CN108692668B - Three-dimensional shape detection system and method based on fiber bragg grating sensing - Google Patents

Three-dimensional shape detection system and method based on fiber bragg grating sensing Download PDF

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CN108692668B
CN108692668B CN201710226960.3A CN201710226960A CN108692668B CN 108692668 B CN108692668 B CN 108692668B CN 201710226960 A CN201710226960 A CN 201710226960A CN 108692668 B CN108692668 B CN 108692668B
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CN108692668A (en
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梁磊
吴慧峰
许儒泉
王慧
冯坤
徐刚
张健
李东旭
曹珊
仇磊
段细云
涂彬
蔡彦璞
王仁亮
罗玉文
王永皎
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Wuhan University of Technology WUT
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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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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 provides a three-dimensional shape detection method based on fiber grating sensing, which comprises the steps of fixing a rod material on the outer surface of a three-dimensional body to be detected, and collecting data through a sensing network laid on the outer wall of the rod material; the sensing network comprises three optical fibers which are uniformly distributed and fixed on the outer wall of the rod material along a bus, the sections of the three optical fibers are distributed in a regular triangle, gratings are carved on the optical fibers at equal intervals, the three gratings on the same section are positioned at the three vertexes of the regular triangle, and the center of the regular triangle is positioned on the central line of the rod material; data is the strain detected for each grating; constructing a center line parameter equation by using the strain detected by each grating and the known size parameters of the rod; and constructing an equation according to an equidistant curve with the three optical fibers as the center line, wherein the length of the optical fiber after strain is equal to the length of the actual optical fiber, and solving a center line parameter equation to obtain the shape of the center line of the rod material after strain. The method is suitable for detecting the three-dimensional deformation information of the rod material with the circular section.

Description

Three-dimensional shape detection system and method based on fiber bragg grating sensing
Technical Field
The invention belongs to the technical field of three-dimensional shape detection, and particularly relates to a three-dimensional shape detection system and method based on fiber bragg grating sensing.
Background
In practical application, various deformation of a plurality of structural equipment and objects can be generated due to various factors under severe environments, if the three-dimensional deformation degree of the structures can be detected and reconstructed, the three-dimensional deformation degree has an important role in real-time grasping of structural performance, and once the structural performance is found to be reduced, correction can be carried out according to actual conditions so as to improve the performance or prolong the service life.
At present, two types of methods, namely a non-contact method, a contact method and the like, are generally adopted for detecting and reconstructing the structural shape and the form. Currently, contact measurement is a mature and widely applied method, and most of the methods rely on a three-coordinate measuring machine and adopt a scanning mode to realize measurement. For example, a three-coordinate measuring machine carries out space coordinate measurement on the surface of an object to be measured by installing a contact type measuring sensor, has the characteristics of high measurement precision, high reliability and the like, is more suitable for surface measurement of a regular geometric solid model, but also has the defects of low measurement speed, low efficiency and the like, and particularly has the problems of path planning, measuring point distribution and the like for some unknown free-form surfaces of the model.
Most of the non-contact reconstruction methods adopt an optical measurement method for surface morphology measurement, the method does not need to be in direct contact with the structure surface, a large number of data points are obtained in a short time, and the method has the advantages of high anti-interference performance, strong real-time performance and the like, but the measurement precision is relatively low. The non-contact reconstruction method mainly comprises a laser scanning detection method, a moire fringe method, an interference measurement method, a CCD camera photogrammetry method, a structured light measurement method and the like, and the basic idea is to convert local coordinates into a global coordinate system by selecting a proper light source and combining an effective algorithm so as to further realize the measurement and reconstruction of the structural form. Obviously, the method and the technology for measuring and calculating to obtain the three-dimensional space coordinate value by using non-contact optical detection technologies such as laser scanning and machine vision, and then realizing the detection and reconstruction of the structural form according to the position information of the structural discrete measuring points have certain advantages for the detection and reconstruction research and application of the structural vibration form under the relatively fixed ground environment. However, these techniques are not applicable to dynamic structures because they cannot obtain specific positional information due to the temporal movement of the carrier due to the structural design of the measuring instrument and the separation of the detection principle.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the three-dimensional shape detection system and method based on fiber bragg grating sensing are used for detecting three-dimensional deformation information of a rod material with a circular section.
