add and be
System cost.
To solve the above problems, we apply multi-core fiber technology on the basis of Fiber Bragg Grating technology, so as to constitute
A kind of universal bend sensor of the optical fiber that can be applicable in robot wrist and finger-joint.Due to each discrete in multi-core fiber
Fibre core is made up of identical material, with identical thermal coefficient of expansion, and spatially firmly against together, so this side
The advantage of method is can be against temperature and the influence of axial strain, available for the measurement to definitely bending.And utilize different fibres
The difference of the fiber grating pair bending response of core, can be measured to the amplitude and deflection of bending, universal with an optical fiber
Bend sensor can complete space any angle and the sensing of twisting gesture.
Present invention employs multi-core fiber grating sensor as basic sensing unit, constituted based on this sensing unit
Optical fiber universal angle sensor is not influenceed by light-intensity variation.With it is simple in construction, to be easy to multiplexing, good stability etc. a series of excellent
Point, and the difference of the fiber grating pair bending response using different fibre cores, it is possible to achieve the amplitude of any direction bending and side
To the measurement at angle.
The content of the invention
It is an object of the invention to provide one kind it is simple and compact for structure, operation regulation readily be integrated in an optical fiber can be real
The universal bend sensor of multi-core fiber grating of existing space three-dimensional attitude.
The object of the present invention is achieved like this：
A kind of universal bend sensor of multi-core fiber grating, including multi-core fiber, with a central core, remaining is fine
Core orthogonal formula is distributed or symmetrical expression is centrally located fiber core, on each fibre core at the horizontal identical position of the multi-core fiber
Expose the centre wavelength of multiple Bragg gratings on fiber grating, the multi-core fiber simultaneously using same phase mask plate
It is different.
Each fibre core is consistent with standard single-mode fiber in described multi-core fiber, can be in service band with the shape of single mode
Formula transmits light wave.
Multiple fibre cores of described multi-core mono-mode fiber are centered on the central core of optical fiber into equilateral right angled triangle point
Cloth or the distribution of symmetrical polygon.
A fiber grating is carved with each core of described multi-core mono-mode fiber, fiber grating is write by phase-mask method
Enter, can by same phase mask plate on the different multiple fibre cores of refractive index identical grating write cycle, had
The multi-core fiber grating reflectance spectrum of multiple different reflection wavelengths；Because each discrete fibre core in multi-core fiber is by roughly the same material
Material is constituted, and with roughly the same thermal coefficient of expansion, and is tightly integrated in an optical fiber, advantage in this approach be
Can be against temperature and the influence of axial strain, therefore the described universal bend sensor of fiber grating is to temperature-insensitive, can
The measurement definitely bent for space.
The vertical plane of fiber end face and Optical Fiber Transmission central axis has 8 ° of angles, to eliminate fiber end face after expecting
To reflected light signal noise.
The different fiber grating of multigroup reflection wavelength can be inscribed along the multi-core fiber, every group of fiber grating can be determined
The dimensional orientation at locus residing for this group of fiber grating；When the mutual not phase of the bragg reflection wavelength of each fiber grating
Meanwhile, this spatial attitude and orientation that whole optical fiber is just can determine that along multigroup fiber grating that multi-core fiber is distributed.
The beneficial effects of the present invention are：The present invention inscribes fiber grating on the optical fiber comprising multiple fibre cores, is had
There is the multi-core fiber grating of multiple different reflection wavelengths, multiple wavelength correspond respectively to multiple different fibre cores, can specifically passed through
Space periodic identical grating is write on the different multiple fibre cores of refractive index, or is write respectively on the fibre core of identical refractive index
Enter the method for different cycles grating.Then bend it, grating is bent therewith.The bending of different directions causes multiple fiber gratings
The strain born is different, i.e., the change of multiple reflection wavelengths is different.Therefore, by monitoring the multiple anti-of the multi-core fiber grating
The amplitude to bending and the measurement of deflection can be achieved in the change of ejected wave length.
Brief description of the drawings
Fig. 1 is a kind of grating universal angle sensing system schematic diagram based on multi-core fiber.
Fig. 2 is the structural representation of four-core fiber grating..