The technical scheme adopted by the invention for solving the technical problems is as follows: a three-dimensional shape detection system based on fiber grating sensing is characterized in that: the device comprises a rod material for fixing on the outer surface of a three-dimensional body to be detected and a sensing network laid on the outer wall of the rod material; the section of the rod is circular; the sensing network comprises three optical fibers which are uniformly distributed and fixed on the outer wall of the rod material along a bus, the sections of the three optical fibers are distributed in a regular triangle shape, gratings are carved on the optical fibers at equal intervals, the three gratings on the same section are positioned on three vertexes of the regular triangle, and the center of the regular triangle is positioned on the central line of the rod material.
According to the system, the three optical fibers are respectively connected with the fiber bragg grating demodulator and the data processing unit.
The three-dimensional shape detection method realized by the fiber grating sensing-based three-dimensional shape detection system is characterized by comprising the following steps of: it comprises the following steps:
s1, the rod fixed on the outer surface of the three-dimensional body to be measured deforms together with the three-dimensional body to be measured, and data are collected through a sensing network on the outer wall of the rod; the acquired data is the strain detected by each grating;
s2, constructing a centerline parameter equation by using the strain detected by each grating and the known dimension parameters of the rod;
and according to the equidistant curve of the central line of the three optical fibers, the length of the strained optical fiber is equal to the length of the actual optical fiber, an equation is constructed, and a central line parameter equation is solved to obtain the shape of the strained central line of the rod.
According to the method, in S2, the centerline parameter equation is:
Figure BDA0001264522280000021
the three optical fibers are a first optical fiber, a second optical fiber and a third optical fiber, and the calculated lengths of the three optical fibers are respectively as follows:
Figure BDA0001264522280000022
Figure BDA0001264522280000023
Figure BDA0001264522280000024
the actual lengths of the three fibers are expressed as:
Figure BDA0001264522280000025
Figure BDA0001264522280000026
Figure BDA0001264522280000027
in the formula, si(t) is the cylindrical spiral equation of the ith section of central line, and the ith section of central line is the ith light of each optical fiberThe central line corresponding to the (i + 1) th grating; a isiIs the first parameter of the cylindrical spiral equation of the central line of the ith section; biis the second parameter of the cylindrical spiral equation of the i-th section central lineithe bending direction of the central line is the included angle between the projection line of the ith section central line on the ith section and the connecting line of the ith grating center of the first optical fiber in the ith section and the intersection point of the ith section and the central line, betaB,ithe included angles between the ith grating center of the first optical fiber and the ith grating center of the second optical fiber in the ith cross section and the connecting line of the ith cross section and the central line are respectively equal to 120 DEG and betaC,iThe included angles between the ith grating center of the first optical fiber and the ith grating center of the third optical fiber in the ith cross section and the connecting line of the intersection point of the ith cross section and the central line are respectively equal to 240 degrees; t is the variable of the cylindrical spiral equation of each section of the central line; liIs the arc length of the center line of the ith segment;
Figure BDA0001264522280000031
is the length of the ith segment of the first optical fiber,
Figure BDA0001264522280000032
is the length of the ith segment of the second optical fiber;
Figure BDA0001264522280000033
is the length of the ith segment of the third optical fiber; dA,iIs the distance from the ith grating of the first fiber to the center line, dB,iIs the distance from the ith grating of the second fiber to the center line, dC,iThe distance from the ith grating of the second optical fiber to the central line; epsilonA,iStrain measured for the ith grating of the first optical fiber; epsilonB,iStrain, epsilon, measured for the ith grating of the second fiberC,iStrain measured for the ith grating of the third fiber;
the calculated length of the three optical fibers is equal to the actual length of the three optical fibers, and the parameters a are solved by the simultaneous formulas (2) and (3)i、bi、αiSubstituting formula (1) to obtain si(t)。
According to the method, the method further comprises the step of S3, and the curvature and the flexibility of the strained central line of the rod material are obtained according to the obtained strained central line shape of the rod material.
In the above-mentioned manner, the curvature k of the center line of the i-th segmentiAnd a rate of deflection taui：
Figure BDA0001264522280000034
In the formula, aiIs the first parameter of the cylindrical spiral equation of the central line of the ith section; biThe second parameter of the cylindrical spiral equation of the central line of the ith section is the central line corresponding to the ith grating and the (i + 1) th grating of each optical fiber.
The invention has the beneficial effects that: three optical fibers are distributed on the outer wall of the rod, algorithm calculation is carried out according to the strain detected by the grating in the optical fibers, and a center line parameter equation is constructed, so that the complex three-dimensional deformation information of the rod is detected, and the method is suitable for detecting the three-dimensional deformation information of the rod with a circular section.
Drawings
Fig. 1 is a schematic diagram of a sensor network according to an embodiment of the present invention.
Fig. 2 is a partially enlarged view of fig. 1.
Fig. 3 is a schematic structural view of a cross section of the fiber grating of fig. 2.
In the figure: 1-rod material, 2-optical fiber, 2-1-first optical fiber, 2-2-second optical fiber, 2-3-third optical fiber, 3-grating, 4-center line and R-optical fiber grating section.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
A three-dimensional shape detection system based on fiber bragg grating sensing is disclosed, as shown in figures 1 to 3, and comprises a rod material 1 fixed on the outer surface of a three-dimensional body to be detected and a sensing network laid on the outer wall of the rod material 1; the section of the rod material 1 is circular; the sensing network comprises three optical fibers 2 which are uniformly distributed and fixed on the outer wall of a rod 1 along a bus, the sections of the three optical fibers 2 are distributed in a regular triangle, gratings 3 are carved on the optical fibers 2 at equal intervals, the three gratings 3 on the section R of the same fiber grating are positioned at three vertexes of the regular triangle, and the center of the regular triangle is located on a central line 4 of the rod.
And during data acquisition, the three optical fibers 2 are respectively connected with an optical fiber grating demodulator and a data processing unit. Light emitted by the broadband light source returns to the fiber grating demodulator after passing through the optical fiber to be demodulated into an electric signal, and the data processing unit is used for processing data.
The invention provides a three-dimensional shape detection method based on fiber grating sensing, which comprises the following steps:
s1, the rod material 1 fixed on the outer surface of the three-dimensional body to be detected deforms together with the three-dimensional body to be detected, and data are collected through a sensing network on the outer wall of the rod material 1; the data collected is the amount of strain detected for each grating 3. The rod 1 can be an SMA (memory alloy) rod or a glass fiber pultrusion rod and the like.
S2, constructing a centerline parameter equation by using the strain detected by each grating 3 and the known dimension parameters of the rod; and according to the equidistant curve of the central line of the three optical fibers, the length of the strained optical fiber is equal to the length of the actual optical fiber, an equation is constructed, and a central line parameter equation is solved to obtain the shape of the strained central line of the rod.