Fig. 3 is the structural representation of several extraordinary multi-core fibers that may be used as the universal bend sensor of the fiber grating..
Fig. 4 is the general principle coordinate schematic diagram of multi-core fiber grating flexural measurement universal angle.
Fig. 5 is a kind of cross-sectional view of actual four-core fiber.
Fig. 6 is a kind of cross-sectional view of seven actual core fibres.
Fig. 7 is the structural representation of seven core fibre gratings.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
The present invention carries out universal crooked sensory using the multi-core fiber grating with different reflection wavelengths, has both solved in the past
Fiber grating crooked sensory can only detect the drawbacks such as poor, the temperature cross (talk) of the change of one or two angle, stability, while having spy
Area of bed is small, strong antijamming capability, it is lightweight, the advantages of carry temperature-compensating.
The fiber grating made using multi-core fiber may be constructed structure the compactest universal bend sensor.With it is nearest
The technology that document is reported is different, and this project intends the multi-core fiber for having minute differences using fiber core refractive index, and producing has
Identical fiber grating periodic structure, and then write the different multi-core fiber light of multigroup reflection wavelength along same multi-core fiber
Grid.
Fiber grating is by changing fiber cores area refractive index, producing formed by small periodic modulation.Due to the cycle
Property index disturbance influence can be only produced on very narrow a bit of spectrum, it is therefore, incident when broadband light wave is propagated in grating
Luminous energy is reflected back in corresponding frequency, and remaining transmitted light is then unaffected, so, and fiber grating just serves light wave
Select the effect of speculum.Reflection kernel wavelength is determined by following formula
λB=2neff×Λ (1)
In formula：Λ is screen periods, neffFor the effective refractive index of grating region.
According to photoelastic mechanism, wavelength change caused by axial strain and temperature is
In formula：ε is additional strain；Pi,jFor the Pu Keer piezoelectric moduluses of photoelastic tensor；ν is Poisson's ratio；α is optical fiber material
The thermal coefficient of expansion of material；Δ T is temperature variation.
Curvature is a vector, and also there is size in existing direction, and the direction of vector determines the bending direction of curve, vector
Size determines the degree of crook of curve.In order to determine on space curve certain buckling vector put, two need to have been measured at the point
The sizes values of the buckling vector on direction are known, so as to synthesize direction and the sizes values of buckling vector.And a fiber grating exists
Certain point can only reflect the amount of curvature value in a direction.It then becomes necessary to which multiple gratings of multifiber could be completed.And
Multiple gratings prepared by multi-core fiber that is of the invention then utilizing one, can both complete the measurement of curvature, again can the side of realization
To measurement.Interference of the temperature to transducing signal can also be eliminated simultaneously, it is ensured that sense in the case where environment temperature is unstable
The accuracy of measurement.
Fiber bragg grating center wavelength is produced skew by outer signals modulation, demodulates wavelength change Δ λBJust it can be tested
Amount.When not considering temperature change, formula (2) can be write as
In formula：P=neff[p12-ν(P11+P12)]/2 be optical fiber valid elastic-optic constants.
Because each discrete fibre core in multi-core fiber is made up of identical material, with identical thermal coefficient of expansion, and
Firmly against together, advantage in this approach be can be against temperature and the influence of axial strain, available for absolute bending
Measurement.
Under the conditions of pure bending, for the flexible fiber optics with circular section, exist between axial strain and curvature with ShiShimonoseki
System
In formula (4), ε bears axial surface line strain value for fiber-optic grating sensor sensing the feedback of position, and ρ is sensor sense
The radius of curvature that location is put, C is corresponding curvature, and D is distance of each fibre core grating sensor to optical fiber neutral axis.Given
In the case of D, C, the strain of fiber grating can be obtained.And strain the centre wavelength beat Δ λ with fiber gratingBIt is directly proportional,
So curvature C and Δ λBIt is directly proportional.
Assuming that multi-core fiber used is four-core fiber, its cross-sectional view is as shown in Figure 5.Optical fiber has four fibre cores, only
One common covering, this four independent light fibre cores three fibre cores therein are arranged in the form of equilateral triangle and are placed in triangle
On three angles of shape, each fibre core can serve as an independent waveguide, a diameter of 125 μm of optical fiber, with phase-mask method,
Four different fiber gratings of centre wavelength have been write on four cores.