Assuming that the cross section of each section of the bar material is not deformed in the bending process, and the center line 4 of the section of the bar material has the characteristics of sectional constant curvature and constant flexibility, the distances from the three optical fibers 2 to the center line 4 of the bar material 1 are always kept constant because the section is not deformed. The three optical fibers 2 have the same characteristics as equidistant curves of the central line 4, and then the parameter equation of the central line is as follows:
Figure BDA0001264522280000041
let three optical fibers 2 be a first optical fiber 2-1, a second optical fiber 2-2, and a third optical fiber 2-3, and the calculated lengths of the three optical fibers 2 are:
Figure BDA0001264522280000051
Figure BDA0001264522280000052
Figure BDA0001264522280000053
the actual lengths of the three optical fibers 2 are expressed as:
Figure BDA0001264522280000054
Figure BDA0001264522280000055
Figure BDA0001264522280000056
in the formula, si(t) is a cylindrical spiral equation of the ith section of central line, and the ith section of central line is a corresponding central line between the ith grating and the (i + 1) th grating of each optical fiber; a isiIs the first parameter of the cylindrical spiral equation of the central line of the ith section; biis the second parameter of the cylindrical spiral equation of the i-th section central lineithe bending direction of the central line is the included angle between the projection line of the ith section central line on the ith section and the connecting line of the ith grating center of the first optical fiber in the ith section and the intersection point of the ith section and the central line, betaB,ithe included angles between the ith grating center of the first optical fiber and the ith grating center of the second optical fiber in the ith cross section and the connecting line of the ith cross section and the central line are respectively equal to 120 DEG and betaC,iThe included angles between the ith grating center of the first optical fiber and the ith grating center of the third optical fiber in the ith cross section and the connecting line of the intersection point of the ith cross section and the central line are respectively equal to 240 degrees; t is the variable of the cylindrical spiral equation of each section of the central line; liIs the arc length of the center line of the ith segment;
Figure BDA0001264522280000057
is the length of the ith segment of the first optical fiber,
Figure BDA0001264522280000058
is the length of the ith segment of the second optical fiber;
Figure BDA0001264522280000059
is the length of the ith segment of the third optical fiber; dA,iIs the distance from the ith grating of the first fiber to the center line, dB,iIs the distance from the ith grating of the second fiber to the center line, dC,iThe distance from the ith grating of the second optical fiber to the central line; epsilonA,iStrain measured for the ith grating of the first optical fiber; epsilonB,iStrain, epsilon, measured for the ith grating of the second fiberC,iStrain measured for the ith grating of the third fiber; dA,i、dB,i、dC,iEqual to the sum of the rod radius R and the fiber radius R.
The calculated length of the three optical fibers is equal to the actual length of the three optical fibers, and the parameters a are solved by the simultaneous formulas (2) and (3)i、bi、αiSubstituting formula (1) to obtain si(t)。
Optionally, the method further includes S3, obtaining the curvature and the flexibility of the strained centerline of the rod according to the obtained shape of the strained centerline of the rod.
Curvature k of segment i central lineiAnd a rate of deflection taui：
Figure BDA0001264522280000061
In the formula, aiIs the first parameter of the cylindrical spiral equation of the central line of the ith section; biThe second parameter of the cylindrical spiral equation of the central line of the ith section is the central line corresponding to the ith grating and the (i + 1) th grating of each optical fiber.