Fig. 4 is the general principle coordinate schematic diagram of multi-core fiber grating flexural measurement universal angle, when base material is in OMZ planes
It is interior around N-N' axles make radius of curvature be ρ bending when：N-N ' is neutral axis when base material is bent, y-axis and neutral axis N-N ' angles
For β, it can be obtained by geometrical relationship in figure：
In formula：R for equilateral triangle center to any grating distance.
Wushu (5) is substituted into formula (4) and formula (3), can be obtained：
Solve this equation group, you can obtain curvature.
Fig. 1 is a kind of grating universal angle sensing system schematic diagram based on multi-core fiber, by wide spectrum light source 1, single mode
Optical fiber 2, three-port circulator 3, single-mode fiber and multi-core fiber cone area 4, the Bragg grating 5 based on multi-core fiber, for four
Core fibre, including four fiber grating FBG1、FBG2、FBG3And FBG4, spectrometer 6 constitutes.
Fig. 2 is the structural representation of four-core fiber grating.Single-mode fiber is coupled with four-core fiber by drawing cone, to four core light
It is fine that light sensitivity is increased by high ballast hydrogen, and uniform Bragg grating is write on four fibre cores simultaneously using mask method.It is
By changing fiber cores area refractive index, produce formed by small periodic modulation.In the end of four-core fiber grating with oblique
Octave angle is cut, to reduce end face reflection.
Fig. 3 is the structural representation of several extraordinary multi-core fibers that may be used as the universal bend sensor of the fiber grating.
Wherein first is three core fibres, and three fibre cores are respectively at three corner positions of isosceles right triangle, central core
Summit in right angle.Second is four-core fiber, including intermediate core and peripheral three core that is distributed in equilateral triangle, the 3rd
It is five core fibres, including intermediate core and peripheral four core that is distributed in square.
Fig. 4 is the general principle coordinate schematic diagram of multi-core fiber grating flexural measurement universal angle, for representing each light
Fine grating and integral optical fiber are in the relation between each amount of bow under any space coordinates.
Fig. 5 is a kind of cross-sectional view of actual four-core fiber.Optical fiber has four fibre cores, the common covering of only one of which,
This four independent light fibre cores three fibre cores therein in the form of equilateral triangle to arrange and be placed on three angles of triangle.
Fig. 6 is a kind of cross-sectional view of seven actual core fibres.Optical fiber has seven fibre cores, the common covering of only one of which,
This seven independent light fibre cores six fibre cores therein in the form of regular hexagon to arrange and be placed on hexagonal three angles.
Fig. 7 is the structural representation of seven core fibre gratings.Cut in the end of seven core fibre gratings with oblique octave angle, with
Just end face reflection is reduced.
The present invention proposes a kind of universal angle of bend sensor based on multi-core fiber grating.Without loss of generality, in reality
During applying, four-core fiber as shown in Figure 5 is employed, and grating is write on each fibre core of four core single-mode fibers, is obtained
Four core grating sensor structures as shown in Figure 2 are arrived, four fiber gratings have different reflection wavelengths.
Fig. 1 is the schematic diagram of multi-core fiber grating sensing system, and working method of the invention is：Use three ports
Optical fiber circulator 3, its three ports are passed with wide spectrum light source 1, spectrometer 6 and four-core fiber grating respectively by general single mode fiber
Sensor 5 is connected, wherein with by the way of drawing cone to couple, realizing general single mode at the tie point of four-core fiber grating sensor 5
Optical fiber 2 is coupled with the light path of four-core fiber grating sensor 5.Wide spectrum optical is drawn through general single mode fiber 2 from wide spectrum light source 1, warp
Three fiber port circulators 3 are crossed to transmit and enter transmission, wide spectrum optical in four-core fiber grating sensor 5 by cone coupled zone 4
Transmit to multi-core fiber grating sensor 5, in FBG1、FBG2、FBG3、FBG4Place is reflected, and reflected light will be by coupled zone
4 and optical fiber circulator 3, transmit into spectrometer 6 and analyzed, so as to obtain measurement result.The bending of different directions causes together
The change of the reflection wavelength of four fiber gratings is different in a piece optical fiber, different anti-by four that monitor four fiber gratings
The change of ejected wave length, the size and Orientation being just bent through wavelength measurement and data processing.Due to its of four core single-mode fibers
In three fibre cores constitute equilateral triangle distribution centered on central core, environment temperature change can cause four optical fiber simultaneously
The wavelength of grating changes jointly, or increases or reduce simultaneously simultaneously, but this symmetrical so that optic fiber grating wavelength
Mutual relative change is constant, therefore the universal bend sensor of multi-core fiber of the present invention can realize the automatic benefit of temperature
Repay.
Several typical multi-core fiber structures as shown in Figure 3 can also be used for realizing the patent of invention.
The manufacturing process of the present invention is further illustrated using seven core fibre gratings as embodiment below：
Fig. 7 shows a kind of schematic diagram for seven core fibre that the present invention is used.It is that seven core fibres are subjected to height first
Ballast hydrogen, the time for carrying hydrogen is usually 15 days or so, and single-mode fiber and seven core fibres are carried out into fused biconical taper after load hydrogen, made many
The thang-kng power of each core of core fibre is roughly the same, then writes grating on seven core fibres using phase masks.Then
Oblique octave angle cutting is sentenced to the fiber end face, to reduce end face reflection.Seven cores light of the present invention has so just been made
The fine universal bend sensor of grating.
This universal bend sensor system of the multi-core fiber grating for being integrated in simple optical fiber can be easy to be pasted on machine
Device person joint surface or embedded intra articular, realize the real-time distributed monitoring to robot general joint case of bending.
It can be widely used for on-line checking and the analysis of intellectual material and structure.
Claims (6)
1. a kind of universal bend sensor of multi-core fiber grating；It is characterized in that：Including multi-core fiber, with a central core,
Remaining fibre core orthogonal formula is distributed or symmetrical expression is centrally located fiber core, in the every of the horizontal identical position of the multi-core fiber
Multiple Bragg gratings on fiber grating, the multi-core fiber are exposed using same phase mask plate simultaneously on individual fibre core
Centre wavelength is different.
2. the universal bend sensor of a kind of multi-core fiber grating according to claim 1, it is characterised in that：Described multicore
Each fibre core is consistent with standard single-mode fiber in optical fiber, can transmit light wave in the form of single mode in service band.
3. the universal bend sensor of a kind of multi-core fiber grating according to claim 1, it is characterised in that：Described multicore
Multiple fibre cores of single-mode fiber are distributed or symmetrical polygon point centered on the central core of optical fiber into equilateral right angled triangle
Cloth.
4. the universal bend sensor of a kind of multi-core fiber grating according to claim 1, it is characterised in that：Described multicore
A fiber grating is carved with each core of single-mode fiber, fiber grating is write by phase-mask method, same phase can be passed through
Bit mask plate identical grating write cycle on the different multiple fibre cores of refractive index, is obtained with multiple different reflection wavelengths
Multi-core fiber grating reflectance spectrum；Because each discrete fibre core in multi-core fiber is made up of roughly the same material, with substantially phase
With thermal coefficient of expansion, and be tightly integrated in an optical fiber, advantage in this approach be can be against temperature and axle
To the influence of strain, therefore the described universal bend sensor of fiber grating is to temperature-insensitive, is definitely bent available for space
Measurement.
5. the universal bend sensor of a kind of multi-core fiber grating according to claim 1, it is characterised in that：Fiber end face with
The vertical plane of Optical Fiber Transmission central axis has 8 ° of angles, the retroreflection optical signal noise to be expected to eliminate fiber end face.
6. the universal bend sensor of a kind of multi-core fiber grating according to claim 1, is further characterized in that：It is many along this
Core fibre can inscribe the different fiber grating of multigroup reflection wavelength, and every group of fiber grating can be determined residing for this group of fiber grating
Locus at dimensional orientation；It is this along many when the bragg reflection wavelength of each fiber grating is different
Multigroup fiber grating of core fibre distribution just can determine that the spatial attitude and orientation of whole optical fiber.
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