The invention applies the fiber grating sensing network to the three-dimensional shape detection field, and has the advantages of essentially no electricity, anti-electromagnetic interference, long service life, high measurement accuracy and the like; compared with the traditional two-dimensional shape detection methods, such as a non-contact type detection method and a contact type detection method, the three optical fibers 2 which are uniformly distributed are adhered to the outer wall of the rod material 1 along a bus, the rod material 1 is used as a deformation bearing matrix, the method is suitable for detecting complex three-dimensional deformation information, can detect the change of the three-dimensional shape in real time on line, and reconstructs the three-dimensional shape.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims (4)

1. The three-dimensional shape detection method realized by the three-dimensional shape detection system based on fiber bragg grating sensing is characterized by comprising the following steps of: the three-dimensional shape detection system based on fiber bragg grating sensing comprises a rod material and a sensing network, wherein the rod material is used for being fixed on the outer surface of a three-dimensional body to be detected, and the sensing network is laid on the outer wall of the rod material; the section of the rod is circular; the sensing network comprises three optical fibers which are uniformly distributed and fixed on the outer wall of the rod material along a bus, the sections of the three optical fibers are distributed in a regular triangle, gratings are engraved on the optical fibers at equal intervals, the three gratings on the same section are positioned at three vertexes of the regular triangle, and the center of the regular triangle is positioned on the central line of the rod material;
the method comprises the following steps:
s1, the rod fixed on the outer surface of the three-dimensional body to be measured deforms together with the three-dimensional body to be measured, and data are collected through a sensing network on the outer wall of the rod; the acquired data is the strain detected by each grating;
s2, constructing a centerline parameter equation by using the strain detected by each grating and the known dimension parameters of the rod;
according to the equidistant curve of the three optical fibers as the central line, the length of the strained optical fiber is equal to the length of the actual optical fiber, an equation is constructed, and a central line parameter equation is solved to obtain the shape of the strained central line of the rod;
in S2, the centerline parameter equation is:
Figure FDA0002259375570000011
the three optical fibers are a first optical fiber, a second optical fiber and a third optical fiber, and the calculated lengths of the three optical fibers are respectively as follows:
Figure FDA0002259375570000012
the actual lengths of the three fibers are expressed as:
Figure FDA0002259375570000013
in the formula, si(t) is the cylindrical spiral equation of the ith section of central line, and the ith section of central line is the corresponding central line between the ith grating and the (i + 1) th grating of each optical fiber; a isiIs the first parameter of the cylindrical spiral equation of the central line of the ith section; biis the second parameter of the cylindrical spiral equation of the i-th section central lineithe bending direction of the central line is the included angle between the projection line of the ith section central line on the ith section and the central line intersection line and the ith grating central connecting line of the first optical fiber in the ith section, betaB,ithe included angles between the ith grating center of the first optical fiber and the ith grating center of the second optical fiber in the ith cross section and the connecting line of the ith cross section and the central line are respectively equal to 120 DEG and betaC,iThe included angles between the ith grating center of the first optical fiber and the ith grating center of the third optical fiber in the ith cross section and the connecting line of the intersection point of the ith cross section and the central line are respectively equal to 240 degrees; t is the variable of the cylindrical spiral equation of each section of the central line; liIs the arc length of the center line of the ith segment;
Figure FDA0002259375570000021
is the length of the ith segment of the first optical fiber,
Figure FDA0002259375570000022
is the i-th section of the second optical fiberLength of (d);
Figure FDA0002259375570000023
is the length of the ith segment of the third optical fiber; dA,iIs the distance from the ith grating of the first fiber to the center line, dB,iIs the distance from the ith grating of the second fiber to the center line, dC,iThe distance from the ith grating of the second optical fiber to the central line; epsilonA,iStrain measured for the ith grating of the first optical fiber; epsilonB,iStrain, epsilon, measured for the ith grating of the second fiberC,iStrain measured for the ith grating of the third fiber;
the calculated length of the three optical fibers is equal to the actual length of the three optical fibers, and the parameters a are solved by the simultaneous formulas (2) and (3)i、bi、αiSubstituting formula (1) to obtain si(t)。
2. The three-dimensional shape detection method according to claim 1, characterized in that: the three optical fibers are respectively connected with an optical fiber grating demodulator and a data processing unit.
3. The three-dimensional shape detection method according to claim 1, characterized in that: the method also comprises S3, and the curvature and the flexibility of the strained central line of the rod material are obtained according to the obtained strained central line shape of the rod material.
4. The three-dimensional shape detection method according to claim 3, characterized in that: curvature k of segment i central lineiAnd a rate of deflection taui：
Figure FDA0002259375570000024
In the formula, aiIs the first parameter of the cylindrical spiral equation of the central line of the ith section; biThe second parameter of the cylindrical spiral equation of the central line of the ith section is the central line corresponding to the ith grating and the (i + 1) th grating of each optical fiber.
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